CN206984210U - A kind of balance car controlling organization and balance car - Google Patents

Abstract

The utility model discloses a kind of balance car controlling organization and balance car.The balance car controlling organization includes handlebar, and car bar is connected among the handlebar；The car bar bottom connection body；Characterized in that, the outer wall at described handlebar two be respectively provided with one can advance along balance car, the pressure sensitive device that direction of retreat is moved；The pressure sensitive device is separately positioned on handlebar apical position, and controller coupled with pressure sensitive device, for driving balance car wheel movement is provided with the balance car.The utility model is simple and reliable, can control balance car without mechanical structure.

Description

A kind of balance car controlling organization and balance car

Technical field

The present invention relates 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 " dynamically surely In general principle calmly ", the gyroscope and acceleration transducer of vehicle body are utilized, to detect the change of vehicle body attitude, is 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 stands electronic Action bars is operated on the foot platform of balance car, so as to advance, retreat and stop, such control is also referred to as " manual control ". Another kind is that car body is made up of two parts, is realized by rotating mechanism between left half and right half and mutually rotated, so as to realize " foot control ".

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

The B of patent document CN 102774453 disclosed a kind of intelligent balance car system on May 20th, 2015.It passes through Sensor is set to control balance car car to write at handlebar both ends.But required precision and software algorithm of the which to sensor will Ask high, the possibility for not possessing practicality substantially.

The content of the invention

The technical problems to be solved by the invention are to provide a kind of simple and reliable, without mechanical structure control balance car control Mechanism processed and balance car.

The purpose of the present invention is achieved through the following technical solutions：

According to an aspect of the present invention, the present invention discloses a kind of balance car controlling organization, including handlebar, in the handlebar Between connect car bar；The car bar bottom connection body；The outer wall at described handlebar two be respectively provided with one can advance along balance car, after Move back the pressure sensitive device of direction motion；The pressure sensitive device is separately positioned on handlebar apical position, in the balance car Provided with controller coupled with pressure sensitive device, for driving balance car wheel movement.

Further, the pressure sensitive device includes projection, the pressure sensor with bump contact；Set in the handle There is a groove for accommodating projection, the corresponding two side of the advance of the groove and balance car, direction of retreat is respectively provided with a pressure sensing Device；The bottom portion of groove is provided with the chute coordinated with projection, and the projection can translate in chute.Connect using projection and hand Touch, grip is delivered to pressure sensor.

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 positioning hole and the second positioning hole coordinated with shank, when the support arm rotates to deployed condition, The shank coordinates with the first positioning hole；When the support arm rotates to contraction state, the shank coordinates with the second positioning hole.

The technical program, can be in folded state by wheel integral-rotation to car body bottom as a result of the support arm of rotation Portion is stored, and is advantageous to the space-consuming reduced under balance car folded state, using the cooperation of shank and positioning hole, Ke Yi The position for the support arm being easily found in rotary course under deployed condition and folded state, fold, deploy it is easy to operate.

Further, the shank includes connecting pole, the fixed column with being connected column end connection；The fixed column it is transversal Face width is more than the cross-sectional width of 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 positions；

The wheel includes wheel body and axle portion；The axle portion includes axis body, and described axis body one end penetrates wheel body, The other end is provided with switching part；The switching part one side opposite with axis body is provided with the supporting part being flexibly connected with connector；Support Portion is rotatably fixed with the support arm；The switching part is a round platform；The supporting part is fixed on the position of round platform disalignment Put；

One end that the support arm is fixed with wheel shaft is provided with breach；The other end is curved portions；Rotating shaft is provided with the breach； It is socketed in the supporting part insertion breach with rotating shaft.

Due to the presence of spring, shank can prop up the plane of body bottom portion always, once rotate to the first positioning hole or The position of two positioning holes, shank are automatically inserted into the first positioning hole or the second positioning hole under spring force effect, Wu Xuren Work intervention can be achieved to be automatically positioned.In general, wheel shaft is all thinner, it is not easy to rotatable fixed structure is realized, The contact area of spindle portion can be increased by switching part, on the one hand easily fixed with connector, on the other hand in wheel exhibition Open state contacts positioning with vehicle body side, and stability is improved when wheel is run.Supporting part disalignment, transported in balance car During row state, due to gravity and the left and right of human pressure, supporting part meeting nature runs to minimum point, forms stable state location structure, Now, the integrated disc portions above supporting part have more areas to be contacted with vehicle body side, and such wheel has disk in vertical direction Positioning, horizontal position are equipped with the connector support of bottom, and double side support can effectively disperse the load-bearing of wheel, more firm durable.This A kind of fixed structure of specific support arm and wheel shaft is also disclosed in technical scheme, due to the avoiding structure of breach so that whole to turn Dynamic structure is all smaller, is advantageous to reduce balance car volume.

Further, the vehicle bottom is provided with arc groove, and first positioning hole and the second positioning hole are set respectively At the both 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, positioning is contacted for the medial surface with wheel；In Between position both sides be the inclined-plane for extending to vehicle bottom；Support arm one end relative with wheel is provided with fixing hole；The car Body bottom is provided with the locating dowel being adapted to fixing hole；Cooperation realization and car body bottom of the support arm by fixing hole and locating dowel Portion is rotatably fixed.

Arc groove has guide function to shank, that is, defines the rotating range of whole support arm, avoid slewing area mistake Wheel is caused to be collided with miscellaneous part greatly.By chamfered transition after wheel folding, turn to limiting section crown center position and tighten, Wheel alignment after folding is realized by the stress tightened, without the buckle structure of complexity, embodiment is simple, and fix tightly Lean on, be not afraid of slip and cause to come off.

According to another aspect of the present invention, the present invention discloses a kind of balance car, including balance car control of the present invention Mechanism processed.

Inventor, which studies, to be found, the sensor of prior art is arranged on handlebar both ends, vertical with the grip direction of driver, It needs to hold part conducting pressure, therefore is transmitted to the decline of pressure of sensor than more serious, and it is whole hand to conduct past The comprehensive pressure of grip, to judge the actual intention of driver needs complicated algorithm, and decomposition meter is carried out to comprehensive grip Calculate, algorithm is extremely complex.Summary reason, the technology do not obtain volume production application so far.Compared with prior art, it is of the invention Have the technical effect that：Using the individual pressure sensitive device at the top of car bar, each pressure sensitive device can be along balance car Advance, two motions of direction of retreat；It is respectively used to detect the grip in two former and later two directions of hand, due to pressure sensitive device Handle outer wall is arranged on, is directly contacted with hand, it senses, and direction is also identical with grip direction, as long as so according to two of maximum The pressure difference of pressure value, and the direction can driving balance car vehicle wheel rotation of corresponding pressure value, realize that balance car is turned to, accelerated Controlled with slowing down, significantly reduce the requirement and algorithm requirement of device.Technical solution of the present invention is simple and reliable, and implementation cost is low It is honest and clean.

Brief description of the drawings

Fig. 1 is balance car controlling organization structural representation of the embodiment of the present invention；

Fig. 2 is balance car structural representation of the embodiment of the present invention；

Fig. 3 is the control method schematic diagram of balance car controlling organization of the embodiment of the present invention；

Fig. 4 is planar structure schematic diagram of the balance car of the embodiment of the present invention in wheel folded state；

Fig. 5 is dimensional structure diagram of the balance car of the embodiment of the present invention in wheel folded state；

Fig. 6 is planar structure schematic diagram of the balance car of the embodiment of the present invention in wheel intermediateness；

Fig. 7 is dimensional structure diagram of the balance car of the embodiment of the present invention in wheel intermediateness；

Fig. 8 is planar structure schematic diagram of the balance car of the embodiment of the present invention in wheel intermediateness；

Fig. 9 is dimensional structure diagram of the balance car of the embodiment of the present invention in wheel intermediateness；

Figure 10 is section decomposing schematic representations of the Fig. 8 along A-A；

Figure 11 is balance car of the embodiment of the present invention in wheel securing structure decomposing schematic representation；

Figure 12 is car wheel structure schematic diagram of the embodiment of the present invention.

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 positioning hole；22nd, the second positioning 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, chute；63rd, projection；64、 Pressure sensor；65th, groove.

Embodiment

The present invention discloses a kind of balance car, and the balance car includes balance car controlling organization.Balance car controlling organization includes Handlebar, the handlebar centre connection car bar；The car bar bottom connection body；The outer wall at described handlebar two is respectively provided with one can Advance along balance car, the pressure sensitive device that direction of retreat is moved；The pressure sensitive device is separately positioned on handlebar top position Put, controller coupled with pressure sensitive device, for driving balance car wheel movement is provided with the balance car.

According to another aspect of the present invention, invention additionally discloses one kind to be based on balance car controlling organization of the present invention Control method, including：

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

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

According to the pressure difference of two pressure values of maximum, and the direction driving balance car vehicle wheel rotation of two pressure values.

Inventor, which studies, to be found, the sensor of prior art is arranged on handlebar both ends, vertical with the grip direction of driver, It needs to hold part conducting pressure, therefore is transmitted to the decline of pressure of sensor than more serious, and it is whole hand to conduct past The comprehensive pressure of grip, to judge the actual intention of driver needs complicated algorithm, and decomposition meter is carried out to comprehensive grip Calculate, algorithm is extremely complex.Summary reason, the technology do not obtain volume production application so far.Compared with prior art, it is of the invention Have the technical effect that：Using the individual pressure sensitive device at the top of car bar, each pressure sensitive device can be along balance car Advance, two motions of direction of retreat；It is respectively used to detect the grip in two former and later two directions of hand, due to pressure sensitive device Handle outer wall is arranged on, is directly contacted with hand, it senses, and direction is also identical with grip direction, as long as so according to two of maximum The pressure difference of pressure value, and the direction can driving balance car vehicle wheel rotation of corresponding pressure value, realize that balance car is turned to, accelerated Controlled with slowing down, significantly reduce the requirement and algorithm requirement of device.Technical solution of the present invention is simple and reliable, and implementation cost is low It is honest and clean.

In the description of the invention, it is to be understood that term " " center ", " transverse direction ", " on ", " under ", "left", "right", The orientation or position relationship of the instruction such as " vertical ", " level ", " top ", " bottom ", " interior ", " outer " be based on orientation shown in the drawings or Position relationship, it is for only for ease of and describes the present invention and simplify description, rather than indicates or imply that signified device or element must There must be specific orientation, with specific azimuth configuration and operation, therefore be not considered as limiting the invention.In addition, art Language " first ", " second " are only used for describing purpose, and it is not intended that instruction or implying relative importance or implicit indicating institute The quantity of the technical characteristic of instruction.Thus, " first " is defined, one can be expressed or be implicitly included to the feature of " second " Or more this feature.In the description of the invention, unless otherwise indicated, " multiple " are meant that two or more. In addition, term " comprising " and its any deformation, it is intended that cover non-exclusive include.

In the description of the invention, it is necessary to illustrate, unless otherwise clearly defined and limited, term " installation ", " phase Even ", " connection " should be interpreted broadly, for example, it may be being fixedly connected or being detachably connected, or be integrally connected；Can To be mechanical connection or electrical connection；Can be joined directly together, can also be indirectly connected by intermediary, Ke Yishi The connection of two element internals.For the ordinary skill in the art, with concrete condition above-mentioned term can be understood at this Concrete meaning in invention.

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

The invention will be further described for 1-12 and preferred embodiment below in conjunction with the accompanying drawings.

According to an aspect of the present invention, the present invention discloses a kind of balance car controlling organization, including handlebar 60, the car 60 centres are connected car bar 61；The bottom connection body of car bar 61；The outer wall at described two of handlebar 60 is respectively provided with one can edge Balance car advances, the pressure sensitive device of direction of retreat motion；The pressure sensitive device is separately positioned on the top position of handlebar 60 Put, controller coupled with pressure sensitive device, for driving balance car wheel movement is provided with the balance car.

Specifically, the pressure sensitive device includes projection 63, the pressure sensor 64 contacted with projection 63；The handle Interior to be provided with the groove 65 for accommodating projection 63, the corresponding two side of the advance of the groove 65 and balance car, direction of retreat is respectively provided with one Individual pressure sensor 64；The bottom of groove 65 is provided with the chute 62 coordinated with projection 63, and the projection 63 can be in chute Translated in 62.Contacted using projection 63 with hand, grip is delivered to pressure sensor 64.Certainly, pressure sensitive device can be with There is other structures form, will not be repeated here.

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

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

Wheel includes wheel body 50 and the part of wheel shaft 51；The part of wheel shaft 51 includes axis body 52, and described one end of axis body 52 is worn Enter wheel body 50, the other end is provided with switching part；The switching part one side opposite with axis body 52 is provided with what is be flexibly connected with connector Supporting part 54；Supporting part 54 is rotatably fixed with the support arm 30.In general, wheel shaft 51 is all thinner, it is not easy to Rotatable fixed structure is realized, the contact area of the part of rotating shaft 36 can be increased by switching part, on the one hand easily with connection Part is fixed, and is on the other hand positioned in wheel deployed condition and the contacts side surfaces of car body 10, stability is improved when wheel is run. Switching part is a round platform 53；The supporting part 54 is fixed on the position of the disalignment of round platform 53.The disalignment of supporting part 54, flat During the car running status that weighs, 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 and determines Bit architecture, now, the integrated disc portions of the top of supporting part 54 have more areas and the contacts side surfaces of car body 10, and such wheel is vertical There is disk positioning in direction, and horizontal position is equipped with the connector support of bottom, and double side support can effectively disperse the load-bearing of wheel, more surely It is Gu durable.

The bottom of car body 10 is provided with arc groove 20, and the positioning hole 22 of the first positioning hole 21 and second is set respectively At the both ends of arc groove 20.Arc groove 20 has guide function to shank 12, that is, defines the rotation model of whole support arm 30 Enclose, avoid slewing area is excessive from causing wheel to be collided with miscellaneous part.

The bottom of car body 10 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 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 Individual rotational structure is all smaller, is advantageous to reduction balance car body 10 and accumulates.Limiting section 40 towards the side of support arm 30 be intrados, It can just be avoided when the curved portions 35 of support arm 30 rotate.

The crown center site location highest of limiting section 40, positioning is contacted for the medial surface with wheel；Middle part both sides To extend to the inclined-plane of the bottom of car body 10.By chamfered transition after wheel folding, turn to the crown center position of limiting section 40 and stretch tight Tightly, the wheel alignment after folding is realized by the stress tightened, without the buckle structure of complexity, 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；The bottom of car body 10 is provided with and is adapted to fixing hole 33 Locating dowel 11；The support arm 30 is rotatably solid by the cooperation realization of fixing hole 33 and locating dowel 11 and the bottom of car body 10 It is fixed.Locating dowel 11 can be realized using screw rod.

According to another aspect of the present invention, present embodiment is also disclosed a kind of based on balance car of the present invention control The control method of mechanism, including：

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

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

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

Turned according to the direction driving balance car wheel of the pressure difference of the two of maximum absolute value pressure values, and corresponding pressure value Dynamic method substantially has following three kinds of situations.

If corresponding pressure value is 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 pull a cart handle, i.e. two feelings of stress positioned at balance car direction of advance backward Answer the pressure of device can be larger, now control balance car to slow down, to ensure driving safety.

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

If corresponding pressure value is reverse, pressure sensitive device institute of the balance car toward pressure value for balance car direction of advance is controlled In directional steering, and the angle turned to is controlled according to pressure difference.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 value are the pressure sensitive device place side of balance car direction of advance To for right side, now balance car is controlled to turn right；Conversely, control balance car turns left.

Above content is to combine specific preferred embodiment further description made for the present invention, it is impossible to is assert The specific implementation of the present invention is confined to these explanations.For general technical staff of the technical field of the invention, On the premise of not departing from present inventive concept, some simple deduction or replace can also be made, should all be considered as belonging to the present invention's Protection domain.

Claims (6)

1. a kind of balance car controlling organization, including handlebar, the handlebar centre connection car bar；The car bar bottom connection body； Characterized in that, the outer wall at described handlebar two be respectively provided with one can advance along balance car, the pressure sensitive that direction of retreat is moved Device；The pressure sensitive device is separately positioned on handlebar apical position, is provided with and pressure sensitive device coupling in the balance car Controller close, for driving balance car wheel movement.

2. balance car controlling organization according to claim 1, it is characterised in that the pressure sensitive device includes projection, With the pressure sensor of bump contact；The groove for accommodating projection is provided with the handlebar, the groove advances with balance car, retreated Two side corresponding to direction is respectively provided with a pressure sensor；The bottom portion of groove is provided with the chute coordinated with projection, institute Stating projection can translate in chute.

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 positioning hole and second coordinated with shank Positioning hole, when the support arm rotates to deployed condition, the shank coordinates with the first positioning hole；The support arm rotates to receipts During contracting state, the shank coordinates with the second positioning hole.

4. balance car controlling organization according to claim 3, it is characterised in that the shank includes connecting pole, with being connected The fixed column of column end connection；The cross-sectional width of the fixed column is more than the cross-sectional width of 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, is fitted 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 is positioned by the first anchor ring and the second anchor ring respectively；The wheel includes wheel body and axle portion；The wheel Axle portion part includes axis body, and described axis body one end penetrates wheel body, and the other end is provided with switching part；The switching part it is opposite with axis body one Face is provided with the supporting part being flexibly connected with connector；Supporting part is rotatably fixed with the support arm；The switching part is a circle Platform；The supporting part is fixed on the position of round platform disalignment；One end that the support arm is fixed with wheel shaft is provided with breach；It is another Hold as curved portions；Rotating shaft is provided with the breach；It is socketed in the supporting part insertion breach with rotating shaft.

5. balance car controlling organization according to claim 3, it is characterised in that the vehicle bottom is provided with arc groove, First positioning hole and the second positioning hole are separately positioned on the both ends of arc groove；The vehicle bottom is additionally provided with the limit of arc Position portion；In a folded configuration, the top contact of medial surface and limiting section positions wheel；The limiting section crown center site location Highest, positioning is contacted for the medial surface with wheel；Middle part both sides are the inclined-plane for extending to vehicle bottom；The support arm One end relative with wheel is provided with fixing hole；The vehicle bottom is provided with the locating dowel being adapted to fixing hole；The support arm leads to The cooperation realization for crossing fixing hole and locating dowel is rotatably fixed with vehicle bottom.

6. a kind of balance car, it is characterised in that including the balance car controlling organization as described in claim 1-5 is any.