CN207311720U - A kind of balance car - Google Patents
A kind of balance car Download PDFInfo
- Publication number
- CN207311720U CN207311720U CN201721238699.0U CN201721238699U CN207311720U CN 207311720 U CN207311720 U CN 207311720U CN 201721238699 U CN201721238699 U CN 201721238699U CN 207311720 U CN207311720 U CN 207311720U
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- CN
- China
- Prior art keywords
- balance car
- magnet
- motor
- vehicle frame
- controller
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Abstract
The utility model discloses a kind of balance car, including vehicle frame, rotate the direction operation component being located on vehicle frame, left wheel and right wheel, the first motor for driving left wheel to rotate, drive the second motor and controller of right vehicle wheel rotation, first motor and the second motor are electrically connected with the controller, balance car further includes the steering testing agency of the relative rotation between detection direction operation component and vehicle frame based on hall principle, testing agency is turned to be electrically connected with the controller, when turning to testing agency to controller transmission signal, controller controls generation differential between the first motor and the second motor to turn to balance car；When steering testing agency does not send a signal to controller, controller controls the first motor and the second motor output same rotational speed to make balance car straight-line travelling.The balance car uses the steering testing agency based on hall principle, this overall structure to balance car is simplified and steering behaviour is all improved so that the steering operation of the balance car is flexible, turn to realize it is simple.
Description
Technical field
It the utility model is related to articles for children technical field, and in particular to a kind of balance car.
Background technology
At present, with urban transportation is more and more crowded and vehicle exhaust discharge quantity it is increasing, people increasingly incline
To the vehicles using small volume and less weight and environmental protection.For electric bicycle, motorcycle and automobile, balance car has
Many advantages, such as small, light-weight, easy to carry, environmental pollution is small, become a kind of new short distance trip walking-replacing tool.
Existing balance car generally all includes vehicle frame, and bicyclist is trampled on vehicle frame, vehicle frame both sides connection wheel.To realize
The turning of balance car, rotates usually on vehicle frame and sets a control stick, an angular transducer is provided with control stick.Work as balance car
During steering, operator swings control stick, and drive angular transducer to produce electric signal makes balance to controller, controller control
Car turns to.The structure can give the relatively straightforward operating experience of operator, but the structure has many deficiencies：As electrical structure is easy to damage
It is bad；More demanding control stick restoring force；It is unfavorable for safe driving；It is complicated, it is inconvenient etc..
The content of the invention
The purpose of this utility model is in view of the deficiencies of the prior art, there is provided a kind of simple in structure, steering operation it is convenient and
The high balance car of reliability.
To reach above-mentioned purpose, the technical solution adopted in the utility model is：
A kind of balance car, including vehicle frame, can be rotatably arranged on the vehicle frame direction operation component, set respectively
In the left wheel of the left and right sides of the vehicle frame and right wheel, the first motor for driving the left wheel rotation, for driving
Move the second motor and controller of the right vehicle wheel rotation, first motor and second motor respectively with the controller
It is electrically connected, the balance car is further included to be used to detect between the direction operation component and the vehicle frame based on hall principle
The steering testing agency of relative rotation, the steering testing agency is electrically connected with the controller, when the steering testing agency
When sending a signal to controller, generation differential makes described between controller control first motor and second motor
Balance car turns to；When the steering testing agency does not send a signal to controller, the controller controls first motor
Make the balance car straight-line travelling with second motor output same rotational speed.
Preferably, Hall sensor, the fixed setting for turning to testing agency and including being fixed on the vehicle frame
The first magnet and the second magnet on the direction operation component, first magnet and second magnet can be with institutes
State Hall sensor contact or separation, the circumference that first magnet and second magnet are rotated along the direction operation component
Direction is arranged at intervals, when the balance car straight-line travelling, first magnet and second magnet respectively positioned at it is described suddenly
The left and right sides of your sensor and at a distance with the Hall sensor；When the Hall sensor and first magnetic
When iron or second magnet contact, the Hall sensor send a signal to the controller make first motor with it is described
Differential is produced between second motor turns to the balance car.
Further, when first magnet is contacted with the Hall sensor, the controller controls the balance
Car turns to the left, and when second magnet is contacted with the Hall sensor, the controller controls the balance car to the right
Turn to.
Further, when the balance car straight-line travelling, first magnet and second magnet and the Hall
The distance being spaced between sensor is identical.
Further, the direction operation component includes the first connector, and the vehicle frame includes the second connector, and described
One magnet and second magnet are fixed on first connector, and the Hall sensor is fixed at described
On second connector, first connector and second connector are made by nonmagnetic substance.
Further, first connector is in sector structure, and first magnet and second magnet are along institute
The circumferencial direction for stating the first connector is set, and first magnet and second magnet are located on same circumference.
Further, the direction operation component further includes vertically extending direction control lever, the direction
Control-rod can be rotatably arranged on the vehicle frame, and first connector is fixed under the direction control lever
Portion.
Preferably, the direction operation component includes vertically extending direction control lever and is fixed at described
The steering wheel of the upper end of direction control lever, is fixed with casing on the vehicle frame, the lower part of the direction control lever is arranged on
It can be set with respect to described sleeve pipe in described sleeve pipe and rotationally.
Preferably, the balance car further includes the seat being fixed on the vehicle frame.
Preferably, the balance car further includes the balancing device for aiding in the balance car to keep balance, the balance
Device includes the auxiliary wheel for being fixedly connected on the connecting rod at the rear portion of the vehicle frame and being connected in the connecting rod, the auxiliary
Take turns as universal wheel.
Due to the utilization of above-mentioned technical proposal, the utility model has following advantages compared with prior art：This practicality is new
The balance car of type is simple in structure, using the steering testing agency based on hall principle, this overall structure to balance car simplify and
Steering behaviour is all improved so that the steering operation of the balance car is flexible, turns to and realizes simply.
Brief description of the drawings
Attached drawing 1 is one of structure diagram of balance car of the utility model；
Attached drawing 2 is the second structural representation of the balance car of the utility model；
Attached drawing 3 is the structure diagram of the steering testing agency of the utility model；
Structure diagram when attached drawing 4 is the balance car straight-line travelling of the utility model；
Structure diagram when attached drawing 5 turns to the left for the balance car of the utility model；
Structure diagram when attached drawing 6 turns to the right for the balance car of the utility model.
Wherein：1st, vehicle frame；11st, casing；12nd, the second connector；2nd, direction operation component；21st, direction control lever；22nd, side
To disk；23rd, the first connector；31st, left wheel；32nd, right wheel；41st, Hall sensor；42nd, the first magnet；43rd, the second magnet；
5th, seat；6th, balancing device；61st, connecting rod；62nd, auxiliary wheel.
Embodiment
The technical solution of the utility model is further elaborated with specific embodiment below in conjunction with the accompanying drawings.
As shown in Fig. 1 ~ Fig. 6, the balance car of the utility model includes vehicle frame 1, the side that can be rotatably arranged on vehicle frame 1
To operating assembly 2, the left wheel 31 for the left and right sides for being separately positioned on vehicle frame 1 and right wheel 32, for driving 31 turns of left wheel
Dynamic the first motor, the second motor and controller for driving right wheel 32 to rotate, the first motor and the second motor respectively with
Controller is electrically connected.
Direction operation component 2 includes vertically extending direction control lever 21, is fixed at direction control lever 21
Upper end steering wheel 22 and be fixed at direction control lever 21 lower part the first connector 23, the front portion of vehicle frame 1 is consolidated
Surely be equipped with casing 11, the lower part of direction control lever 21 is located in casing 11, and can facing sleeve 11 rotationally set.Work as rotation
During steering wheel 22, the first connector 23 is driven to rotate synchronously therewith by direction control lever 21.
The balance car, which further includes, turns to testing agency, turns to testing agency and is electrically connected with the controller.Testing agency is turned to use
Relative rotation situation between detection direction operation component 2 and vehicle frame 1, and controller is sent a signal to, pass through controller control
Make and produce differential between the first motor and the second motor, so as to fulfill the steering of balance car.The first motor and that this place is stated
Differential is produced between two motors includes the velocity of rotation difference and the first motor and the second motor of the first motor and the second motor
One rotates forward two kinds of operating modes of a reversion.
In the application, turn to testing agency and be based on hall principle, specifically, vehicle frame 1 includes the second connector 12, turn to inspection
Survey mechanism include be fixed on the second connector Hall sensor 41, be respectively fixedly disposed on the first connector 23
Between the circumferencial direction that first magnet 42 and the second magnet 43, the first magnet 42 and the second magnet 43 are rotated along direction operation component 2
Every setting, with the rotation of direction operation component 2, the first magnet 42 and the second magnet 43 are able to contact with Hall sensor 41
Or separation.When the first magnet 42 or the second magnet 43 are contacted with Hall sensor 41, Hall sensor 41 sends a signal to control
Device processed, controller control and produce differential between the first motor and the second motor, turn to balance car；When the first magnet 42 or the second
When magnet 43 does not contact with Hall sensor 41 and the two is spaced apart between Hall sensor 41, hall sensing
Device 41 does not send a signal to controller, and controller controls the first motor and the second motor to export same rotational speed so that balance car is straight
Line travels, and same rotational speed described herein refers to the size and Orientation all same of rotating speed.At this time, the first magnet 42 and the second magnet 43
It is located at the left and right sides of Hall sensor 41 respectively.It is preferred that when balance car straight-line travelling, the first magnet 42 and the second magnet 43
The distance being spaced respectively between Hall sensor 41 is identical.
In the present embodiment, the first connector 23 is in sector structure, and the first magnet 42 and the second magnet 43 are along the first connection
The circumferencial direction of part 23 is set, and the two is located on same circumference.
First connector 23 and the second connector 12 are made by nonmagnetic substance, can so avoid 23 He of the first connector
Influence of second connector 12 to steering testing agency, so that the measuring accuracy higher of the steering testing agency.
The balance car further includes the seat 5 and balancing device 6 being fixed on vehicle frame 1, and balancing device 6 is used to aid in putting down
Weighing apparatus car makes it keep balance, specifically, balancing device includes being fixedly connected on the connecting rod 61 at the rear portion of vehicle frame 1 and can rotate
Ground is installed on the auxiliary wheel 62 of the lower part of connecting rod 61, and auxiliary wheel 62, left wheel 31 and right wheel 32 can be jointly by balance cars
Support is vertical on the ground.In the present embodiment, auxiliary wheel 62 is universal wheel.
When balance car straight-line travelling, the first magnet 42 and the second magnet 43 are respectively positioned at the left and right two of Hall sensor 41
Side and the two is spaced apart between Hall sensor 41 respectively, Hall sensor 41 does not send a signal to controller,
Controller controls the first motor and the second motor output same rotational speed, so that left wheel 31 and right wheel 32 are with identical rotating speed
Rotate, as shown in Figure 4.
When balance car needs to turn to the left in the condition for straight travel, steering wheel 22 is rotated counterclockwise, passes through direction
Control-rod 21 drives the synchronous rotation counterclockwise of the first connector 23, until the first magnet 42 is with being fixed on vehicle frame 1 suddenly
Your sensor 41 contacts, and Hall sensor 41 sends a signal to controller, and controller control makes the rotating speed of the second motor higher than the
The rotating speed of one motor, or make the first motor reversal, the second motor rotates forward, in this way, the rotating speed of left wheel 31 will be lower than right car
The rotating speed of wheel 32, or left wheel 31 invert, and right wheel 32 rotates forward, and is turned to the left so as to fulfill balance car, as shown in Figure 5.
When balance car needs to turn to the right in the condition for straight travel, steering wheel 22 is rotated clockwise, passes through direction
Control-rod 21 drives the first connector 23 synchronously to rotate clockwise, until the second magnet 43 is with being fixed on vehicle frame 1 suddenly
Your sensor 41 contacts, and Hall sensor 41 sends a signal to controller, and controller control makes the rotating speed of the first motor higher than the
The rotating speed of two motors, or the first motor is rotated forward, the second motor reversal, in this way, the rotating speed of left wheel 31 will be higher than right car
The rotating speed of wheel 32, or left wheel 31 rotate forward, and right wheel 32 inverts, and is turned to the right so as to fulfill balance car, as shown in Figure 6.
Above-described embodiment is only the technical concepts and features for illustrating the utility model, and its object is to allow be familiar with technique
Personage can understand the content of the utility model and implement according to this, the scope of protection of the utility model can not be limited with this.
All equivalent change or modifications made according to the utility model Spirit Essence, should all cover the scope of protection of the utility model it
It is interior.
Claims (10)
1. a kind of balance car, including vehicle frame, can be rotatably arranged on the vehicle frame direction operation component, be separately positioned on
The left wheel of the left and right sides of the vehicle frame and right wheel, for driving the first motor that the left wheel rotates, for driving
The second motor and controller of the right vehicle wheel rotation, first motor and second motor are electric with the controller respectively
Connection, it is characterised in that：The balance car further include based on hall principle be used for detect the direction operation component with it is described
The steering testing agency of relative rotation between vehicle frame, the steering testing agency is electrically connected with the controller, when described turn
When sending a signal to controller to testing agency, the controller controls to be produced between first motor and second motor
Differential turns to the balance car；When the steering testing agency does not send a signal to controller, the controller controls institute
Stating the first motor and second motor output same rotational speed makes the balance car straight-line travelling.
2. balance car according to claim 1, it is characterised in that：The steering testing agency includes being fixed at described
Hall sensor on vehicle frame, the first magnet and the second magnet being fixed on the direction operation component, described first
Magnet and second magnet can contact or separate with the Hall sensor, first magnet and second magnet
The circumferencial direction rotated along the direction operation component is arranged at intervals, when the balance car straight-line travelling, first magnet
With second magnet respectively positioned at the left and right sides of the Hall sensor and at a distance with the Hall sensor；
When the Hall sensor is contacted with first magnet or second magnet, the Hall sensor sends a signal to institute
Stating controller makes generation differential between first motor and second motor turn to the balance car.
3. balance car according to claim 2, it is characterised in that：When first magnet is contacted with the Hall sensor
When, the controller controls the balance car to turn to the left, described when second magnet is contacted with the Hall sensor
Controller controls the balance car to turn to the right.
4. balance car according to claim 2, it is characterised in that：When the balance car straight-line travelling, first magnetic
The distance being spaced between iron and second magnet and the Hall sensor is identical.
5. balance car according to claim 2, it is characterised in that：The direction operation component includes the first connector, institute
Stating vehicle frame includes the second connector, and first magnet and second magnet are fixed on first connector,
The Hall sensor is fixed on second connector, and first connector and second connector are by non-
Magnetic material is made.
6. balance car according to claim 5, it is characterised in that：First connector is in sector structure, and described first
Magnet and second magnet are set along the circumferencial direction of first connector, and first magnet and second magnetic
Iron is located on same circumference.
7. balance car according to claim 5, it is characterised in that：The direction operation component further includes to be prolonged along the vertical direction
The direction control lever stretched, the direction control lever can be rotatably arranged on the vehicle frame, and first connector is fixed and set
Put in the lower part of the direction control lever.
8. balance car according to claim 1, it is characterised in that：The direction operation component includes vertically extending
Direction control lever and be fixed at the direction control lever upper end steering wheel, be fixed with set on the vehicle frame
Pipe, the lower part of the direction control lever is arranged in described sleeve pipe and can rotationally be set with respect to described sleeve pipe.
9. balance car according to claim 1, it is characterised in that：The balance car, which further includes, is fixed at the vehicle frame
On seat.
10. balance car according to claim 1, it is characterised in that：The balance car is further included for aiding in the balance
Car keeps the balancing device of balance, and the balancing device includes being fixedly connected on the connecting rod at the rear portion of the vehicle frame and is connected to
Auxiliary wheel in the connecting rod, the auxiliary wheel are universal wheel.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721238699.0U CN207311720U (en) | 2017-09-26 | 2017-09-26 | A kind of balance car |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721238699.0U CN207311720U (en) | 2017-09-26 | 2017-09-26 | A kind of balance car |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN207311720U true CN207311720U (en) | 2018-05-04 |
Family
ID=62384141
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201721238699.0U Expired - Fee Related CN207311720U (en) | 2017-09-26 | 2017-09-26 | A kind of balance car |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN207311720U (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110550085A (en) * | 2019-07-30 | 2019-12-10 | 杭州骑客智能科技有限公司 | Carting car and control method thereof |
| CN111820819A (en) * | 2019-04-20 | 2020-10-27 | 青岛塔波尔机器人技术股份有限公司 | Steering auxiliary assembly, cleaning equipment and steering control method of cleaning equipment |
| CN114104068A (en) * | 2021-11-17 | 2022-03-01 | 好孩子儿童用品有限公司 | Electric vehicle |
-
2017
- 2017-09-26 CN CN201721238699.0U patent/CN207311720U/en not_active Expired - Fee Related
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111820819A (en) * | 2019-04-20 | 2020-10-27 | 青岛塔波尔机器人技术股份有限公司 | Steering auxiliary assembly, cleaning equipment and steering control method of cleaning equipment |
| CN110550085A (en) * | 2019-07-30 | 2019-12-10 | 杭州骑客智能科技有限公司 | Carting car and control method thereof |
| CN114104068A (en) * | 2021-11-17 | 2022-03-01 | 好孩子儿童用品有限公司 | Electric vehicle |
| CN114104068B (en) * | 2021-11-17 | 2023-09-01 | 好孩子儿童用品有限公司 | Electric vehicle |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20180504 Termination date: 20210926 |