CN208149512U - A kind of human-computer interaction body-sensing vehicle - Google Patents

A kind of human-computer interaction body-sensing vehicle Download PDF

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Publication number
CN208149512U
CN208149512U CN201820010270.4U CN201820010270U CN208149512U CN 208149512 U CN208149512 U CN 208149512U CN 201820010270 U CN201820010270 U CN 201820010270U CN 208149512 U CN208149512 U CN 208149512U
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CN
China
Prior art keywords
support frame
wheel
power supply
human
computer interaction
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Active
Application number
CN201820010270.4U
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Chinese (zh)
Inventor
应佳伟
肖科平
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Hangzhou Chic Intelligent Technology Co Ltd
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Hangzhou Chic Intelligent Technology Co Ltd
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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62K—CYCLES; CYCLE FRAMES; CYCLE STEERING DEVICES; RIDER-OPERATED TERMINAL CONTROLS SPECIALLY ADAPTED FOR CYCLES; CYCLE AXLE SUSPENSIONS; CYCLE SIDE-CARS, FORECARS, OR THE LIKE
    • B62K11/00—Motorcycles, engine-assisted cycles or motor scooters with one or two wheels
    • B62K11/007—Automatic balancing machines with single main ground engaging wheel or coaxial wheels supporting a rider
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62K—CYCLES; CYCLE FRAMES; CYCLE STEERING DEVICES; RIDER-OPERATED TERMINAL CONTROLS SPECIALLY ADAPTED FOR CYCLES; CYCLE AXLE SUSPENSIONS; CYCLE SIDE-CARS, FORECARS, OR THE LIKE
    • B62K3/00—Bicycles
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L15/00—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles
    • B60L15/20—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed
    • B60L15/24—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed with main controller driven by a servomotor
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62J—CYCLE SADDLES OR SEATS; AUXILIARY DEVICES OR ACCESSORIES SPECIALLY ADAPTED TO CYCLES AND NOT OTHERWISE PROVIDED FOR, e.g. ARTICLE CARRIERS OR CYCLE PROTECTORS
    • B62J25/00—Foot-rests; Knee grips; Passenger hand-grips
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62J—CYCLE SADDLES OR SEATS; AUXILIARY DEVICES OR ACCESSORIES SPECIALLY ADAPTED TO CYCLES AND NOT OTHERWISE PROVIDED FOR, e.g. ARTICLE CARRIERS OR CYCLE PROTECTORS
    • B62J45/00—Electrical equipment arrangements specially adapted for use as accessories on cycles, not otherwise provided for
    • B62J45/40—Sensor arrangements; Mounting thereof
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62J—CYCLE SADDLES OR SEATS; AUXILIARY DEVICES OR ACCESSORIES SPECIALLY ADAPTED TO CYCLES AND NOT OTHERWISE PROVIDED FOR, e.g. ARTICLE CARRIERS OR CYCLE PROTECTORS
    • B62J6/00—Arrangement of optical signalling or lighting devices on cycles; Mounting or supporting thereof; Circuits therefor
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62K—CYCLES; CYCLE FRAMES; CYCLE STEERING DEVICES; RIDER-OPERATED TERMINAL CONTROLS SPECIALLY ADAPTED FOR CYCLES; CYCLE AXLE SUSPENSIONS; CYCLE SIDE-CARS, FORECARS, OR THE LIKE
    • B62K11/00—Motorcycles, engine-assisted cycles or motor scooters with one or two wheels
    • B62K11/02—Frames
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62K—CYCLES; CYCLE FRAMES; CYCLE STEERING DEVICES; RIDER-OPERATED TERMINAL CONTROLS SPECIALLY ADAPTED FOR CYCLES; CYCLE AXLE SUSPENSIONS; CYCLE SIDE-CARS, FORECARS, OR THE LIKE
    • B62K23/00—Rider-operated controls specially adapted for cycles, i.e. means for initiating control operations, e.g. levers, grips
    • B62K23/08—Rider-operated controls specially adapted for cycles, i.e. means for initiating control operations, e.g. levers, grips foot actuated
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62K—CYCLES; CYCLE FRAMES; CYCLE STEERING DEVICES; RIDER-OPERATED TERMINAL CONTROLS SPECIALLY ADAPTED FOR CYCLES; CYCLE AXLE SUSPENSIONS; CYCLE SIDE-CARS, FORECARS, OR THE LIKE
    • B62K3/00—Bicycles
    • B62K3/02—Frames
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62M—RIDER PROPULSION OF WHEELED VEHICLES OR SLEDGES; POWERED PROPULSION OF SLEDGES OR SINGLE-TRACK CYCLES; TRANSMISSIONS SPECIALLY ADAPTED FOR SUCH VEHICLES
    • B62M6/00—Rider propulsion of wheeled vehicles with additional source of power, e.g. combustion engine or electric motor
    • B62M6/40—Rider propelled cycles with auxiliary electric motor
    • B62M6/45—Control or actuating devices therefor
    • B62M6/50—Control or actuating devices therefor characterised by detectors or sensors, or arrangement thereof
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62M—RIDER PROPULSION OF WHEELED VEHICLES OR SLEDGES; POWERED PROPULSION OF SLEDGES OR SINGLE-TRACK CYCLES; TRANSMISSIONS SPECIALLY ADAPTED FOR SUCH VEHICLES
    • B62M6/00—Rider propulsion of wheeled vehicles with additional source of power, e.g. combustion engine or electric motor
    • B62M6/80—Accessories, e.g. power sources; Arrangements thereof
    • B62M6/90—Batteries
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62M—RIDER PROPULSION OF WHEELED VEHICLES OR SLEDGES; POWERED PROPULSION OF SLEDGES OR SINGLE-TRACK CYCLES; TRANSMISSIONS SPECIALLY ADAPTED FOR SUCH VEHICLES
    • B62M7/00—Motorcycles characterised by position of motor or engine
    • B62M7/12—Motorcycles characterised by position of motor or engine with the engine beside or within the driven wheel
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L2200/00—Type of vehicles
    • B60L2200/12—Bikes
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L2250/00—Driver interactions
    • B60L2250/22—Driver interactions by presence detection
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62K—CYCLES; CYCLE FRAMES; CYCLE STEERING DEVICES; RIDER-OPERATED TERMINAL CONTROLS SPECIALLY ADAPTED FOR CYCLES; CYCLE AXLE SUSPENSIONS; CYCLE SIDE-CARS, FORECARS, OR THE LIKE
    • B62K2202/00—Motorised scooters
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62K—CYCLES; CYCLE FRAMES; CYCLE STEERING DEVICES; RIDER-OPERATED TERMINAL CONTROLS SPECIALLY ADAPTED FOR CYCLES; CYCLE AXLE SUSPENSIONS; CYCLE SIDE-CARS, FORECARS, OR THE LIKE
    • B62K2204/00—Adaptations for driving cycles by electric motor
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/72—Electric energy management in electromobility

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Transportation (AREA)
  • Power Engineering (AREA)
  • Motorcycle And Bicycle Frame (AREA)
  • Mechanical Control Devices (AREA)

Abstract

The utility model discloses a kind of human-computer interaction body-sensing vehicles, two wheels including car body and on car body, car body includes a support frame, two foot pedal apparatus on the support frame are set, control device and power supply, the left and right ends of the support frame are connect with vehicle wheel rotation, the support frame is integral structure, power supply and control device are accommodated in the lengthwise accommodating chamber of the support frame, first position sensor to sense the relatively described support frame of described two foot pedal apparatus by force information, control device is according to described by force information, it controls wheel driver and drives the vehicle wheel rotation；Support frame is made of metal.The technical program is simple for structure, does not need mutually be rotatablely connected two footstep mechanisms foot pedal apparatus is respectively set, compares existing balance car or swing car on the market, structure is simple, and car body is integral type, and scalability is strong, it simplifies steering yoke or vehicle body separates rotational structure, vehicle body is firmer.

Description

A kind of human-computer interaction body-sensing vehicle
Technical field
The utility model relates to a kind of balance cars, and in particular to a kind of human-computer interaction body-sensing vehicle.
Background technique
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 stick and without operating stick these two types, wherein the people with operating stick Machine interacts body-sensing vehicle, and advance, retrogressing and the steering of human-computer interaction body-sensing vehicle carry out concrete operations control by operating stick.And Without the human-computer interaction body-sensing vehicle of operating stick, advance, the retrogressing of human-computer interaction body-sensing vehicle are by entire human-computer interaction body-sensing vehicle Inclination control, steering is then ridden on foot platform by user, and passes through relative rotation angle between two foot platforms Difference is spent to carry out control realization.It wherein, is mainly patent without the two-wheeled human-computer interaction body-sensing vehicle of operating stick The revealed double-wheel self-balancing human-computer interaction body-sensing Che Wei of CN201410262108.8 is represented, and the inner cover in the balance car includes pair Claim the left inside lid and right inner cover of setting, and the relatively right inner cover rotation connection of left inside lid.
So, the inner cover that the balance car has been used for support frame effect need to include left inside lid and right inner cover, and structure is relatively multiple It is miscellaneous.
Summary of the invention
In order to solve the above technical problems, the purpose of the utility model is to provide a kind of human-computer interaction bodies simple for structure Feel vehicle.
To achieve the above object, the utility model uses technical solution below：
A kind of human-computer interaction body-sensing vehicle, two wheels including car body and on car body, the car body include a support Skeleton, two foot pedal apparatus, control device and the power supply being arranged on the support frame, the left and right ends of the support frame and vehicle Wheel rotation connection, the support frame are integral structure, and power supply and control device are accommodated in the lengthwise receiving of the support frame It is intracavitary, first position sensor to sense the relatively described support frame of described two foot pedal apparatus by force information, control dress It sets according to described by force information, controls wheel driver and drive the vehicle wheel rotation；The support frame is made of metal.
Preferably, the support frame includes the top half being fixedly connected and lower half portion, the support frame It is hollow to form the accommodating chamber for storing power supply and control device between top half and lower half portion.
It is fixed preferably, the left and right sides of support frame rearward expands the sensor for extending to be formed foot pedal apparatus Seat, the tubulose so that entire support frame is in U-shape, wheel are located at the front of car body and foot pedal apparatus.
Preferably, the car body includes the motor fixing seat between the wheel and support frame, the motor Fixing seat is connected to be pivotally connected the positioning wheel, the axletree of wheel by the support frame of motor fixing seat and car body.
Preferably, described axletree one end is connected with wheel, the other end is connected with wheel axis fixing plate, the wheel Axis fixing plate is fixedly connected with the motor fixing seat on the car body；Motor fixing seat can be with support frame separately manufacturing and group Dress is fixed, and the motor fixing seat can also be integrally formed with a part or whole part of support frame.
Preferably, the control device includes the master board being set in the accommodating chamber of support frame, master board It is the strip extended along left and right with power supply, the master board is equipped with the battery pair electrically to dock with the power supply Connection interface, the power supply are equipped with the battery interface to be connected to each other with the battery mating interface, and the battery mating interface exists It is located at the middle part of the master board on left and right directions；The master board left and right ends are equipped with to be filled to drive with two sides wheel The external mating interface mutually electrically docked is set, the external mating interface is located in the lateral direction outside the both ends of the power supply Side, the master board are set to the top in the support frame accommodating chamber, and the power supply is located under the master board Side.
Preferably, the power supply includes battery case and the battery that is placed in battery case, the battery case is Metal material.
Preferably, the front and rear sides above the battery case are equipped with along left and right extension to support the master upwards Control panel supports rib, described to support the empty slot being equipped between the master board and power supply between rib.
Preferably, master board and power supply are fixed below the top half of support frame by battery plate.
Preferably, battery plate is U-board shape, the U-shaped both side ends of battery plate and the top half of support frame It is fixedly connected, accommodating power supply and master board in the U-shaped intermediate space of battery plate.
Preferably, one side of U-shaped of battery plate and the top half of support frame are hooked and are connected, the U of battery plate Another side of shape is connect by fastener or buckle with the top half of support frame.
Preferably, being equipped with mutually matched limiting groove and positioning convex portion between the battery case and battery plate.
Preferably, the first position sensor includes former and later two sensing element regions, former and later two described sensings The middle part forced section directly or indirectly to support with support frame, described two sensing element regions are equipped between element area Front and rear sides be equipped with to the outside forced section that offsets with the pedal bottom plate.
For the utility model due to the technical solution more than using, human-computer interaction body-sensing bassinet structure is succinct, in two wheels Between only include a tubular support skeleton to play a supportive role, and foot pedal apparatus is independently arranged on support frame, without Two footstep mechanisms to be mutually rotatablely connected are respectively set foot pedal apparatus, comparison existing balance car or swing car on the market, Structure is simple, and car body is integral type, and scalability is strong, simplifies steering yoke or vehicle body separates rotational structure, vehicle body is firmer.
Detailed description of the invention
Fig. 1 is the three-dimensional combination figure of the first embodiment human-computer interaction body-sensing vehicle of the utility model.
Fig. 2 is the three-dimensional combination figure of the first another angle of embodiment human-computer interaction body-sensing vehicle of the utility model.
Fig. 3 is the three-dimensional combination figure of the first another angle of embodiment human-computer interaction body-sensing vehicle of the utility model.
Fig. 4 is the cross-sectional view in Fig. 3 along line A-A.
Fig. 5 is the part isometric exploded view of the first embodiment human-computer interaction body-sensing vehicle wheel of the utility model.
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 stereogram exploded view of the first embodiment human-computer interaction body-sensing vehicle of the utility model.
Fig. 9 is the stereogram exploded view of the first another angle of embodiment human-computer interaction body-sensing vehicle of the utility model.
Figure 10 is the support bracket fastened solid of foot pedal apparatus of the first embodiment human-computer interaction body-sensing vehicle of the utility model Structure chart.
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 three-dimensional combination figure (visual angle one) of second of embodiment human-computer interaction body-sensing vehicle of the utility model.
Figure 18 is the three-dimensional combination figure (visual angle two) of second of embodiment human-computer interaction body-sensing vehicle of the utility model.
Figure 19 is the structural exploded view of second of embodiment human-computer interaction body-sensing vehicle of the utility model.
Figure 20 is the partial sectional view of second of embodiment human-computer interaction body-sensing vehicle of the utility model.
Specific embodiment
The embodiments of the present invention are described below in detail, examples of the embodiments are shown in the accompanying drawings, wherein from beginning Same or similar element or element with the same or similar functions are indicated to same or similar label eventually.Below by ginseng The embodiment for examining attached drawing description is exemplary, it is intended to for explaining the utility model, and should not be understood as to the utility model Limitation.
In the description of the present invention, it should be understood that term " center ", " longitudinal direction ", " transverse direction ", " length ", " width Degree ", " thickness ", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom" "inner", " up time The orientation or positional relationship of the instructions such as needle ", " counterclockwise " is to be based on the orientation or positional relationship shown in the drawings, and is merely for convenience of Describe the utility model and simplify description, rather than the device or element of indication or suggestion meaning must have a particular orientation, It is constructed and operated in a specific orientation, therefore should not be understood as limiting the present invention.
In addition, term " first ", " second " are used for descriptive purposes only and cannot be understood as indicating or suggesting relative importance Or implicitly indicate the quantity of indicated technical characteristic.Define " first " as a result, the feature of " second " can be expressed or Implicitly include one or more of the features.In the description of the present invention, unless otherwise indicated, the meaning of " multiple " It is two or more, unless otherwise restricted clearly.
In the present invention unless specifically defined or limited otherwise, term " installation ", " connected ", " connection ", " Gu Calmly ", the terms such as " fixing " shall be understood in a broad sense, for example, it may be being fixedly connected, may be a detachable connection, or integrally Connection；It can be mechanical connection, be also possible to be electrically connected；Can be directly connected, can also indirectly connected through an intermediary, It can be the connection inside two elements.For the ordinary skill in the art, on can understanding as the case may be State the concrete meaning of term in the present invention.
In the present invention unless specifically defined or limited otherwise, fisrt feature the "upper" of second feature or it "lower" may include that the first and second features directly contact, and also may include that the first and second features are not direct contacts but lead to Cross the other characterisation contact between them.Moreover, fisrt feature includes above the second feature " above ", " above " and " above " One feature is right above second feature and oblique upper, or is merely representative of first feature horizontal height higher than second feature.First is special Sign is directly below and diagonally below the second feature including fisrt feature under the second feature " below ", " below " and " below ", or only Indicate that first feature horizontal height is less than second feature.
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 will be further described in detail.It should be appreciated that specific embodiment described herein is only to explain this Utility model, not to limit the utility model.
The utility model in order to express easily, with the parallel horizontal direction in human-computer interaction body-sensing vehicle straight trip direction as front and back Direction, using the horizontal direction vertical with human-computer interaction body-sensing vehicle straight trip direction as left and right directions, with straight with human-computer interaction body-sensing vehicle The vertical vertical direction of line direction is up and down direction.
The structure of the first embodiment of the utility model human-computer interaction body-sensing vehicle 100 as shown in Fig. 1 to Figure 16 is such as Under：
Human-computer interaction body-sensing vehicle 100 comprising car body 10 and two wheels 20 on car body 10, the wheel 20 exist It can be rotated in the radial direction around car body 10；The car body 10 further comprises a support frame 11, is arranged in the support frame 11 On two foot pedal apparatus 12, first position sensor 13, control device 15 and to drive the driving of the wheel 20 to fill Set (not shown), the support frame 11 is integral structure and connect with wheel 20, the first position sensor 13 to Sense the relatively described support frame 11 of described two foot pedal apparatus 12 by force information, the control device 15 is according to the stress Information controls the driving device and drives the wheel 20 mobile or rotation, and the support frame 11 is equipped with the guide rail of recess 112, it is inserted on the guide rail 112 to install the fixed bracket 18 of foot pedal apparatus for holding the foot pedal apparatus 12.So set It sets, structure is simple, and convenient for assembling, and the support frame 11 can be group after separately manufacturing with the fixed bracket 18 of the foot pedal apparatus Dress, convenient for carrying out different manufacturing process flows according to the selection of the particular requirement of the two, such as in some embodiments, The support frame 11 is tubulose, and separately manufacturing can be manufactured convenient for the support frame 11.
For the overall structure refers to the left inside lid and right inner cover that setting can be rotated mutually in compared with the existing technology, institute State support frame 11 be globality structure, in different embodiments, the overall structure can be separable assembled form or It is integrally formed, for example, support frame 11 as shown in Figure 8, Figure 9 is integral structure, support rib as shown in Figures 17 to 19 Frame 11 takes separable assembled to form, the top half 1101 including being fixedly connected and lower half portion 1102.In addition, from cross section shape From the point of view of shape, the tubulose may include the tubulose of circular tube shaped, multiangular tubular or any other cross-sectional shape；From left and right directions On extension mode from the point of view of, the tubulose be not limited to equal proportion extension tubulose, can also be the various tubuloses irregularly extended, Such as partial enlargement, part diminution, rotation, displacement etc., such as support frame 11 shown in Figure 17, Figure 18, the two of its tubulose End part, which expands, to be extended for foot pedal apparatus to be arranged, the tubulose so that entire support frame is in U-shape.
The guide rail 112 extends in left-right direction, and is set to front side and/or the rear side of support frame 11.Herein, institute Left and right directions is stated i.e. along the axial direction of wheel 20.So set, the fixed bracket 18 of the foot pedal apparatus can be inserted in left-right direction It is connected on the support frame 11, the fixed bracket 18 of the foot pedal apparatus 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 fixes bracket 18.So set, the foot pedal apparatus 12 of the left and right two is immobilizated in the fixed bracket 18 of the foot pedal apparatus On.In the present embodiment, the unilateral guide rail 112 to plug the fixed bracket 18 of the foot pedal apparatus of left and right two, which is integrated, prolongs 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 to hold two respectively The fixed bracket 18 of the foot pedal apparatus of foot pedal apparatus 12, centre is not interrupted, in this way, structure is simple, is manufactured and easy to assembly.At other In embodiment, the unilateral side guide rail 112 can also be mutually indepedent setting.
112 cross section of guide rail is T font.So set, the fixed bracket 18 of the foot pedal apparatus 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. only need so that the bore of the opening of the guide rail is less than the size of guide rail interior bore, so that institute It is not easily to fall off to state the fixed bracket 18 of foot pedal apparatus.
The fixed bracket 18 of the foot pedal apparatus include to be laterally 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.So set, described foot-operated The fixed bracket 18 of device 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 being equipped between portion 181 and fits up and/or down with support frame 11 extension Support alar part 182.So set, the support alar part 182 can be held in the up-down direction on the support frame 11, mention The intensity of the high fixed bracket 18 of the foot pedal apparatus, so that the fixing improved between foot pedal apparatus 12 and support frame 11 is stablized Property.
In the present embodiment, the support frame 11 be the circular tube shaped axially extending along wheel 20, the guide rail 112 and The fixed bracket 18 of foot pedal apparatus 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 fixed bracket 18 of the foot pedal apparatus.Certainly, the guide rail 112 and the fixed bracket of foot pedal apparatus 18 top halfs for being set to the support frame 11 are preferential embodiment, but the setting is not that this is practical new The limitation that type is created.In other embodiments, the guide rail 112 and the fixed bracket 18 of foot pedal apparatus may be alternatively located at the support The middle part or lower half portion of skeleton 11.
181 cross section of portion that plugs is T font.So set, the portion 181 that plugs can be tight between guide rail 112 Cooperation improves fixing stability.In other embodiments, corresponding 112 cross section of guide rail in the plug division 118 can be 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 to control the power supply 16, driving device and the One position sensor 13, and driving signal is issued to driving device according to the stress that first position sensor 13 is sensed, from And wheel 20 is 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 lower 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 always as a whole by the car body 10 Position below 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, to greatly facilitate the use of user.? In other embodiments, 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 can be regarded as various ways, such as exist In one specific embodiment, wheel 20 can be immobilizated on axletree 21, axletree 21 is rotationally connected on car body 10；Or at it It is also possible to axletree 21 in his embodiment to be fixed on car body 10, 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 later again, consequently facilitating the modularization group between support frame 11 and wheel 20 Dress.
The axletree 21 is fixed on the upper half of wheel axis fixing plate 23.So set, working as 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 21 or less axletree.
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 lower than the axletree 21 with wheel axis fixing plate 23.So set, can be further Guarantee 10 center of gravity of car body lower than the axletree 21.Specifically, the biggish metal of quality can be used in the motor fixing seat 3 Etc. materials, guarantee that 10 center of gravity of car body is located at 21 or less axletree 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, 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 accommodating chamber 110 to the mating motor fixing seat 3, and the motor is fixed Seat 3 includes the inserted terminal 32 being positioned in accommodating chamber 110 to grafting and connection inserted terminal 32 to be closed in accommodating chamber 110 The cover 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, which is closed on the outside of support frame 11, plays preferable sealing effect.
Be equipped with the power supply 16 in the accommodating chamber 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 the power supply 16 or so from shaking It is dynamic, improve the structural stability inside car body 10.
Wheel cover 123 is equipped with above the wheel 20,3 cover 31 of motor fixing seat has upwardly extended solid 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 his embodiment, the wheel cover 123 can also be immobilizated in by other means on car body 10.
Left and right extension and phase interworking are equipped between 10 accommodating chamber 110 of car body and 3 inserted terminal 32 of motor fixing seat The stopper protrusion 111 and limit recess portion 321 of conjunction.So set, on the one hand the motor fixing seat 3 can be prevented in accommodating chamber 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 effect, increases the intensity of support frame 11, improves the structural stability of car body 10.In other embodiments, the limit Position protrusion 111 also can be set on inserted terminal 3, and the limit recess portion 321 is arranged in accommodating chamber 110.
The wheel axis fixing plate 23 is perpendicular to 21 line direction of axletree.So set, the wheel axis fixing plate 23 exists It is not susceptible to deflection when by 10 front-rear direction of car body and/or the active force of up and down direction, improves the wheel axis fixing plate 23 Fixing stability between car body 10.In his embodiment, the wheel axis fixing plate 23 can also be not orthogonal to wheel 21 line direction of axis.
The driving device is set in the wheel 20, is equipped with the cable for connecting the driving device 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 is arranged, 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 Set 15 and/or power supply 16 be connected.Driving device, that is, the motor, in other embodiments, the driving device can also be with It is set in car body 20.
The motor fixing seat 3 is equipped with recess to accommodate 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, 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, such as in embodiment as shown in figure 19,1101 one of top half of motor fixing seat 3 and support frame 11 at Type.
The wheel axis fixing plate 23 is rectangle, and the container 33 is square corresponding with the wheel axis fixing plate 23 Shape.It in other embodiments, can also be 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 includes the pedal bottom plate 121 positioned at 13 top of the first position sensor, and described first Position sensor 13 includes former and later two sensing element regions 1313, is equipped between former and later two described sensing element regions 1313 To the middle part forced section 1312 directly or indirectly supported with support frame 11, the front and back in described two sensing element regions 1313 Two sides are equipped with the outside forced section 1311 to offset with the pedal bottom plate 121.In this way, the pedal bottom plate ought be stepped on downwards When 121, the outside forced sections 1311 of the front and rear sides by top-down power, and intermediate middle part forced section 1312 due to By resist force from bottom to top, make first position sensor 13 that the similar arch deformation arched upward upwards be presented, the deformation can To be interpreted as macroscopic deformation or microdeformation.To make the sensing element region 1313 of the rear and front end sense deflection. Described directly support refer to and directly contact realization there is no other component between the two and support, and described support indirectly both refers to Between supported by the transmitting realization of the power of other component, such as in the present embodiment, the middle part forced section 1312 and branch Sensor fixing seat 125 is additionally provided in supporting between support bone frame 11.It please specifically join shown in Fig. 4, the pedal bottom plate 121 and Gap 5 is equipped between one position sensor 13.The gap 5 can provide the sky to arch upward upwards among first position sensor 13 Between.
Specifically, in the present embodiment, the gap 5 be set to the middle part forced section 1312 and pedal bottom plate 121 it Between.In other embodiments, the gap 5 can also be set between entire first position sensor 13 and pedal bottom plate 121.
The first position sensor 13 includes the connection of former and later two ends 131 and the described two ends 131 of connection Portion 132, every one end 131 include the middle part forced section 1312, the outside forced section 1311 and are located at described Sensing element region 1313 between middle part forced section 1312 and outside forced section 1311.So set, former and later two described ends Portion 131 can have an effect respectively according to the difference of front and back sole and sense different pressure informations.For from another statement, described two A sensing element region 1313 is it can be appreciated that two different positions sensor is sent out to test the different of front and back sole respectively Power.
It is respectively equipped on two middle part forced section 1312 to consolidate with what the support frame 11 was directly or indirectly held Hole 101 is held, the holding hole 101 to hold with 121 phase of pedal bottom plate is respectively equipped on two outside forced section 1311.So It is arranged, the retaining pieces such as screw can be worn in the holding hole 101, is fixed convenient for assembling.
In the present embodiment, the first position sensor 13 is I-shaped, in the lateral direction the interconnecting piece 132 Width be less than the end 131 width.So set, the interconnecting piece 132 can fix two middle part forced section of front and back 1312, reinforce the intensity of first position sensor 13, and the relatively narrow interconnecting piece 132 can reduce first position sensor 13 Weight, on the other hand, can also the first position sensor 13 have preferably elasticity to improve sensing sensibility play centainly Effect.
The foot pedal apparatus 12 includes directly to hold with middle part 1312 phase of forced section described in first position sensor 13 Sensor fixing seat 125, the sensor fixing seat 125 to the direct or indirect fixing of the support frame 11.So Setting, the first position sensor 13 are installed on support frame 11 again after being immobilizated in the sensor fixing seat 125, The first position sensor 13 can be protected during the installation process.
The foot pedal apparatus 12 further includes the lower casing 126 between the sensor fixing seat 125 and car body 10.Such as This, can be improved 10 outboard structure planarization of car body, play preferable protection and beauty function.
Foot pad 122 is equipped with above the pedal bottom plate 121, the foot pad 122 is closed with 126 phase of lower casing and connected.Foot Pad 122 can for soft rubber material or other in this way, the wearability and frictional force of foot pad 122 can be increased user also can be improved 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 tubulose axially extending along wheel 20, the foot pedal apparatus on 10 front-rear direction of car body 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 With 12 split settings of foot pedal apparatus.In this way, being easy to implement the respective manufacturing process of the two, in other embodiments, the foot Stepping on device 12 and the wheel cover 123 can also integrally extend.In other embodiments, the wheel cover 123 and foot The section components for stepping on device 12 can also be integrally formed.
The same foot pedal apparatus 12 is equipped with two sensing element areas to sense same sole pressure information Domain 1313, the control device 15 according to the pressure difference in described two sensing element regions 1313 to drive the wheel 20 to move Dynamic or rotation.
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 round tube, can also is the long cavate that cross section is other shapes.So set, the master board 150 can be utilized preferably Space utilization rate is improved in 110 space of lengthwise accommodating chamber in the tubular support skeleton 11.In his embodiment, the master Control panel 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 be avoided more Cable 211 shuttle, the generation for the problems such as avoiding 211 aging of cable improves safety.
The battery mating interface 152 is located at the middle part of the master board 150 in the lateral direction.In this way, can be improved The degree of balance of master control borad 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 dock with two 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, is conducive to realize preferable modularization assembling.
It is equipped between the support frame 11 and wheel 20 and is electrically connected the driving device and to described in electrical dock The connector 25 of external mating interface 151.The connector 25 can electrically be docked with the external mating interface 151, be conducive to real Preferable modularization assembling between existing 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 dock with motor, and improve branch Space utilization rate 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 power supply are equipped with along left and right extension to support the master board 150 upwards Rib 1790 is supported, it is described to support the empty slot 179 being equipped between the master board 150 and power supply 16 between rib 1790.Such as This, can preferably support except the fixed master board 150, can also protect element in master board 150 not vulnerable to To extruding.
In the present embodiment, the master board 150 is the strip extended along left and right.In this way, the master board 150 can improve space utilization rate preferably using the space on top in tubular support skeleton 11.It is described in his embodiment 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 is not limited to the plug terminal 252 being arranged between power supply 16 and driving device in diagram, is also possible to other Plug terminal of the place to substitute cable.This place states cable and is also not necessarily limited to illustrated cable 211, is also possible to set Set cable elsewhere.
It may include 5 Hall lines, 2 when the transmission part is cable in the utility model different embodiments Item or 1 temperature line, 3 power supply lines.When the transmission part be plug terminal when, may include 3 power supply terminals, 5 suddenly That terminal, 2 or 1 temperature terminal.Certainly, in other specific embodiments, it is also possible to part and uses conducting wire, partially adopts 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 being separately powered on pond communication line.
It is equipped with power supply 16 in the support frame 11, is equipped with inside the power supply 16 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 sense power supply 16 is No the case where there are temperature overheatings, improves 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 It applies in mode, temperature transmission part can also be not provided between the driving device and the connector 25, is i.e. driving device can To be not provided with temperature sensor,
The connector 25 includes a frame mouth 251 and the institute that 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 and battery interface 177 being mutually inserted, 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.
Wheel cover 123 is equipped on the outside of the wheel 20, the wheel cover 123 is equipped with anticollision glue 127.So set, In use process, 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, structure is simple, it is easy to assembly. In other embodiments, the anticollision glue 127 can also be 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 embodiments, anticollision glue 127 can also 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 is to be pivotally connected the positioning wheel 20.
The motor fixing seat 3 upwardly extends the grafting installation foot 311 wheel cover 123 is plugged and fixed, institute State the installation slot 1230 to accommodate the grafting installation foot 311 for being equipped with below wheel cover 123 and being recessed from bottom to top.Such as This, the wheel cover 123 can realize stable fixing with the motor fixing seat 3, and structure is simple, and assembling is firm.
It is equipped with below the wheel cover 123 and is located at the fixed column that installation 1230 front and rear sides of 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 increase between wheel cover 123 and motor fixing seat 3 Hold stability.
Since size of the support frame 11 on 10 front and back of car body and/or up and down direction is less than 20 diameter of wheel and institute Stating support frame 11 is the circular tube shaped axially extending along wheel 20, and the wheel cover 123 is equipped with the wheel cap to cover wheel 20 Portion 1241 and the extension 1242 extended from wheel cover 1241 to the streamlined contraction in 11 direction of support frame.In this way, described Extension 1242 can make have preferable dustproof and waterproof function between the wheel 20 and car body 10, and human-computer interaction body can be improved Feel the whole structure fluency of vehicle 100, is cleaned convenient for user.
1242 extending end of extension is equipped with the installation gap 124 to match with the support frame 11, 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, is inserted with light bar 4 on the guide rail 112.So set, Simple installation；The light bar 4, which can make the human-computer interaction body-sensing vehicle 100 when in use, has preferable warning recognition reaction, mentions The traffic safety of high user.
The guide rail 112 extends in left-right direction, and is set to front side and/or the rear side of support frame 11.In this way, making described Light bar 4 can be set to front side and/or the rear side of the support frame 11.
It is also inserted on the guide rail 112 to install the fixed bracket 18 of foot pedal apparatus for holding the foot pedal apparatus 12. So set, the fixed bracket 18 of the foot pedal apparatus 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 fixes bracket 18, and the light bar 4 is located between the fixed bracket 18 of the both ends foot pedal apparatus.In an assembling process, it can incite somebody to action Light bar 4 first assigns into the guide rail 112, then the fixed bracket 18 of the foot pedal apparatus of the two sides is assigned into 4 two sides of light bar In guide rail 112, convenient for assembling.
The fixed strip 41 to be plugged in the guide rail 112 is fixed on rear side of the light bar 4.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 font.41 cross section of fixed strip is T font.So set, the fixation Item 41 and guide rail 112 tightly cooperate, and improve 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 the circular tube shaped axially extending along wheel 20, the fixed bracket of the guide rail 112, foot pedal apparatus 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 the fixed bracket 18 of device and preferable holding power is provided.In other embodiments, the fixed branch of the guide rail 112, foot pedal apparatus Frame 18 and light bar 4 can be located at the middle part or lower half portion of the support frame 11.
The lengthwise open power supply 16 axially extending along wheel 20 is equipped in the support frame 11, 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 16 anti-explosion battery of power supply, and the support frame 11 of the metal material has the explosion-proof electrical source 16 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 It can be other metal materials.
Mutually matched limiting groove 170 and stopper protrusion 111 are equipped between the battery case 17 and support frame 11. So set, being conducive to the positioning between the power supply 16 and support frame 11, it is not susceptible to mutual displacement, is improved whole Stability, and anti-reverse mounting can be played the role of in assembling.
Size of the support frame 11 on 10 front and back of car body and/or up and down direction is less than 20 diameter of wheel.So set It sets, the car body 10 has lesser size, more saving materials cost and more portable on front and back and/or up and down direction.
The support frame 11 is the circular tube shaped axially extending along wheel 20.So set, in the base with same volume Support frame 11 described in plinth have smaller surface area, thus more save materials cost and allow 10 smallerization of car body, gently Just change.On the other hand, the round and smooth support frame 11 in surface is not easy to generate biggish 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 be also possible to 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.
It in the present embodiment, is 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.
The first position sensor 13 is pressure sensor.So set, first position sensor 13 can be used to sense Pressure information on foot pedal apparatus 12.
The control device 15 is to drive the wheel according to the stress information gap control between two foot pedal apparatus 12 20 mobile or rotations, realize and turn to.So set, two wheels 20 move when two foot pedal apparatus 12 are identical by force information Dynamic speed is identical, and when two foot pedal apparatus 12 are by force information difference, wherein the movement speed of single wheel 20 is greater than the other side Movement speed or 20 moving direction of two sides wheel of wheel 20 are on the contrary, to realize steering.
In the present embodiment, the same foot pedal apparatus 12 is equipped with two to sense same sole pressure information Sensing element region 1313.In other embodiments, the first position sensor 13, which can be, only sets 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 difference of sensor 13 drives the wheel 20 mobile or rotation.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 The movement speed or 20 moving direction of two sides wheel that movement speed is greater than other side wheel 20 are on the contrary, to realize steering.
In other embodiments, whether the first position sensor 13 can also have on foot pedal apparatus 12 to sense User, to control the start and stop of wheel 20.So set, it is not necessary that an inductive switch is separately provided, 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 utilization rate 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 where.
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 trample on the foot pad 122, Meet specific anti-skidding or improves the needs of trampling comfort.
The human-computer interaction body-sensing vehicle 100 further comprises second position sensor (not shown), to sense support rib The inclination information of 11 relative wheel 20 of frame.So set, when user and support frame 11 are whole toward when leaning forward, described the Two position sensors sense inclination, will send a signal to control device 15, the control of the control device 15 driving wheel 20 It travels forward, so that whole have sweptback power, plays the role of balance.Specifically, the second position sensor packet Include gyroscope, acceleration transducer and/or photoelectric sensor.
The foot pedal apparatus 12 is compared to the outside deflection of front-rear direction.So set, being suitable between two tiptoe of user Distance be wider than two heels distance stance, increase user's comfort level.It, can not also be partially in his embodiment Tiltedly.
In conclusion the human-computer interaction body-sensing vehicle 100 of the utility model, only includes one between two wheels 20 and plays branch 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 to that foot pedal apparatus 12 is respectively set, and compares existing balance car or swing car on the market, structure is simple, car body 10 be integral type, and scalability is strong, simplifies steering yoke or vehicle body separates rotational structure, vehicle body is firmer.
The structure of the another embodiment of the utility model human-computer interaction body-sensing vehicle as shown in Figure 17 to Figure 20 is as follows：
A kind of human-computer interaction body-sensing vehicle as shown in Figure 17, Figure 18, two wheels 20 including car body and on car body； The car body includes a support frame 11, two foot pedal apparatus 12, the first position sensor that are arranged on the support frame 11 13, control device 15 and power supply 16, the support frame 11 are integral structure and connect with wheel 20, and the first position passes Sensor 13 to sense the relatively described support frame 11 of described two foot pedal apparatus 12 by force information, the control device 15 According to described by force information, control wheel driver and the wheel 20 is driven to rotate.
The support frame 11 as shown in Figure 17, Figure 18 is integral structure, and the support frame 11 as shown in Figure 19, Figure 20 is adopted It takes separable assembled to form, including is fixedly connected as an integrally-built top half 1101 and lower half portion 1102.
For the overall structure refers to the left inside lid and right inner cover that setting can be rotated mutually in compared with the existing technology, institute The structure that support frame 11 is the globality that can not be rotated respectively is stated, in different embodiments, the overall structure can be Separable assembled is formed or is integrally formed.
The support frame 11 is tubulose, and the tubulose refers to that support frame is hollow and formed for storing power supply 16 and control The accommodating chamber 110 of device 15.In present embodiment, between the top half 1101 and lower half portion 1102 of the support frame 11 It is hollow to form accommodating chamber 110 for storing power supply 16 and control device 15.
In addition, for the cross section of the tubulose, the tubulose can be circular tube shaped, oval tubulose, multiangular tubular or The tubulose of 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 equal proportion extension Tubulose, can also be various tubuloses irregularly extended, such as partial enlargement, part reduce, rotation, displacement etc., such as scheme 17, support frame 11 shown in Figure 18 extends in the both side ends partial enlargement of its tubulose for foot pedal apparatus to be arranged, to make Entire support frame is in U-shape tubulose.
The top half 1101 of the support frame 11 is preferably metal material.Metal material rigid support performance is good, no Each component of fixed accommodating chamber can be only installed, and can be explosion-proof with effective guarantee power supply, improve safety.Metal material is preferred For aluminum material.
The top half 1101 of the support frame 11 includes for the body frame portion of load-bearing and securing part and being exposed to The appearance portion of car body outer surface.The body frame portion and appearance portion can be material of the same race and be integrally formed, such as metal material, can also be with It is to use material one-pass molding not of the same race or gradation molding or separable assembled integral, for example, in metal body frame portion exposed surface Some or all of hold one or more appearance portions by modes such as bonding, clamping, socket, riveting, compound or fasteners, should Appearance portion can be metal, plastics, rubber or the various materials such as wooden.Manufacturing cost, appearance diversification can be saved in this way, kept away Exempt from metal material surface processing technology and requires the defects of high, appearance is single.
The lower half portion 1102 of the support frame 11 can be metal material, plastic material or other with Support cover The material of support performance is made.In other embodiments, in the case that material stiffness intensity allows, it is located at support frame and accommodates Intracavitary components can also be fixed on the lower half portion 1102 of support frame 11, in this way, the top half of support frame 11 1101 are mainly used for load-bearing, and shape and structure is simpler, and identical material weight intensity is higher, and manufacturing cost is lower.
The top half 1101 of the support frame 11 is mainly used for load-bearing, and therefore, foot pedal apparatus 12 and wheel 20 are all pacified In the top half 1101 of support frame 11.In some cases, foot pedal apparatus 12 and wheel 20 also may be mounted at branch On the lower half portion 1102 of support bone frame 11.
The human-computer interaction body-sensing vehicle 100 of the utility model only includes one between two wheels 20 and plays a supportive role Tubular support skeleton 11, and foot pedal apparatus 12 is independently arranged on support frame 11, without two be mutually rotatablely connected Footstep mechanism is respectively set foot pedal apparatus 12, and comparison existing balance car or swing car on the market, structure is simple, and car body is integrated Formula, scalability is strong, simplifies steering yoke or vehicle body separates rotational structure, vehicle body is firmer.
As shown in Figure 19, Figure 20, the foot pedal apparatus 12 includes pedal bottom plate 121, first position sensor 13 and sensing Device fixing seat 125, pedal bottom plate 121 are located at the top of first position sensor 13, and first position sensor 13 is located at sensor The top of fixing seat 125.Sensor fixing seat 125 be fixedly connected with the top half 1101 of the support frame 11 or one at Type.The first position sensor 13 includes the first forced section, the second forced section and is arranged in the first forced section, the second stress Sensing element region between portion, first forced section are fixedly connected with sensor fixing seat 125 or pedal bottom plate 121, then Second forced section is fixedly connected with pedal bottom plate 121 or sensor fixing seat 125.
In present embodiment, as shown in figure 19, first position sensor 13 includes former and later two ends 131 and connection institute The interconnecting piece 132 of two ends 131 is stated, every one end 131 includes the middle part forced section 1312, the outside stress Portion 1311 and the sensing element region 1313 between the middle part forced section 1312 and outside forced section 1311, it is described in Portion's forced section 1312 and the outside forced section 1311 respectively correspond above-mentioned first forced section and the second forced section, the middle part by Power portion 1312 and the outside forced section 1311 are fixedly connected with sensor fixing seat 125 and pedal bottom plate 121 respectively.So set It sets, former and later two described ends 131 can be had an effect according to the difference of front and back sole respectively senses different pressure informations.From another For in statement, two sensing element regions 1313 of a foot pedal apparatus are it can be appreciated that two different positions sensor It has an effect to detect the difference of front and back sole respectively.In another embodiment, a foot pedal apparatus can also only be arranged one The situation of having an effect of sole is detected in sensing element region (it can be appreciated that a position sensor).In this way, first position passes Sensor by detect foot pedal apparatus different location stress condition acquisition foot pedal apparatus relative to car body rotation information or Inclination information, and then control device driving wheel carries out corresponding sports.
In present embodiment, first position sensor 13 includes former and later two sensing element regions 1313, former and later two biographies The middle part forced section 1312 directly or indirectly to support with support frame 11 is equipped between sensing unit region 1313, it is described two The front and rear sides in sensing element region 1313 are equipped with the outside forced section 1311 to offset with the pedal bottom plate 121.Such as This, when stepping on the pedal bottom plate 121 downwards, the outside forced section 1311 of the front and rear sides by top-down power, and Intermediate middle part forced section 1312 is due to being presented first position sensor 13 similar to arch by resist force from bottom to top The arch deformation risen, the deformation can be understood as macroscopic deformation or microdeformation, to make the sensing element of the rear and front end Part region 1313 senses deflection.The foot pedal apparatus 12 of the same side is equipped with two for slapping pressure information to sense the batter The sensing element region 1313, the control device 15 according to the pressure difference in described two sensing element regions 1313 to drive Move the side wheel 20 movement or rotation.In this way, relative to a first position sensor is provided only on the same foot pedal apparatus It says, two first position sensors are arranged on same foot pedal apparatus has higher detection recognition accuracy, and can be used for Whether there is user on detection foot pedal apparatus, effectively differentiates differentiation user and get on or off the bus and manipulate body-sensing vehicle foot pedal apparatus when driving Different stress conditions.
Gap, the gap are equipped between the pedal bottom plate 121 and the middle part forced section 1312 of first position sensor 13 It can provide the space of the opposite arch of middle part forced section 1312 of first position sensor 13.Similarly, the sensor fixing seat 125 It also is provided with gap between the outside forced section 1311 of first position sensor 13, which can provide first position sensor 13 Outside forced section 1311 with respect to test space.
It is respectively equipped on two middle part forced section 1312 to consolidate with what the support frame 11 was directly or indirectly held Hole 101 is held, the holding hole 101 to hold with 121 phase of pedal bottom plate is respectively equipped on two outside forced section 1311.So It is arranged, the retaining pieces such as screw can be worn in the holding hole 101, is fixed convenient for assembling.
In the present embodiment, the first position sensor 13 is " [" font or " I " fonts or strip.On a left side The width of the interconnecting piece 132 is less than the width of the end 131 in right direction.So set, the interconnecting piece 132 can be consolidated Two middle part forced sections 1312 of fixed front and back, reinforce the intensity of first position sensor 13, and the relatively narrow interconnecting piece 132 can subtract On the other hand the weight of few first position sensor 13 also may make first position sensor 13 to have preferably elasticity to raising Sensing sensibility plays a role.
The foot pedal apparatus 12 includes the sensing fixed to 1312 phase of middle part forced section with first position sensor 13 Device fixing seat 125, the sensor fixing seat 125 are fixedly connected or are integrally formed with the support frame 11.Present embodiment In, sensor fixing seat 125 is integrally formed in the top half 1101 of support frame 11, can reduce components in this way, side Just it installs.
Foot pedal apparatus 12 needs to accommodate entire sole, therefore longer on 10 front-rear direction of car body, and by entire support frame It is made into the same length of sole, the entire big heaviness of car body volume can be made, and manufacturing cost is high.Preferred embodiment is to prop up The top half 1101 of support bone frame 11 carries out expanding along the longitudinal direction in the position of setting foot pedal apparatus 12 to be extended to surround sensing Device fixing seat 125.This spline structure is simple, compact, and manufacturing cost increases few.In the present embodiment, Figure 17, Tu18Suo Showing, the left and right sides of support frame 11 rearward expands the sensor fixing seat 125 extended foot pedal apparatus 12 is arranged, thus The tubulose so that entire support frame is in U-shape, wheel 20 are located at the front of car body 10 and foot pedal apparatus 12, and such front and back is asymmetric Design, not only structure is more firm, but also the center of gravity of car body is sunk, and foot-operated position is sagging lands not for car body when body-sensing vehicle is closed Dynamic, the foot-operated position lift level stability of the starting of body-sensing vehicle and when driving car body is more preferable, and the more fashionable fashion of appearance, user experience More preferably.In other embodiments, the foot-operated position of the left and right sides of support frame 11 can also extend forwardly and rearwardly simultaneously Equal length or different length, to form various forms of tubuloses.In other embodiments, wheel 20 also can be set in vehicle The middle part or rear portion of body 10 and foot pedal apparatus 12.
The preferred metal material of the pedal bottom plate 121 or other materials with preferably rigidity are made, the pedal bottom plate 121 tops are equipped with foot pad or appearance ornamental pieces, and user can trample on the foot pad, and satisfaction is specific anti-skidding or raising is stepped on Step on the demand of comfort.Foot pad can for soft rubber material or other, in this way, the wearability and frictional force of foot pad can be increased, Also user's comfort can be improved, also play preferable water proof and dust proof effect.The foot pad can be by bonding, blocking It connects, be socketed, riveting, the modes such as compound or fastener are fixed on one or more components on the upper surface of pedal bottom plate.
The pedal bottom plate 121 covers on first position sensor 13, in 121 surrounding of pedal bottom plate and support frame Sealing ring 128 is equipped in gap between sensor fixing seat 125, to prevent dust and water from entering the gap and support frame In accommodating chamber.128 preferred elastomeric material of sealing ring manufacture, such as rubber etc..
The corresponding outside deflection of forefoot of the foot pedal apparatus 12.So set, being suitable between two tiptoe of user Distance be wider than two heels distance stance, increase user's comfort level.It, can not also be partially in his embodiment Tiltedly.
Axletree 21 is equipped between the wheel 20 and car body 10, the wheel 20 is rotated by axletree 21 and car body 10 Connection can be there are many mode, such as a kind of specific embodiment is：Wheel 20 is fixedly connected with axletree 21, axletree 21 with Car body 10 is rotatablely connected；Such as another embodiment is also possible to：Axletree 21 is fixedly connected with car body 10, and wheel 20 with Axletree 21 is rotatablely connected.
The car body 10 includes the motor fixing seat 3 between the wheel 20 and support frame 11, and the motor is solid Reservation 3 passes through the support frame of motor fixing seat 3 and car body 10 to be pivotally connected the positioning wheel 20, the axletree 21 of wheel 20 Connection.In one embodiment, motor fixing seat 3 is a bearing block, realizes axletree 21 and car body 10 by the bearing block Support frame rotation connection.In another embodiment, motor fixing seat 3 includes a briquetting and cooperates clamping with the briquetting The pedestal of axletree 21, the pedestal are fixedly connected or are integrally formed with the support frame of car body 10, real by the briquetting and pedestal Existing axletree 21 is fixedly connected with support frame.
In the present embodiment, as shown in Figure 19, Figure 20, described 21 one end of axletree is connected with wheel 20, the other end It is connected with wheel axis fixing plate 23, the wheel axis fixing plate 23 is fixedly connected with the car body 10.In this way, the wheel 20 can It is assembled into support frame 11 again up after being connected with the wheel axis fixing plate 23, consequently facilitating support frame 11 and wheel Modularization assembling between 20.
In the present embodiment, for being propped up with the setting of the motor fixing seat 3 of 23 secure fit of wheel axis fixing plate The left and right sides end of support bone frame 11.Motor fixing seat 3 can with support frame separately manufacturing and assemble fixation, in other implementations In mode, the motor fixing seat 3 can also be integrally formed with a part or whole part of support frame 11.In the present embodiment, As shown in figure 19, motor fixing seat 3 and the top half 1101 of support frame 11 are integrally formed.In this way, structure is simple, manufacturer Just, intensity is high.Preferred embodiment is that the top half 1101 of motor fixing seat 3 and support frame 11 is all made of metal material Matter is manufactured, such as aluminum material.
In present embodiment, the motor fixing seat 3 is equipped with recess to accommodate the fixing wheel axis fixing plate 23 Container 33.It is positioned in the container 33 so set, the wheel axis fixing plate 23 can accommodate, thus described in improving The planarization of 10 outer surface of car body.The wheel axis fixing plate 23 is rectangle, and the container 33 is solid with the axletree The corresponding rectangle of fixed board 23.It in other embodiments, can also be other shapes.In this way, wheel axis fixing plate 23 and receiving Slot has the shape matched, and the pluggable positioning wheel axis fixing plate 23 of container 33 prevents the axletree solid Mobile or rotation occurs for fixed board 23.
The wheel axis fixing plate 23 is perpendicular to wheel axis direction.So set, the wheel axis fixing plate 23 by Be not susceptible to deflection when to 10 front-rear direction of car body and/or the active force of up and down direction, improve the wheel axis fixing plate 23 with Fixing stability between car body 10.In other embodiments, the wheel axis fixing plate 23 can also be not orthogonal to wheel 21 line direction of axis.
Preferably, 10 center of gravity of car body is lower 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 always as a whole by the car body 10 Position below 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, to greatly facilitate user's use.In this way, In order to reduce body gravity, the lower half portion of support frame preferably uses the biggish metal material of quality.In other embodiments In, the center of gravity of the car body 10 may be alternatively provided as being not below the axletree 21, and the setting of the body gravity can not be at For the reasons why limiting the utility model.
Preferably, their center of gravity is lower than the axletree after motor fixing seat 3 and wheel axis fixing plate 23 assemble 21.So set, 10 center of gravity of car body can be further ensured that lower than the axletree 21.Specifically, the motor fixing seat 3 The materials such as the biggish metal of quality can be used, guarantee that 10 center of gravity of car body is located at 21 or less axletree and keeps higher stabilization Property.
Gasket seal (not shown) is equipped between the wheel axis fixing plate 23 and motor fixing seat 3.In this way, can make described There is preferable dustproof and waterproof and other effects between car body 10 and wheel 20.
The wheel driver can be set in wheel 20, so institute can be set come in using the existing volume of wheel 20 Driving device is stated, space utilization rate is high；In other embodiments, the driving device can also be set to support frame 11 It is interior.So set, can be applicable to wheel 20 it is relatively small in the case where.
In present embodiment, the wheel driver is set in the wheel 20, as shown in figure 19, the axletree 21 Interior to be equipped with the cable 211 for connecting the driving device, the cable 211 passes through wheel axis fixing plate 23 and motor fixing seat 3 simultaneously It is connected with control device 15 and/or power supply 16.So set, the driving device in the wheel 20 can be by passing through the vehicle The cable 211 of wheel axis fixing plate 23 is connected with the control device 15 and/or power supply 16.Driving device, that is, the motor, In other embodiments, the driving device also be can be set in car body 20.
Wheel cover 123 is equipped with above the wheel 20, wheel cover 123 covers the inside and top of wheel 20.The wheel Lid 123 is immobilizated on the car body 10.In present embodiment, wheel cover 123 is located at the outside of foot pedal apparatus 12, is fixed on motor On connecting portion between fixing seat 3 and support frame, below the wheel cover 123 be equipped be recessed from bottom to top with the connection The installation slot of position cooperation, and be fixedly connected by fastener.In this way, the wheel cover 123 can be fixed with the motor Seat 3 realizes stable fixing, and structure is simple, and assembling is firm.In another embodiment, wheel cover 123 can also be fixed directly In motor fixing seat 3.
In the present embodiment, the wheel cover 123 and support frame, foot pedal apparatus 12 and motor fixing seat 3 is seperated sets It sets.In this way, being convenient for being assembled into one again after manufacturing respectively using respective structure, material and technique.In other embodiments, institute Stating wheel cover 123 can also be with the integrated elongation moulding of support frame, foot pedal apparatus 12 or motor fixing seat 3.In other embodiment party In formula, the wheel cover 123 can also be with the section components of support frame, foot pedal apparatus 12 or motor fixing seat 3 (such as foot pad Or plastics appearance member) be integrally formed.In other embodiments, the wheel cover 123, which can also extend to, covers outside wheel 20 Upper lateral part.In other embodiments, the wheel cover 123 is equipped with anticollision glue, can be compared with so set, in use The wheel cover 123 is protected well.The anticollision glue improves durability using the buffering wear-resistant material for being different from wheel cover 123 While material saving cost.
The human-computer interaction body-sensing vehicle 100 further comprises power supply 16 and control device 15, power supply 16 and control device 15 It is accommodated in the hollow accommodating chamber 110 of support frame, the power supply 16 is to wheel driver, first position sensor 13 And control device 15 power, the control device 15 to control the power supply 16, driving device and first position sensor 13, And driving signal is issued to driving device according to the stress that first position sensor 13 is sensed, to drive 20 turns of wheel It is dynamic.
The control device 15 includes the master board 150 being set in the accommodating chamber 110 of support frame 11.The master control Making sheet 150 and power supply 16 are the strip extended along left and right, are suitable for being placed in the accommodating chamber 110 of support frame 11.This Sample can improve space utilization rate preferably using 110 space of lengthwise accommodating chamber in the support frame 11.In other realities Apply in mode, the master board 150 and/or power supply 16 can also otherwise, other shapes are arranged in support frame 11 It is interior.
The master board 150 is equipped with the battery mating interface 152 electrically to dock with the power supply 16.The electricity Source 16 is equipped with the battery interface 177 to be connected to each other with the battery mating interface 152.So set, the power supply 16 and master Docking is realized by modular interface between control panel 150, more cable is can be avoided and shuttles, avoid poor contact, The generation of the problems such as cable aging, improves connection reliability and safety.
The battery mating interface 152 is located at the middle part of the master board 150 in the lateral direction.In this way, can be improved The degree of balance of master control borad 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 docking mutually electrically to dock with two sides wheel driver Interface 151.In this way, can facilitate the external mating interface 151 can outward with driving device and/or first position sensor 13 Interface is connected to each other, and is conducive to realize preferable modularization assembling, is improved connection reliability and safety.
The external mating interface 151 is in the lateral direction on the outside of the both ends of the power supply 16.In this way, the outside Mating interface 151 can preferably utilize the remaining space at 11 interior power of support frame, 16 both ends, convenient to dock with motor, and mention Space utilization rate inside high support frame 11.
The master board 150 is set to the top in 11 accommodating chamber 110 of support frame, and the power supply 16 is located at institute State the lower section of master board 150.So set, the master board 150 can preferably be protected not to be squeezed.
The power supply 16 includes battery case 17 and the battery being placed in battery case, the battery case 17 and branch Support bone frame 11 is metal material, such as aluminum.In this way, the battery case 17 of metal material can make the power supply 16 form anti-explosion electric Pond, and the support frame 11 of the metal material makes the explosion-proof electrical source 16 have further protection, the double-level-metal Material, which is protected, can greatly improve the safety of the human-computer interaction body-sensing vehicle 100, and power supply 16 is avoided to explode caused safety Accident.
The front and rear sides of 17 top of battery case are equipped with along left and right extension to support the master board upwards 150 support rib 1790, described support the empty slot being equipped between the master board 150 and power supply 16 between rib 1790 179.It so, it is possible preferably to support except the fixed master board 150, the element in master board 150 can also be protected It is not easily susceptible to squeeze.The setting of battery interface 177 is at 179 middle part of empty slot.
In the present embodiment, master board 150 and power supply 16 are fixed on the upper of support frame 11 by battery plate 19 1101 lower section of half part.Battery plate 19 is U-board shape, the U-shaped both side ends of battery plate 19 and the upper half of support frame 11 Part 1101 is fixedly connected, accommodating power supply 16 and master board 150 in the U-shaped intermediate space of battery plate 19, the letter of this spline structure It is single reliable, it is easy for installation.Preferred embodiment first is that, one side of U-shaped of battery plate 19 and support frame 11 Top half 1101 directly or indirectly hooks connection, and another side of the U-shaped of battery plate 19 passes through fastener or buckle and support The top half 1101 of skeleton 11 connects, easier for installation in this way.In the present embodiment, one side of U-shaped of battery plate 19 It is hooked on the top half 1101 with support frame 11 indirectly by display unit 4012.In the present embodiment, the battery Mutually matched limiting groove 170 and positioning convex portion 1901 are equipped between shell 17 and battery plate 19.In this way, outside the battery Accurate positioning is reliable between shell 17 and battery plate 19, is not susceptible to mutual displacement, improves overall stability, and can be Play the role of anti-reverse mounting in assembling.
In the present embodiment, fenestra is offered among the top half 1101 of support frame 11, is equipped in the fenestra saturating Light part 4011, the accommodating chamber 110 of support frame 11 is interior to be equipped with display circuit board 4013, and display circuit board 4013 is mounted on main control The top of plate 150, display circuit board 4013 are equipped with display unit 4012 below transmission element 4011, and the display unit 4012 is The display elements such as charactron, LED light or display screen.
The support frame 11 is equipped with several lamplight components, and lamplight component can be set to the front side of the support frame 11 And/or rear side, lamplight component can be set to the top half of the support frame 11 and/or lower half portion, lamplight component and can be set to Between two foot pedal apparatus on the support frame 11.Lamplight component generally comprises lamp source and lampshade, lamp source can be lamp bead, One of light bar, fluorescent tube etc. are a variety of, and the color of lampshade can be transparent, colored or polychrome alternating pattern etc., lamp cover shaped Shape can be strip, plate shaped, arc surfaced, polyhedron shape, concave-convex prismatic or grid-like etc., lampshade can by bonding, The modes such as clamping, socket, riveting, the fastening of compound or fastener are fixed on support frame or other appearance members, and lampshade can also To be integrally formed with support frame or other appearance members.Lamplight component can be used for illuminating, show, decorating, warning, identifying or event The functions such as barrier instruction.
In the present embodiment, the front side interposition of the top half of the support frame 11 and lower half portion binding site The first lamplight component 402 is installed, the first lamplight component 402 includes the lampshade 4021 and light bar 4022 of strip, can be made in this way The human-computer interaction body-sensing vehicle has preferable warning recognition reaction when in use, improves the traffic safety of user.It is described The top half of support frame 11 and rear side the right and left position of lower half portion binding site are respectively equipped with second, third light Component 403, second, third 403 lampshade of lamplight component is in grid-like, and is located at corresponding in foot pedal apparatus on support frame On two expansion extending parts, there is good decorative effect, kinesthesia is full.
In the present embodiment, the first position sensor 13 is pressure sensor.So set, first position senses Device 13 can be used to sense the pressure information on foot pedal apparatus 12.
The control device 15 is to drive the wheel according to the stress information gap control between two foot pedal apparatus 12 20 mobile or rotations, realize and turn to.So set, when two foot pedal apparatus 12 are identical by force information, the mobile speed of two wheels 20 Degree (i.e. velocity of rotation) is identical, and when two foot pedal apparatus 12 are by force information difference, wherein the movement speed of single wheel 20 is big In other side wheel 20 movement speed or 20 moving direction of two sides wheel on the contrary, to realizing steering.
In the present embodiment, the same foot pedal apparatus 12 is equipped with two to sense same sole pressure information Sensing element region 1313.In other embodiments, the first position sensor 13, which can be, only sets a sensing element area The sensor in domain 1313.Present embodiment can also be expressed as on the same foot pedal apparatus 12 being equipped with to sense same foot Two such first position sensors 13 of different parts pressure information are slapped, the control device 15 is to according to described two The pressure difference of first position sensor 13 drives the wheel 20 mobile or rotation.So set, when two foot pedal apparatus 12 by When force information difference is identical, two wheels, 20 movement speed is identical, when two 12 stress information gap differences of foot pedal apparatus, wherein side The movement speed or 20 moving direction of two sides wheel that the movement speed of wheel 20 is greater than other side wheel 20 are on the contrary, to real It turns now to.
In other embodiments, whether the first position sensor 13 can also have on foot pedal apparatus 12 to sense User, to control the start and stop of wheel 20.So set, it is not necessary that an inductive switch is separately provided, to simplify 10 knot of car body Structure.Certainly, in other embodiments, inductive switch can also be separately provided.
The human-computer interaction body-sensing vehicle can further include second position sensor (not shown), to sense support The inclination information of 11 relative wheel 20 of skeleton.So set, when user and support frame 11 are whole toward when leaning forward, it is described Second position sensor senses inclination, will send a signal to control device 15, the control of the control device 15 driving wheel 20 travel forward, so that whole have sweptback power, play the role of balance.Specifically, the second position sensor Including gyroscope, acceleration transducer and/or photoelectric sensor.
In the description of this specification, reference term " one embodiment ", " some embodiments ", " example ", " specifically show The description of example " or " some examples " etc. means specific features, structure, material or spy described in conjunction with this embodiment or example Point is contained at least one embodiment or example of the utility model.In the present specification, to the schematic table of above-mentioned term Stating may not refer to the same embodiment or example.Moreover, particular features, structures, materials, or characteristics described can be It can be combined in any suitable manner in any one or more embodiment or examples.
Although the embodiments of the present invention have been shown and described above, it is to be understood that above-described embodiment is Illustratively, it should not be understood as limiting the present invention, those skilled in the art are not departing from the utility model Principle and objective in the case where above-described embodiment can be changed in the scope of the utility model, modify, replace and Modification.Within the spirit and principle of the utility model, any modification, equivalent replacement, improvement and so on should be included in Within the protection scope of the utility model.

Claims (13)

1. a kind of human-computer interaction body-sensing vehicle, two wheels including car body and on car body, which is characterized in that the car body packet Two foot pedal apparatus (12), control device (15) and the power supply for including a support frame (11), being arranged on the support frame (11) (16), the left and right ends of the support frame (11) and wheel (20) are rotatablely connected, and the support frame (11) is integral structure, Power supply (16) and control device (15) are accommodated in the lengthwise accommodating chamber (110) of the support frame (11), first position sensor (13) to sense the relatively described support frame (11) of described two foot pedal apparatus (12) by force information, control device (15) root According to described by force information, control wheel driver and drive wheel (20) rotation；The support frame (11) uses metal It is made.
2. a kind of human-computer interaction body-sensing vehicle according to claim 1, which is characterized in that the support frame (11) includes solid Surely the top half (1101) connected and lower half portion (1102), the top half (1101) and lower half of the support frame (11) It is partially hollow to form the accommodating chamber (110) for storing power supply (16) and control device (15) between (1102).
3. a kind of human-computer interaction body-sensing vehicle according to claim 1, which is characterized in that the left and right sides of support frame (11) Rearward expand the sensor fixing seat (125) for extending to form foot pedal apparatus (12), so that entire support frame is in U Shape tubulose, wheel (20) are located at the front of car body (10) and foot pedal apparatus (12).
4. a kind of human-computer interaction body-sensing vehicle according to claim 1, which is characterized in that the car body (10) includes being located at institute The motor fixing seat (3) between wheel (20) and support frame (11) is stated, the motor fixing seat (3) is to be pivotally connected described in positioning The axletree (21) of wheel (20), wheel (20) is connect by motor fixing seat (3) with the support frame of car body (10).
5. a kind of human-computer interaction body-sensing vehicle according to claim 4, which is characterized in that described axletree (21) one end and vehicle Wheel (20) is connected, and the other end is connected with wheel axis fixing plate (23), the wheel axis fixing plate (23) and the car body (10) On motor fixing seat (3) be fixedly connected；Motor fixing seat (3) can with support frame separately manufacturing and assemble fixation, it is described Motor fixing seat (3) can also be integrally formed with a part or whole part of support frame (11).
6. a kind of human-computer interaction body-sensing vehicle according to claim 1, which is characterized in that the control device (15) includes setting The master board (150) being placed in the accommodating chamber (110) of support frame (11), master board (150) and power supply (16) are edge The strip that left and right extends, the master board (150) are equipped with the battery docking electrically to dock with the power supply (16) Interface (152), the power supply (16) are equipped with the battery interface (177) to be connected to each other with the battery mating interface (152), institute State the middle part that battery mating interface (152) is located at the master board (150) in the lateral direction；The master board (150) Left and right ends are equipped with the external mating interface (151) mutually electrically to dock with two sides wheel driver, the external docking For interface (151) in the lateral direction on the outside of the both ends of the power supply (16), the master board (150) is set to the branch Top in support bone frame (11) accommodating chamber (110), the power supply (16) are located at the lower section of the master board (150).
7. a kind of human-computer interaction body-sensing vehicle according to claim 6, which is characterized in that the power supply (16) includes outside battery Battery shell (17) and be placed in battery case, the battery case (17) are metal material.
8. a kind of human-computer interaction body-sensing vehicle according to claim 7, which is characterized in that above the battery case (17) Front and rear sides are equipped with along left and right extension to support supporting rib (1790) for the master board (150) upwards, described to support The empty slot (179) being equipped between rib (1790) between the master board (150) and power supply (16).
9. a kind of human-computer interaction body-sensing vehicle according to claim 6, which is characterized in that master board (150) and power supply (16) it is fixed on by battery plate (19) below the top half (1101) of support frame (11).
10. a kind of human-computer interaction body-sensing vehicle according to claim 9, which is characterized in that battery plate (19) is U-board Shape, the U-shaped both side ends of battery plate (19) are fixedly connected with the top half (1101) of support frame (11), battery plate (19) accommodating power supply (16) and master board (150) in U-shaped intermediate space.
11. a kind of human-computer interaction body-sensing vehicle according to claim 10, which is characterized in that the U-shaped one of battery plate (19) The top half (1101) of side and support frame (11), which hooks, to be connected, and another side of U-shaped of battery plate (19) passes through fastening Part or buckle are connect with the top half (1101) of support frame (11).
12. a kind of human-computer interaction body-sensing vehicle according to claim 10, which is characterized in that battery case (17) and battery pressure Mutually matched limiting groove (170) and positioning convex portion (1901) are equipped between plate (19).
13. a kind of human-computer interaction body-sensing vehicle according to claim 1, which is characterized in that the first position sensor packet Include former and later two sensing element regions, be equipped between former and later two described sensing element regions to support frame directly or The middle part forced section supported is connect, the front and rear sides in described two sensing element regions are equipped with outer to offset with pedal bottom plate Side forced section.
CN201820010270.4U 2017-01-04 2018-01-03 A kind of human-computer interaction body-sensing vehicle Active CN208149512U (en)

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Application Number Priority Date Filing Date Title
CN201710006953.2A CN106828728A (en) 2017-01-04 2017-01-04 Human-computer interaction body-sensing car
CN2017100069532 2017-01-04

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CN208149512U true CN208149512U (en) 2018-11-27

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CN201710006953.2A Pending CN106828728A (en) 2015-10-10 2017-01-04 Human-computer interaction body-sensing car
CN201720815024.1U Active CN207580049U (en) 2017-01-04 2017-07-06 Foot pedal apparatus
CN201710547539.2A Active CN107364524B (en) 2017-01-04 2017-07-06 Human-computer interaction somatosensory vehicle
CN201720814365.7U Active CN207241896U (en) 2017-01-04 2017-07-06 Human-computer interaction body-sensing car
CN201710548607.7A Active CN107416097B (en) 2017-01-04 2017-07-06 Pedal device
CN201721556912.2U Active CN208585368U (en) 2017-01-04 2017-11-20 Human-computer interaction body-sensing vehicle
CN201711154434.7A Pending CN108275226A (en) 2017-01-04 2017-11-20 Human-computer interaction body-sensing vehicle
CN201810005581.6A Active CN108341009B (en) 2017-01-04 2018-01-03 Human-computer interaction somatosensory vehicle and pedal device thereof
CN201820010268.7U Active CN207997938U (en) 2017-01-04 2018-01-03 Human-computer interaction body-sensing vehicle
CN201820013761.4U Active CN207985070U (en) 2017-01-04 2018-01-03 Human-computer interaction body-sensing vehicle and its support frame
CN201810005593.9A Active CN108297999B (en) 2017-01-04 2018-01-03 Human-computer interaction somatosensory vehicle and supporting framework thereof
CN201810004910.5A Active CN108327835B (en) 2017-01-04 2018-01-03 Car is felt to interactive body of human-computer
CN201820008911.2U Active CN208149511U (en) 2017-01-04 2018-01-03 Human-computer interaction body-sensing vehicle and its foot pedal apparatus
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