CN207496852U

CN207496852U - Human-computer interaction body-sensing vehicle

Info

Publication number: CN207496852U
Application number: CN201720815093.2U
Authority: CN
Inventors: 应佳伟; 肖科平
Original assignee: Hangzhou Chic Intelligent Technology Co Ltd
Current assignee: Hangzhou Chic Intelligent Technology Co Ltd
Priority date: 2017-01-04
Filing date: 2017-07-06
Publication date: 2018-06-15
Anticipated expiration: 2027-07-06
Also published as: CN207045553U; CN107444541B; CN107444541A; CN207496851U; CN207045551U; CN207045552U

Abstract

A kind of human-computer interaction body-sensing vehicle provided by the utility model, two wheels including car body and on car body, the wheel can rotate in radial directions around car body；The car body further comprises a support frame, is arranged on the support frame two foot pedal apparatus, sensing described two foot pedal apparatus relative to the support frame by the first position sensor of force information, to the driving device that drives the wheel and the driving device to be controlled to drive the control device that the wheel is mobile or turns to by force information according to described, the support frame is integral structure and is connect with vehicle wheel rotation, and the control device includes being horizontally set at the intraskeletal master board of tubular support.In this way, improve space availability ratio.

Description

Human-computer interaction body-sensing vehicle

Technical field

The utility model is related to a kind of balance cars, and in particular to a kind of human-computer interaction body-sensing vehicle.

Background technology

Human-computer interaction body-sensing vehicle, is called electrodynamic balance vehicle, thinking vehicle, and operation principles are mainly built upon one kind and are referred to as In the basic principle of " dynamic stability ", using the gyroscope and acceleration transducer of vehicle body, to detect the change of vehicle body attitude Change, and utilize servo-control system, accurately driving motor is adjusted correspondingly, to keep the balance of system.

Existing human-computer interaction body-sensing vehicle has been generally divided into operating lever and without this two class of operating lever, wherein the people with operating lever Machine interaction body-sensing vehicle, the steering of human-computer interaction body-sensing vehicle carry out concrete operations control by operating lever.Without band operating lever Human-computer interaction body-sensing vehicle, the advance of human-computer interaction body-sensing vehicle, to retreat controlled by the inclination of entire human-computer interaction body-sensing vehicle System, steering are then ridden by user on foot platform, and carried out by relative rotation angle difference between two foot platforms Control is realized.Wherein, it is mainly disclosed in patent CN201410262108.8 without the two-wheeled human-computer interaction body-sensing vehicle of operating lever Double-wheel self-balancing human-computer interaction body-sensing Che Wei represent, the inner cover in the balance car include symmetrically arranged left inside lid in the right side Lid, and the relatively right inner cover rotation connection of left inside lid.

So, the balance car, which has been used for the inner cover that support frame acts on, need to include left inside lid and right inner cover, and structure is relatively multiple It is miscellaneous.

Utility model content

The utility model is a kind of human-computer interaction body-sensing vehicle simple for structure proposed to overcome the prior art.

To achieve these goals, the utility model provides a kind of human-computer interaction body-sensing vehicle, including car body and set on vehicle Two wheels on body, the wheel can rotate in radial directions around car body；The car body further comprise a support frame, Two foot pedal apparatus being arranged on the support frame, to sense the relatively described support frame of described two foot pedal apparatus by The first position sensor of force information, to the driving device that drives the wheel and to be controlled according to by force information The driving device drives the control device that the wheel is mobile or turns to, and the support frame is integral structure and and wheel Rotation connection, the control device include being horizontally set at the intraskeletal master board of tubular support.

As further improvement of the utility model, power supply is equipped in the support frame, the master board is equipped with To the battery mating interface electrically docked with the power supply.

As further improvement of the utility model, the power supply is equipped with to be connected to each other with the battery mating interface Battery interface.

As further improvement of the utility model, the battery mating interface is located at the main control in the lateral direction The middle part of plate.

As further improvement of the utility model, the master board left and right ends be equipped with to both sides driving device And/or the external mating interface that first position sensor mutually electrically docks.

It is equipped with as further improvement of the utility model, between the support frame and wheel and is electrically connected the driving Device and the connector electrically to dock the external mating interface.

As further improvement of the utility model, the external mating interface is in the lateral direction positioned at the power supply Both ends.

As further improvement of the utility model, the master board is horizontally set at the top in the support frame End, the power supply are located at the lower section of the master board.

As further improvement of the utility model, front and rear sides above the power supply be equipped with along left and right extension to Support the rib that supports of the master board upwards, it is described to support the sky being equipped between rib between the master board and power supply Slot.

As further improvement of the utility model, the master board is the strip along left and right extension.

Due to the utilization of above-mentioned technical proposal, the utility model has advantages below：

The human-computer interaction body-sensing bassinet structure of the utility model is succinct, and the control device includes being horizontally set at tubulose branch Support intraskeletal master board.So set, the master board can preferably utilize the intraskeletal lengthwise of the tubular support Cavity space is accommodated, improves space availability ratio.

Description of the drawings

Fig. 1 is the three-dimensional combination figure of the utility model human-computer interaction body-sensing vehicle.

Fig. 2 is the three-dimensional combination figure of another angle of the utility model human-computer interaction body-sensing vehicle.

Fig. 3 is the three-dimensional combination figure of the another angle of the utility model human-computer interaction body-sensing vehicle.

Fig. 4 is along the sectional view of line A-A in Fig. 3.

Fig. 5 is the part isometric exploded view of the utility model human-computer interaction body-sensing vehicle wheel.

Fig. 6 is the three-dimensional combination figure of wheel relevant portion in Fig. 5.

Fig. 7 is the three-dimensional combination figure of car body relevant portion in Fig. 5.

Fig. 8 is the three-dimensional exploded view of the utility model human-computer interaction body-sensing vehicle.

Fig. 9 is the three-dimensional exploded view of another angle of the utility model human-computer interaction body-sensing vehicle.

Figure 10 is the support bracket fastened three-dimensional structure diagram of foot pedal apparatus of the utility model human-computer interaction body-sensing vehicle.

Figure 11 is the structural exploded view of foot pedal apparatus in Fig. 8.

Figure 12 is the structural exploded view of another angle of foot pedal apparatus in Figure 11.

Figure 13 is the structural exploded view of wheel relevant portion in Fig. 8.

Figure 14 is the structural exploded view of another angle of wheel relevant portion in Figure 13.

Figure 15 is the structural exploded view of car body relevant portion in Fig. 8.

Figure 16 is the structural exploded view of another angle of car body relevant portion in Figure 15.

Figure 17 is the sectional view of the foot pedal apparatus in Fig. 1, and fixing piece is shown in the figure.

Specific embodiment

In order to make the purpose of the utility model, technical solutions and advantages more clearly understood, below in conjunction with attached drawing and implementation Example, the present invention is further described in detail.It should be appreciated that specific embodiment described herein is only explaining this Utility model, not limiting the utility model.

It please refers to Fig.1 to shown in Figure 17, is the structure diagram of the utility model human-computer interaction body-sensing vehicle 100, including Car body 10 and two wheels 20 on car body 10, the wheel 20 can rotate in radial directions around car body 10；The vehicle Body 10 further comprises a support frame 11, is arranged on the support frame 11 two foot pedal apparatus 12, control device 15 with And the driving device (not shown) to drive the wheel 20, the support frame 11 be integral structure and with 20 turns of wheel Dynamic connection, each foot pedal apparatus 12 include sensing first position sensor 13 of the foot pedal apparatus 12 by force information, institute Control device 15 is stated according to two foot pedal apparatus 12 by force information, control the driving device drive the wheel 20 move or It turns to.It should be noted that wheel 20, which moves, refers to that driving device drives the output phase is same to export to two wheels 20, make Wheel 20 have identical rotating speed advance with car body or retreat (certainly in extreme circumstances may also be static, vehicle at this time State of the wheel 20 in a stress balance), the steering of wheel 20 refers to that driving device exports two different driving forces to vehicle Wheel 20, the rotating speed for making wheel 20 is different, so as to be turned to when car body being made to turn to or retreat when advancing.

The support frame 11 is equipped with the guide rail 112 of recess, is inserted with to install described in fixing on the guide rail 112 The foot pedal apparatus fixing bracket 18 of foot pedal apparatus 12.So set, simple in structure, convenient for assembling, and the support frame 11 can It is different convenient for being carried out according to the selection of the particular requirement of the two with the foot pedal apparatus fixing bracket 18 to be assembled after separately manufacturing Manufacturing process flow, such as in some embodiments, the support frame 11 is tubulose, separately manufacturing can be convenient for The support frame 11 is manufactured.The overall structure refers to relative to the left inside lid that setting can be rotated mutually in the prior art For right inner cover, the support frame 11 is the structure of globality, and in different embodiments, the overall structure can be Separable assembled is formed or is integrally formed.In addition, from the point of view of cross-sectional shape, the tubulose can include circular tube shaped, polygonal tube The tubulose of shape or any other cross-sectional shape；From the point of view of the extension mode on left and right directions, the tubulose is not limited to wait this example The tubulose of extension, can also be the various tubuloses irregularly extended, such as partial enlargement, part diminution, rotation, displacement etc..

The guide rail 112 extends in left-right direction, and set on the front side of support frame 11 and/or rear side.Herein, institute Left and right directions is stated i.e. along the axial direction of wheel 20.So set, the foot pedal apparatus fixing bracket 18 can be inserted in left-right direction It is connected on the support frame 11, the foot pedal apparatus fixing bracket 18 can be made to be held power by preferable in the up-down direction, Conducive to the support upwards to foot pedal apparatus 12.

112 left and right ends of guide rail are inserted with to foot-operated with 12 phase of the foot pedal apparatus installation fixing of left and right two respectively Device fixing bracket 18.So set, described two foot pedal apparatus 12 in left and right are immobilizated in the foot pedal apparatus fixing bracket 18 On.In the present embodiment, it is described to prolong to plug the unilateral guide rail 112 of the two foot pedal apparatus fixing brackets 18 in left and right and be integrated It stretches.It is described it is unilateral be front side or rear side, for example, the same guide rail 112 of the front side can grafting simultaneously holding two respectively The foot pedal apparatus fixing bracket 18 of foot pedal apparatus 12, centre are not interrupted, in this way, it is simple in structure, it manufactures and easy to assembly.At other In embodiment, the unilateral side guide rail 112 or independently of each other setting.

112 cross section of guide rail is T fonts.So set, the foot pedal apparatus fixing bracket 18 can be inserted in it is described It prevents from being detached from outward in guide rail 112.Certainly, in other embodiments, 112 cross section of guide rail may be configured as other shapes Shape, such as triangle, circle etc. need to only cause the bore of the opening of the guide rail to be less than the size of guide rail interior bore so that institute It is not easily to fall off to state foot pedal apparatus fixing bracket 18.

The foot pedal apparatus fixing bracket 18 include to laterally be inserted in the guide rail 112 plug portion 181 and The guide rail 112 is extended outward to install the mounting portion 183 for holding the foot pedal apparatus 12.It is so set, described foot-operated Device fixing bracket 18 can be immobilizated on support frame 11 to hold the foot pedal apparatus 12.

The mounting portion 183 is equipped with the holding hole 101 to hold foot pedal apparatus 12.So set, the holding hole It can be held on 101 and wear being bonded between the realization of the retaining pieces such as nut and foot pedal apparatus 12.

It the mounting portion 183 and plugs and is equipped with the extension that fits up and/or down with support frame 11 between portion 181 Support alar part 182.So set, the support alar part 182 can be held in the up-down direction on the support frame 11, carry The intensity of the high foot pedal apparatus fixing bracket 18 is stablized so as to improve the fixing between foot pedal apparatus 12 and support frame 11 Property.

In the present embodiment, the support frame 11 be along the axially extending circular tube shaped of wheel 20, the guide rail 112 and Foot pedal apparatus fixing bracket 18 is respectively positioned on the top half of the support frame 11.So set, the support frame 11 can be to On provide preferable holding power to the foot pedal apparatus fixing bracket 18.Certainly, the guide rail 112 and foot pedal apparatus fixing bracket 18 top halfs for being set to the support frame 11 are preferential embodiment, but the setting is not that this practicality is new The limitation that type is created.In other embodiments, the guide rail 112 and foot pedal apparatus fixing bracket 18 may be alternatively located at the support The middle part or lower half portion of skeleton 11.

T fonts is in 181 cross section of portion that plugs.So set, the portion 181 that plugs can be tight between guide rail 112 Cooperation improves fixing stability.In other embodiments, the plug division 118 corresponds to 112 cross section of guide rail and can set It is set to circle, triangle etc..

The human-computer interaction body-sensing vehicle 100 further comprises power supply 16, and the power supply 16 is to the driving device, One position sensor 13 and control device 15 are powered, and the control device 15 is controlling the power supply 16, driving device and One position sensor 13, and according to what first position sensor 13 was sensed driving letter is sent out to driving device by force information Number, so as to which wheel 20 be driven to rotate.

Axletree 21 is equipped between the wheel 20 and car body 10, the wheel 20 is rotatablely connected by the axletree 21 In on the car body 10.

Preferably, 10 center of gravity of car body is less than the axletree 21.So set, in the human-computer interaction body-sensing vehicle 100 in operation or non-operating state, and center of gravity can be overhang the axletree 21 by the car body 10 always as an entirety Following position can keep car body 10 that original state is kept not to be flipped up；Car body 10 is flipped up even by external force, Since the effect of gravity still can make car body 10 being returned to original position, so as to greatly facilitate the use of user. In other embodiment, the center of gravity of the car body 10 may be alternatively provided as being not below the axletree 21, the body gravity Setting can not become the reasons why limitation the utility model.

The wheel 20 is rotationally connected on the car body 10 by the axletree 21 and can be regarded as various ways, is such as existed In one specific embodiment, wheel 20 can be immobilizated on axletree 21, axletree 21 is rotationally connected on car body 10；Or at it Can also be that axletree 21 is fixed on car body 10 in his embodiment, and wheel 20 is rotated along axletree 21.

In the present embodiment, described 21 one end of axletree is connected with wheel 20, and the other end is connected with axletree and fixes Plate 23, the wheel axis fixing plate 23 are held with 10 phase of car body.In this way, the wheel 20 can be with the wheel axis fixing plate 23 are connected is assembled into support frame 11 up again later, consequently facilitating the modularization group between support frame 11 and wheel 20 Dress.

The axletree 21 is fixed on the first half of wheel axis fixing plate 23.So set, when the wheel axis fixing plate After 23 are installed to support frame 11 up, it can preferably realize that the center of gravity of the car body 10 is located at axletree below 21.

11 side of support frame is equipped with for the motor fixing seat 3 with 23 secure fit of wheel axis fixing plate, Rear 3 center of gravity of the motor fixing seat is assembled less than the axletree 21 with wheel axis fixing plate 23.It so set, can be further Ensure that 10 center of gravity of car body is less than the axletree 21.Specifically, the larger metal of quality can be used in the motor fixing seat 3 Etc. materials, ensure that 10 center of gravity of car body is located at axletree below 21 and keeps higher stability.

Gasket seal (not shown) is equipped between the wheel axis fixing plate 23 and motor fixing seat 3.In this way, it can make described There is preferable dustproof and waterproof and other effects between car body 10 and wheel 20.

The support frame 11 is equipped with the host cavity 110 to the mating motor fixing seat 3, and the motor is fixed Seat 3 includes the inserted terminal 32 being positioned in host cavity 110 to grafting and connection inserted terminal 32 to be closed in host cavity 110 The cap 31 in outside.In this way, the motor fixing seat 3 can be fixed by the inserted terminal 32 and the installation of support frame 11, it is described Cover is closed in 11 outside of support frame and plays preferable sealing effect.

Be equipped with the power supply 16 in the host cavity 110, the motor fixing seat 3 be equipped with laterally protrude out to receiving The positioning column 312 of the power supply 16 is supported in chamber 110.In this way, the motor fixing seat 3 can prevent 16 or so the rolling of power supply It is dynamic, improve the structural stability inside car body 10.

20 top of wheel is equipped with wheel cover 123, and 3 cap 31 of motor fixing seat has upwardly extended to be consolidated to grafting The grafting installation foot 311 of the fixed wheel cover 123.In this way, the wheel cover 123, which can be stablized, is immobilizated in the motor fixing seat On 3, convenient for assembling.In other embodiments, the wheel cover 123 can also be by other means immobilizated on car body 10.

Left and right extension and phase interworking are equipped between 10 host cavity 110 of car body and 3 inserted terminal 32 of motor fixing seat The stopper protrusion 111 of conjunction and limiting recess portion 321.So set, the motor fixing seat 3 on the one hand can be prevented in host cavity 110 Interior rotation；And can prevent two parts are counter to fill when assembling, fool proof positioning action is played, the stopper protrusion 111, which can also play, to be added Strengthening tendons act on, and increase the intensity of support frame 11, improve the structural stability of car body 10.In other embodiments, the limit Position protrusion 111 can also be set on inserted terminal 3, and the limiting recess portion 321 is arranged in host cavity 110.

The wheel axis fixing plate 23 is perpendicular to 21 line direction of axletree.So set, the wheel axis fixing plate 23 exists Deflection is not susceptible to during by 10 front-rear direction of car body and/or the active force of upper and lower directions, improves the wheel axis fixing plate 23 Fixing stability between car body 10.In other embodiments, the wheel axis fixing plate 23 can not also be perpendicular to vehicle 21 line direction of wheel shaft.

The driving device is set in the wheel 20, and the cable for connecting the driving device is equipped in the axletree 21 211, the cable 211 extends the wheel axis fixing plate 23 to be connected with control device 15 and/or power supply 16.So It sets, the driving device in the wheel 20 can pass through the cable 211 for passing through the wheel axis fixing plate 23 and the control fills Put 15 and/or power supply 16 be connected.Driving device, that is, the motor, in other embodiments, the driving device can also It is set in car body 20.

The motor fixing seat 3 be equipped with recess accommodating the container 33 for holding the wheel axis fixing plate 23.Such as This setting, the wheel axis fixing plate 23, which can accommodate, to be positioned in the container 33, so as to improve 10 external table of car body The planarization in face.In other embodiments, the motor fixing seat 3 can also be with a part or whole part one of support frame 11 Molding.

The wheel axis fixing plate 23 is rectangle, and the container 33 is and the 23 corresponding square of wheel axis fixing plate Shape.In other embodiments or other shapes.So set, the pluggable positioning axletree of container 33 Fixed plate 23 prevents the wheel axis fixing plate 23 from mobile or rotation occurs.

The foot pedal apparatus 12 further includes the pedal bottom plate 121 above the first position sensor 13, and described One position sensor 13 includes two sensing element regions 1313, and described two sensing element regions 1313 are distributed in described foot-operated The forepart and rear portion of bottom plate 121, two sensing element regions 1313 one end close to each other be equipped with to support frame 11 The second forced section 1312 directly or indirectly supported, the one end being located remotely from each other in described two sensing element regions 1313 are equipped with To the first forced section 1311 directly or indirectly to offset with the pedal bottom plate 121.In this way, the foot-operated bottom ought be stepped on downwards During plate 121, the first forced section 1311 of the front and rear sides by top-down power, and the second intermediate forced section 1312 by In by resist force from bottom to top, make first position sensor 13 that the similar arch deformation arched upward upwards, the deformation be presented Macroscopic deformation or microdeformation are can be understood as, so as to which the sensing element region 1313 for making the rear and front end senses deformation Amount.The bottom surface of first forced section 1311 is vacantly set, in this way when foot-operated floor 121 is by pedal force, the first forced section 1311 Possess the space moved down so that it is convenient to which sensing element region 1313 is made to arch upward upwards, certain second forced section 1312 it is upper Portion preferably can also vacantly be set.Preferably, the first gap is equipped between the pedal bottom plate 121 and sensing element region 1313 5, first gap 5 can provide the space that the sensing element region 1313 in first position sensor 13 is arched upward upwards.Certainly In other embodiments, the first forced section 1311 can be supported with support frame 11, the second forced section 1312 and pedal bottom plate 121 It supports, the bottom surface of the second forced section 1312 is vacantly set, and the top surface of the first forced section 1311 is preferably vacantly set, the embodiment The deformation principle in middle sensing element region 1313 is similar with above-mentioned deformation, and details are not described herein.It should be noted that same foot The distribution mode in two sensing element regions 1313 of 121 lower section of tread plate is not limited to the front and rear region of pedal bottom plate 121, also may be used To be distributed in the left and right region of pedal bottom plate 121.

Described directly support refers to be in direct contact realization there is no other component between the two and support, described to support indirectly Refer to support, such as in the present embodiment by the transmission of the power of other component realization between the two, second forced section Sensor fixed seat 125 is additionally provided in supporting between 1312 and support frame 11.

Specifically, as shown in figure 4, the foot pedal apparatus 12 includes directly holding with 1312 phase of the second forced section Sensor fixed seat 125, the sensor fixed seat 125 to the support frame 11 directly or indirectly hold.So Setting, the first position sensor 13 are installed on after being immobilizated in the sensor fixed seat 125 on support frame 11 again, The first position sensor 13 can be protected in installation process.It should be noted that sensor fixed seat 125 and sensing member The second gap 6 is equipped between part region 1313, in order to provide the space deformed downwards for sensing element region 1313.

As shown in figs. 4 and 17, in the present embodiment, the first forced section 1311 is equipped with first through hole 134, the second stress Portion 1312 is equipped with the second through-hole 1315, and pedal bottom plate 121 is equipped with the first mounting hole 1211, is set in sensor fixed seat 125 There is the second mounting hole 1251, the first forced section 1311 locks the first mounting hole by the first fixing piece 7 across first through hole 134 1211 mode is mounted on pedal bottom plate 121 and with being supported on pedal bottom plate 121, and the second forced section 1312 is fixed by second Part 8 pass through the second through-hole 1315 lock the second mounting hole 1251 mode be mounted on sensor fixed seat 125 on and and sensor Fixed seat 125 supports.

In the present embodiment, the first fixing piece 7 includes the connecting rod of screw rod 71, nut 72 and connecting screw 71 and nut 72 73, connecting rod 73 is the body of rod of smooth-sided compression candles, and connecting rod 73 is located in first through hole 134, and the first fixing piece 7 when in use, connects It is smooth contact between extension bar 73 and first through hole 134, it is possible to reduce the frictional force of connecting rod 73 and first through hole 134 avoids The problem of because of the excessive damage first through hole 134 of frictional force and then sensing element region 1313 being caused to deform.

The diameter of the connecting rod 73 is slightly smaller than in the internal diameter of the first through hole 134, in this way not influence first solid Determine part 7 by the first forced section 1311 be mounted on pedal bottom plate 121 installation effect while, can further reduce connecting rod 73 With the frictional force between first through hole 134.

Gasket assembly 9 is folded between the nut 72 and first forced section 1311, gasket assembly 9 can be to avoid For one fixing piece 7 when installing the first forced section 1311 to foot-operated floor 121,1311 stress of the first forced section is excessive to cause sense The problem of element area 1313 is answered to deform.

It is understood that the second fixing piece 8 can be arranged to the structure of the first fixing piece 7, or common spiral shell Bolt can also set gasket assembly between the head of the second fixing piece 8 and the second forced section 1312.

The first position sensor 13 is, for example, that pressure sensor includes former and later two ends 131 and connection described two The connecting portion 132 of a end 131, it is described to include second forced section 1312, first forced section per one end 131 1311 and the sensing element region 1313 between 1312 and first forced section 1311 of the second forced section.So set It puts, former and later two described ends 131 can be had an effect according to the difference of front and rear sole respectively senses different pressure informations.From another For in statement, described two sensing element regions 1313 are it can be appreciated that two different pressure sensors are tested respectively The difference of front and rear sole is had an effect.Two sensing element regions 1313 are connected by connecting portion 132, it can be an end During 131 stress, another end 131 has the tendency that sticking up by the effect of connecting portion 132, has the trend that is upturned in this way End 131 in sensing element region 1313 can understand one negative pressure of bad student in this way, would be even more beneficial to lead in this way to lower recess It crosses two sensing element regions 1313 and calculates pressure differential, make accuracy and the sensitivity of the pressure of the acquisition of first position sensor 13 Essence is improved, controls the power output of driving device by first position sensor 13 convenient for control device.

Generally, that is, the same foot pedal apparatus 12 is equipped with to sense same sole pressure information two The sensing element region 1313, the two of correspondence foot pedal apparatus 12 positions (tool that two sensing element regions 1313 sense Body is the forepart and rear portion of corresponding foot pedal apparatus 12) pressure that is subject to is pressure of the same sole on same foot pedal apparatus 12 Information is closer, the difference of the pressure sensed in two sensing element regions 1313 is same sole in same foot The pressure information on device 12 is stepped on, in other words, for same first position sensor 13, that is, control device 15 The pressure value that two sensing element regions 1313 of same first position sensor 13 sense is received, control device 15 is counted The difference of the two pressure values is calculated, each foot pedal apparatus 12 corresponds to a pressure difference value, and last control device 15 is according to two Wheel 20 described in relationship i.e. stress information-driven between stress difference rotates and then drives the vehicle of human-computer interaction body-sensing vehicle Body is mobile or turns to.

Specifically, when two foot pedal apparatus 12 (are referred specifically to pressure difference value, pressure difference value here is not by force information is identical Refer to pressure absolute value of the difference, but with direction, such as a foot pedal apparatus 12, forepart stress, pressure differential Value is denoted as honest, and the big pressure difference value of rear pressure is denoted as negative value) when, control device 15 control driving device the output phase with driving Power gives two wheels 20, makes two wheels, 20 velocity of rotation identical, realizes that car body 20 moves, as a kind of special circumstances, in car body During beinthebalancestate state, two wheels, 20 velocity of rotation is zero, and car body does not move at this time；When two 12 stress of foot pedal apparatus are believed When ceasing different, control device 15 controls driving device to export different driving forces to two wheels 20, and one of wheel 20 connects The driving force received is more than the driving force of another wheel 20 so that the velocity of rotation of two wheels 20 is different, so as to make it The movement speed of middle single wheel 20 is more than the movement speed of opposite side wheel 20, so as to fulfill steering.It should be noted that the One position sensor 13 can only control the rotation band motor vehicles bodies of wheel 20 mobile or turn to, but the rotation speed during movement of wheel 20 Degree also needs to control by other sensors.The driving force how control device 15 controls driving device the output phase same is seen below in detail It states.

Specifically, the human-computer interaction body-sensing vehicle 100 further comprises second position sensor (not shown), to sense The inclination information of 11 relative wheel 20 of support frame.So set, when user stands when on foot pedal apparatus 12, two foot-operated Device 12 it is identical by force information, can drive support frame 11 whole when user turns forward toward leaning forward, the second It puts after sensor senses the information that support frame 11 turns forward, sends out signal that support frame 11 turns forward to controlling dress 15 are put, the control of the control device 15 driving wheel 20 travels forward so that it is whole that there is sweptback power, play balance Effect.In addition, the angle of inclination that second position sensor sensing arrives is bigger, driving force is bigger.Specifically, the second position passes Sensor includes gyroscope, acceleration transducer and/or photoelectric sensor.Need what is illustrated, when user tilts backwards, wheel 20 It moves backward, principle is identical with the above-mentioned principle to travel forward, and details are not described herein.

In the present embodiment, the same foot pedal apparatus 12 is equipped with to sense same sole pressure information two Sensing element region 1313.In other embodiment, the first position sensor 13 can only set a sensing element area The sensor in domain 1313, that is, can be expressed as on the same foot pedal apparatus 12 being equipped with to sense same sole difference portion Two such first position sensors 13 of position pressure information, the control device 15 is to according to described two first positions The pressure differential of sensor 13 drives the wheel 20 to move or turn to.So set, when two 12 stress information gaps of foot pedal apparatus When identical, two wheels, 20 movement speed is identical, when two 12 stress information gap differences of foot pedal apparatus, wherein single wheel 20 Velocity of rotation be more than opposite side wheel 20 velocity of rotation or 20 rotation direction of both sides wheel on the contrary, so as to fulfill steering.

In the present embodiment, the first position sensor 13 is I-shaped first position sensor, in right and left The width of the upward connecting portion 132 is less than the width of the end 131.So set, before the connecting portion 132 can be fixed Two second forced section 1312 afterwards strengthens the intensity of first position sensor 13, and the relatively narrow connecting portion 132 can reduce the The weight of one position sensor 13, on the other hand, also can the first position sensor 13 have preferably elasticity to improve sense Sensibility plays a role.Certainly, in other embodiments, the shape of first position sensor 13 is not limited to adopt in this With circular weighing sensor etc..

The foot pedal apparatus 12 further includes the lower casing 126 between the sensor fixed seat 125 and car body 10.Such as This, can improve 10 outboard structure planarization of car body, play preferable protection and beauty function.

121 top of pedal bottom plate is equipped with foot pad 122, and the foot pad 122 is closed with 126 phase of lower casing and connected.Foot Pad 122 can be soft rubber material or other, in this way, the wearability and frictional force of foot pad 122 can be increased, can also improve user Comfort also plays preferable water proof and dust proof effect.

It please join shown in Fig. 3, the foot pedal apparatus 12 is ellipticity.In this way, user's safety in utilization can be improved, and more beautiful It sees.In other embodiments, the foot pedal apparatus 12 or other shapes.

The support frame 11 is the foot pedal apparatus on 10 front-rear direction of car body along the axially extending tubulose of wheel 20 12 are wider than the width of the support frame 11.12 lower section of foot pedal apparatus is recessed from bottom to top to support described in partial receipt Skeleton 11.So set, the whole structural stability of the car body 10 can be improved.

121 side of pedal bottom plate is equipped with the wheel cover 123 to be covered in 20 top of wheel, the wheel cover 123 It is separately set with foot pedal apparatus 12.In this way, it is easy to implement the respective manufacturing process of the two, in other embodiments, the foot Device 12 is stepped on the wheel cover 123 can also integrally to extend.In other embodiments, the wheel cover 123 and foot Stepping on the section components of device 12 can also be integrally formed.

The control device 15 includes the master board 150 being horizontally set in tubular support skeleton 11.The tubulose is not It is limited to the long cavate of pipe or cross section for other shapes.So set, the master board 150 can be utilized preferably Space availability ratio is improved in 110 space of lengthwise host cavity in the tubular support skeleton 11.In other embodiments, it is described Master board 150 can be otherwise placed in support frame 11.

Power supply 16 is equipped in the support frame 11, the master board 150 is equipped with to electrical with the power supply 16 The battery mating interface 152 of docking.The power supply 16 is equipped with the battery interface to be connected to each other with the battery mating interface 152 177.So set, being docked between the power supply 16 and master board 150 by the realization of modular interface, can avoid more Cable 211 the problems such as shuttling, avoiding 211 aging of cable generation, improve safety.

The battery mating interface 152 is located at the middle part of the master board 150 in the lateral direction.In this way, it can improve The degree of balance of master control borad in itself improves Assembly stability.In other embodiments, other positions be may also placed in.

150 left and right ends of master board are equipped with the external mating interface mutually electrically to be docked with both sides driving device 151.It can facilitate the external mating interface 151 can be opposite with the interface of driving device and/or first position sensor 13 outward It connects, conducive to preferable modularization assembling is realized.

It is equipped with the electric connection driving device and described electrically to dock between the support frame 11 and wheel 20 The connector 25 of external mating interface 151.The connector 25 can electrically be docked with the external mating interface 151, conducive to reality Existing modularization assembling preferable between driving device and car body 10.

The external mating interface 151 is located at the both ends of the power supply 16 in the lateral direction.In this way, the external docking Interface 151 can preferably utilize the remaining space at 11 interior power of support frame, 16 both ends, convenient to be docked with motor, and improve branch Space availability ratio inside support bone frame 11.

The master board 150 is horizontally set at the top in the support frame 11, and the power supply 16 is located at the master The lower section of control panel 150.So set, the master board 150 can preferably be protected not to be squeezed.

The front and rear sides of 16 top of the power supply are equipped with along left and right extension supporting the master board 150 upwards Support rib 1790, it is described to support the empty slot 179 being equipped between rib 1790 between the master board 150 and power supply 16.Such as This, can preferably support except the fixed master board 150, can also protect the element in master board 150 be not easy by To extruding.

In the present embodiment, the master board 150 is the strip along left and right extension.In this way, the master board 150 can improve space availability ratio preferably using the space on top in tubular support skeleton 11.In other embodiments, institute State master board 150 or other shapes.

Transmission connecting component is equipped in the human-computer interaction body-sensing vehicle 100, the transmission connecting component includes power delivery Component, Hall transmission part and the temperature transmission part to transmit temperature signal.So set, the temperature transmission part can To transmit the temperature signal of human-computer interaction body-sensing vehicle 100 to control device 15, when 100 corresponding component temperature of human-computer interaction body-sensing vehicle When degree reach a certain height, the corresponding protective programs such as shutdown can be started, improve 100 safety in utilization of human-computer interaction body-sensing vehicle.

The transmission part can be cable or plug terminal.In this way, signal transmission can be achieved.It is appreciated that this place The plug terminal be not limited to be arranged in diagram plug terminal 252 between power supply 16 and driving device or other Place is substituting the plug terminal of cable.It states cable and is also not necessarily limited to illustrated cable 211 or sets in this place Put cable elsewhere.

In the utility model different embodiments, when the transmission part is cable, 5 Hall lines, 2 can be included Item or 1 temperature line, 3 power cords.When the transmission part be plug terminal when, can include 3 power supply terminals, 5 suddenly That terminal, 2 or 1 temperature terminal.Certainly, in other specific embodiments or part using conducting wire, partly adopt It is transmitted with terminal.For example, in the present embodiment, the plug terminal 252 can be equipped with power supply terminal, but be not provided with Hall Terminal realizes corresponding function by separately powering up pond communication line.

Power supply 16 is equipped in the support frame 11, the power supply 16 is internally provided with to monitor 16 internal temperature of power supply Temperature sensor (not shown), the temperature transmission part connect the temperature sensor.In this way, can be used to sensing power supply 16 is It is no to there is a situation where temperature overheating, improve safety in utilization.

Axletree 21 is equipped between the wheel 20 and car body 10, the wheel 20 is rotatablely connected by the axletree 21 In on the car body 10, the driving device is set in the wheel 20, the driving device, that is, driving motor, the main control Plate 150 is equipped with the driving circuit (not shown) to control the driving device, is equipped with described in connection in the axletree 21 The cable 211 of driving device, the cable 211 extend the axletree 21 to be connected with a connector 25.Such as This setting, is equipped with the power supply, Hall and temperature transmission part between the driving device and the connector 25.In other realities Apply in mode, between the driving device and the connector 25 can not also set temperature transmission part, i.e. driving device can To be not provided with temperature sensor,

The connector 25 includes a frame mouth 251 and the institute of the cable 211 is correspondingly connected in the frame mouth 251 State plug terminal 252.

The power supply 16 is connected with external mating interface 151, and the external mating interface 151 and the connector 25 are mutual Docking.In this way, the connector 25 can be connected to each other with external mating interface 151, improve between driving device and power supply 16 Modularization assembling degree improves safety.

Further, connected between power supply 16 and external mating interface 151 by master board 150, the power supply 16 with The battery mating interface 152 being mutually inserted and battery interface 177, the external mating interface 151 are equipped between master board 150 In the master board 150, connected between the external mating interface 151 and power supply 16 by the master board 150. In this way, further improving the modularization assembling degree between master board 150 and power supply 16, safety is improved.

20 outside of wheel is equipped with wheel cover 123, and the wheel cover 123 is equipped with anticollision glue 127.So set, During use, the wheel cover 123 can be preferably protected.

Specifically, the anticollision glue 127 is convexly equipped in the outside of the wheel cover 123.In this way, it is simple in structure, it is easy to assembly. In other embodiments, the anticollision glue 127 can be also embedded in inside wheel cover 123, using being different from the slow of wheel cover 123 Wear-resistant material is rushed, material saving cost while improving durability.

Join described in Fig. 1, the anticollision glue 127 is located at the front and rear sides of wheel cover 123.In this way, material saving cost. In other embodiment, also anticollision glue 127 can be also installed at other positions.

The wheel cover 123 is immobilizated on the car body 10.The car body 10 includes being located at the wheel 20 and support rib Motor fixing seat 3 between frame 11.The motor fixing seat 3 positions the wheel 20 to be pivotally connected.

The motor fixing seat 3 upwardly extends the grafting installation foot 311 to wheel cover described in plugged and fixed 123, institute State the lower section of wheel cover 123 be equipped be recessed from bottom to top accommodating the installation slot 1230 of the grafting installation foot 311.Such as This, the wheel cover 123 can realize stable fixing with the motor fixing seat 3, and simple in structure, and assembling is firm.

123 lower section of wheel cover, which is equipped with, is located at the fixed column that 1230 front and rear sides of installation slot protrude out from top to bottom 1231, the motor fixing seat 3 be equipped with positioned at 311 front and rear sides of grafting installation foot and be recessed from top to bottom to grafting accommodate The fixing groove 313 of the fixed fixed column 1231.It can so further improve between wheel cover 123 and motor fixing seat 3 Hold stability.

Since size of the support frame 11 before and after car body 10 and/or in upper and lower directions is less than 20 diameter of wheel and institute It is along the axially extending circular tube shaped of wheel 20 to state support frame 11, and the wheel cover 123 is equipped with the wheel cap to cover wheel 20 Portion 1241 and the extension 1242 extended from wheel cap 1241 to the streamlined contraction in 11 direction of support frame.It is in this way, described Extension 1242 can make have preferable dustproof and waterproof function between the wheel 20 and car body 10, and can improve human-computer interaction body Feel the whole structure fluency of vehicle 100, cleaned convenient for user.

1242 extending end of extension be equipped with to the 11 matched installation gap 124 of support frame, such as This, improves the whole structural stability of human-computer interaction body-sensing vehicle 100.

The support frame 11 is equipped with the guide rail 112 of recess, and light bar 4 is inserted on the guide rail 112.So set, Simple installation；The light bar 4 can make the human-computer interaction body-sensing vehicle 100 have preferable warning recognition reaction when in use, carry The traffic safety of high user.

The guide rail 112 extends in left-right direction, and set on the front side of support frame 11 and/or rear side.In this way, make described Light bar 4 can be set on front side and/or the rear side of the support frame 11.

It is also inserted with that the foot pedal apparatus fixing bracket 18 for holding the foot pedal apparatus 12 is installed on the guide rail 112. So set, the foot pedal apparatus fixing bracket 18 and light bar 4 can share a guide rail 112, convenient for manufacture.

112 left and right ends of guide rail are inserted with to foot-operated with 12 phase of the foot pedal apparatus installation fixing of left and right two respectively Device fixing bracket 18, the light bar 4 is between the both ends foot pedal apparatus fixing bracket 18.In an assembling process, it can incite somebody to action Light bar 4 is first assigned into the guide rail 112, then the foot pedal apparatus fixing bracket 18 of the both sides is assigned into 4 both sides of light bar In guide rail 112, convenient for assembling.

4 rear side of light bar is fixed with the fixed strip 41 being plugged in the guide rail 112.It so set, can be by lamp It is fitted together after band 4 and 41 separately manufacturing of fixed strip, convenient for being manufactured for light bar 4.

112 cross section of guide rail is T fonts.41 cross section of fixed strip is T fonts.So set, the fixation Item 41 tightly coordinates with guide rail 112, improves the fixing stability between light bar 4 and support frame 11.In other embodiments, The cross section may be other shapes, and guarantee does not depart from after plugging.

The support frame 11 is along the axially extending circular tube shaped of wheel 20, the guide rail 112, foot pedal apparatus fixing bracket 18 and light bar 4 be respectively positioned on the top half of the support frame 11.So set, the support frame 11 can be upwards to the foot It steps on device fixing bracket 18 and preferable holding power is provided.In other embodiments, the guide rail 112, foot pedal apparatus fix branch Frame 18 and light bar 4 can be located at the middle part or lower half portion of the support frame 11.

It is equipped in the support frame 11 along the axially extending lengthwise open power supply 16 of wheel 20, the power supply 16 includes battery Shell 17, the battery case 17 and support frame 11 are metal material.So set, outside the battery of the metal material Shell 17 can make the power supply 16 for anti-explosion battery, and the support frame 11 of the metal material makes the explosion-proof electrical source 16 have more Further protection, the double-level-metal material protection can greatly improve the safety of the human-computer interaction body-sensing vehicle 100, Power supply 16 is avoided to explode caused safety accident.

In the present embodiment, the support frame 11 is aluminum pipe.In other embodiments, the support frame 11 Can be other metal materials.

The limiting groove 170 to cooperate and stopper protrusion 111 are equipped between the battery case 17 and support frame 11. So set, conducive to the positioning between the power supply 16 and support frame 11, mutual displacement is not susceptible to, is improved whole Stability, and anti-reverse mounting can be played the role of in assembling.

Size of the support frame 11 before and after car body 10 and/or in upper and lower directions is less than 20 diameter of wheel.So set It puts, the car body 10 has smaller size in front and rear and/or upper and lower directions, more saves materials cost and more portable.

The support frame 11 is along the axially extending circular tube shaped of wheel 20.So set, in the base with same volume Support frame 11 described in plinth has smaller surface area, so as to more save materials cost and allow car body 10 smallerization, gently Just change.On the other hand, the round and smooth support frame 11 in surface is not easy to generate larger damage and failure to user or periphery things. In other embodiments, the support frame 11, lengthwise shape power supply 16 along axletree 21 to cross section can also be square Shape, other polygons, ellipse or other irregular shapes.The power supply 16 of the lengthwise shape is along the axial cross-sectional area of wheel 20 Circle is matched with the support frame 11.

In the present embodiment, to be fixedly connected between the foot pedal apparatus 12 and support frame 11.The first position Sensor 13 can be used to sense the pressure information on the foot pedal apparatus 12.

In other embodiments, whether the first position sensor 13 can also have to sense on foot pedal apparatus 12 User, to control the start and stop of wheel 20.So set, an inductive switch need not be separately provided, so as to simplify 10 knot of car body Structure.Certainly, in other embodiments, inductive switch can also be separately provided.

The driving device can be set in wheel 20, so the drive can be set come in using the existing volume of wheel 20 Dynamic device, space availability ratio are high；In other embodiments, the driving device can also be set in support frame 11.Such as This setting, can be applicable to wheel 20 it is relatively small in the case of.

The foot pedal apparatus 12 includes pedal bottom plate 121 and the foot pad 122 above pedal bottom plate 121, and described the One position sensor 13 is set to 121 lower section of pedal bottom plate.So set, user can be trampled on the foot pad 122, Meets the needs of comfort is trampled in specific anti-skidding or raising.

The foot pedal apparatus 12 is compared to the outside deflection of front-rear direction.So set, it is suitable between two tiptoe of user Distance be wider than two heels distance stance, increase user's comfort level.It in other embodiments, can not also be inclined Tiltedly.

In conclusion the human-computer interaction body-sensing vehicle 100 of the utility model, only includes one branch between two wheels 20 The tubular support skeleton 11 of support effect, and foot pedal apparatus 12 is independently arranged on support frame 11, is mutually turned without two The mechanism of dynamic connection is used for setting foot pedal apparatus 12 respectively, existing balance car or swing car on the market to this, simple in structure, car body 10 be integral type, and scalability is strong, simplifies steering yoke or vehicle body separates rotational structure, vehicle body is firmer.

Although the utility model is disclosed above by preferred embodiment, the utility model is not limited to, it is any This known those skilled in the art, without departing from the spirit and scope of the utility model, can make some changes and embellishment, therefore this practicality Novel protection domain is when subject to claims range claimed.

Claims

1. a kind of human-computer interaction body-sensing vehicle, two wheels including car body and on car body, the wheel is in radial direction On can be rotated around car body；It is characterized in that：The car body further comprises a support frame, be arranged on the support frame two A foot pedal apparatus senses to sense the first position by force information of the relatively described support frame of described two foot pedal apparatus Device, to the driving device that drives the wheel and to according to it is described by force information controlled the driving device driving described in Wheel movement or the control device turned to, the support frame are integral structure and are connect with vehicle wheel rotation, the control dress It puts including being horizontally set at the intraskeletal master board of tubular support.

2. human-computer interaction body-sensing vehicle according to claim 1, it is characterised in that：Power supply, institute are equipped in the support frame Master board is stated equipped with the battery mating interface electrically to be docked with the power supply.

3. human-computer interaction body-sensing vehicle according to claim 2, it is characterised in that：The power supply be equipped with to the battery The battery interface that mating interface is connected to each other.

4. human-computer interaction body-sensing vehicle according to claim 2, it is characterised in that：The battery mating interface is in left and right directions The upper middle part for being located at the master board.

5. human-computer interaction body-sensing vehicle according to claim 2, it is characterised in that：The master board left and right ends, which are equipped with, to be used With the external mating interface mutually electrically docked with both sides driving device and/or first position sensor.

6. human-computer interaction body-sensing vehicle according to claim 5, it is characterised in that：It is equipped between the support frame and wheel It is electrically connected the driving device and the connector electrically to dock the external mating interface.

7. human-computer interaction body-sensing vehicle according to claim 5, it is characterised in that：The external mating interface is in left and right directions The upper both ends for being located at the power supply.

8. human-computer interaction body-sensing vehicle according to claim 2, it is characterised in that：The master board is horizontally set at described Top in support frame, the power supply are located at the lower section of the master board.

9. human-computer interaction body-sensing vehicle according to claim 2, it is characterised in that：Front and rear sides above the power supply are equipped with Along left and right extension to support the rib that supports of the master board upwards, it is described support to be equipped between rib be located at the main control Empty slot between plate and power supply.

10. human-computer interaction body-sensing vehicle according to claim 1, it is characterised in that：The master board is along left and right extension Strip.