CN208393567U

CN208393567U - balance car

Info

Publication number: CN208393567U
Application number: CN201820958437.XU
Authority: CN
Inventors: 臧传美
Original assignee: Zhejiang Lang Lang Technology Co Ltd
Current assignee: Zhejiang Lang Lang Technology Co Ltd; Zhejiang Aerlang Technology Co Ltd
Priority date: 2018-06-21
Filing date: 2018-06-21
Publication date: 2019-01-18
Anticipated expiration: 2028-06-21

Abstract

The utility model relates to a kind of balance cars, include: vehicle frame, wheel, the sensor for sense middle part deformation extent for being installed on vehicle frame medium position and, the control module of data information for acquire according to the sensor to control balance car steering or keep straight on；The wheel is installed on the left and right sides of vehicle frame, and wheel is built-in with hub motor, and the control module is installed on the downside of vehicle frame.The utility model balance car turns to convenience, and stable and safe in operation, manipulation is conveniently.

Description

Balance car

Technical field

The utility model relates to a kind of balance cars.

Background technique

There are mainly of two types for current balance car, first item: two-wheel is connected by shaft coupling, and the center of two wheels is same On one axis, and two wheel axles can relatively rotate, positive because two wheel axles can relatively rotate, so respectively filling one on two axis A gyroscope, for incuding respective posture, a logical operation reaches control motor and advances, and retreats, turns left, the purpose of right-hand rotation, this Class vehicle is only referred to as " swing car " or " drift car ".Second item: two-wheel is coaxial and is fixed in a metal frame, and centre does not connect The axis of axis device, two wheels is fixed, and cannot be relatively rotated, and in order to reach control balance, fills a gyroscope in metal frame On, its balance can be made by operation control, in order to control its steering, then a steering handle is filled in metal frame, pass through a left side Right shake handle makes its steering.Though above two can realize balance control function, all Shortcomings.

First item:

Problem 1, because two axis can relatively rotate, both sides foot pedal is difficult to keep identical posture, so Direction is easy deflection when fast running, is difficult to control straight-line travelling.

Problem 2, because two side axis each need to put gyroscope, but standoff distance is distant, digital transmission signal is leaned on, in height Keep pouring in it is defeated under, motor FOC(Field Oriented Control Field orientable control) control can be more preferable, but big because interfering, The bit error rate is high, transmits in low frequency, and the bit error rate is low, but the flexibility of motor operating is poor.

Problem 3 requires two pieces of band MCU(Micro controller Unit microcontroller lists because no matter how integrating Member) control panel, so at high cost.

Second item:

Problem 1, because two axis are fixed, in order to turn to, it is necessary to load transfer, this turning-bar generally all compares It is long, so being unfavorable for portable.

Problem 2 requires oneself to load onto fixed turn of screw after client receives goods at present in order to facilitate transport with the vehicle turned to To increase trouble loosens secondly, turning-bar will appear abrasion in, turning error occurs.

The balance car that others are turned to based on pressure sensor realizes steering, straight trip according to the gravity center shift of people, It is not easy to manipulate, easily generation safety accident.

Utility model content

The utility model relates to balance car, the scheme being deformed using foil gauge measurement balance car middle part by torsion, The steering of balance car can be efficiently controlled, handling is improved and dexterously avoids and solve due to the difference of basic scheme Technical problem in background technique.

The utility model is achieved through the following technical solutions:

The utility model provides a kind of balance car, comprising: vehicle frame, wheel, be installed on vehicle frame medium position for sensing The sensor of middle part deformation extent and, data information for being acquired according to the sensor turned to control balance car or The control module of straight trip；The wheel is installed on the left and right sides of vehicle frame, and wheel is built-in with hub motor, the control module peace Downside loaded on vehicle frame.

By using above-mentioned technical proposal, turning to for balance car can generate control by the faint torsional deflection in the middle part of vehicle frame, When i.e. balance car need to turn to, twist operation is carried out by the foot of operator, the middle part sensor for balancing vehicle carriage senses torsion Deformation extent and direction, complete the steering or the control such as straight trip of balance, it is easy to operate, it is easy to use.Specifically, such as balance car It need to turn right, the both feet of operator act on vehicle frame, make a right-handed movement to vehicle frame the right and left, i.e. left foot point is used The degree of power is greater than the degree that left heel is exerted oneself, and right crus of diaphragm is greater than the degree that right crus of diaphragm point is exerted oneself, tool on the left of vehicle frame with degree firmly It is standby to make the trend turned counterclockwise backward, have the trend for making to turn clockwise forward on the right side of vehicle frame, makees to torque is generated in the middle part of vehicle frame With the sensor sensing of vehicle frame medium position is at this time since torque acts on, the deformation degree of sensor itself and deformation direction letter Breath, the i.e. torsion degree of vehicle frame medium position relative frame left and right ends are controlled so that the data information is fed back to control module The steering of information control hub motor and revolving speed etc. accordingly of molding root tuber, specifically, the output of control left wheel hub motor is turned round Square is less than the output torque of right hub for vehicle wheel motor, i.e. control left wheel revolving speed is greater than right vehicle wheel rotational speed, completes the right side of balance car Turn；Similarly, balance car turns left, and sensor senses torque contrary in the middle part of vehicle frame, is turned right with further realizing.

The sensor is strain-ga(u)ge transducer as a further improvement of the utility model,.By using above-mentioned technology Scheme, the deformation that foil gauge generates in strain-ga(u)ge transducer can react the faint torsional deflection journey in the middle part of balance vehicle carriage Degree, acquisition sensitive information are reliable.

Sensor includes the first biography for being set to the front side of vehicle frame medium position as a further improvement of the utility model, 4th sensor of sensor and rear side.By using above-mentioned technical proposal, first sensor and the 4th sensor can be used and answer Become piece sensor, to sense the torsion degree in the middle part of vehicle frame, specifically, the torque that first sensor and the 4th sensor sense (torsion) is equal in magnitude, contrary, and control module realizes the steering of balance car according to the size and Orientation of this torque (torsion) Deng.

Sensor further includes the second biography being set on the upside of vehicle frame medium position as a further improvement of the utility model, The 3rd sensor of sensor and downside.By using above-mentioned technical proposal, second sensor and 3rd sensor can be used and answer Become piece sensor, the torsion degree in the middle part of vehicle frame can be sensed, specifically, the torque that second sensor and 3rd sensor sense (torsion) is equal in magnitude, contrary, and control module realizes the steering of balance car according to the size and Orientation of this torque (torsion) Deng.

Vehicle frame uses the metal plate or hard plastic board of monolithic construction as a further improvement of the utility model,.It is logical It crosses by adopting the above technical scheme, vehicle frame uses monolithic construction, and the deformation in the middle part of vehicle frame can accurately respond out what vehicle frame was subject to It is the twisting force in which kind of direction, it can the steering for reacting operator is intended to；And monolithic construction is solid and reliable, it is prolonged resistance to With.

It as a further improvement of the utility model, further include one for sensing the posture sensing of balance vehicle carriage posture Device.By using above-mentioned technical proposal, attitude transducer be provided be conducive to sensing balance car posture, and then to balance car into State of driving a vehicle control.

The middle part of the vehicle frame is in gradually-reducing shape relative to vehicle frame left and right ends as a further improvement of the utility model,. By using above-mentioned technical proposal, area of section is smaller in the middle part of vehicle frame, when vehicle frame both ends generate torsion with respect to middle part, middle part torsion It becomes apparent from, sensor is easier to measure this deformation degree, completes the acquisition of vehicle frame information.

The middle part of the vehicle frame is inwardly in circular arc relative to vehicle frame left and right ends as a further improvement of the utility model, Shape recess.By using above-mentioned technical proposal, vehicle frame left and right ends are inwardly in arc-shaped recess, and one side structure is more well-balanced, On the other hand deformation direction convenient for the torsional deflection degree of sensor sensing vehicle frame also makes compact overall structure, beautiful outline form It sees.

The sensor is set in the middle part of vehicle frame at area of section minimum as a further improvement of the utility model,.It is logical Cross by adopting the above technical scheme, sensor is set in the middle part of vehicle frame at area of section minimum, convenient for the deformation in the middle part of vehicle frame into Row senses, and at area of section minimum, sensor senses more accurate.

It is also equipped on the downside of the vehicle frame for control module, wheel hub as a further improvement of the utility model, Motor and the battery module of sensor power supply.By using above-mentioned technical proposal, battery module is installed on the downside of vehicle frame, with control Module is in the different ends of vehicle frame, and structure is more reasonable compact.

According to the utility model balance car, clever structure, manipulation is convenient, meets people and turns to use habit, convenient for promoting.

For the above and other objects, features and advantages of the utility model can be clearer and more comprehensible, preferable reality is cited below particularly Example is applied, and cooperates institute's accompanying drawings, is described in detail below.

Detailed description of the invention

Fig. 1 is the top view for the balance car that the utility model one embodiment provides.

Fig. 2 is the A-A sectional view for the balance car that the utility model one embodiment provides.

Fig. 3 is the torque diagram of the vehicle frame for the balance car that the utility model one embodiment provides.

Fig. 4 is the body frame structure for automotive schematic diagram for the balance car that the utility model one embodiment provides.

In figure: vehicle frame 1, control module 3, battery module 4, wheel 5, first sensor 21, second sensor 22, third pass Sensor 23, the 4th sensor 24.

Specific embodiment

Further to illustrate technical means and efficacy that the utility model is taken by the predetermined purpose of utility model of realization, Attached drawing and preferred embodiment are fastened below, to foundation specific embodiment of the present utility model, structure, feature and its effect, in detail It describes in detail bright as after.

In this application unless specifically defined or limited otherwise, term " installation ", " connected ", " connection ", " fixation " etc. Term shall be understood in a broad sense, for example, it may be being fixedly connected, may be a detachable connection, or be integrally connected；It can be machine Tool connection, is also possible to be electrically connected；It can be directly connected, two members can also be can be indirectly connected through an intermediary Connection inside part.For the ordinary skill in the art, above-mentioned term can be understood in this Shen as the case may be Please in concrete meaning.

Balance car, includes vehicle frame 1, sensor, control module 3 and wheel 5 referring to FIG. 1 to FIG. 4, and vehicle frame 1 is whole Formula, two wheels 5 are respectively arranged in the left and right sides of vehicle frame 1, and the wheel shaft of wheel is installed on vehicle frame 1 by mounting base, control Module is connect with each sensor, and control module, the hub motor of wheel, sensor etc. are powered by battery module 4.

Sensor is set at the medium position area of section minimum of vehicle frame, is strain-ga(u)ge transducer, the left and right two of vehicle frame End is relative to medium position at being symmetrical arranged, and the left and right ends of vehicle frame are big compared with medium position, i.e. the medium position of vehicle frame is opposite Left and right ends are in gradually-reducing shape, sensor include the first sensor 21 for being set to the front side of vehicle frame medium position, upside 4th sensor 24 of two sensors 22, the 3rd sensor 23 of downside and rear side.Sensor is to sense position in vehicle frame It sets by torsion situation, and the motion controls such as steering/straight trip of balance car is completed by force information according to each sensor sensing.

It is looked over by Fig. 4 arrow direction, when distortion clockwise occurs on the basis of aluminium sheet central axes, i.e., tool on the left of vehicle frame It is standby to make the trend turned counterclockwise backward, have the trend for making to turn clockwise forward on the right side of vehicle frame, makees to torque is generated in the middle part of vehicle frame With for the torque diagram of vehicle frame as shown in figure 3, A1 value reduces (negative sense), A2 value increases (forward direction), and B1+B2 value and reality are stood up People's weight is directly proportional, and when distortion counterclockwise occurs on the basis of vehicle frame central axes, A1 value increases (forward direction), and A2 value reduces (negative To), control function is as follows:

y_left=f_PID1(angle)+f_PID2( (A1-A2)/(B1+B2) )；

y_right=f_PID1(angle)-f_PID2( (A1-A2)/(B1+B2) )；

Wherein, A1 value is the torque that measures of first sensor 21, and A2 value is the torque that the 4th sensor 24 measures, B1 the The torque that two sensors 22 measure, B3 are the torque that 3rd sensor 23 measures, and angle, that is, vehicle frame angle state is passed by posture Sensor measures.

F_PID1 can control wheel power size deviation according to pitch angle control forward-reverse, f_PID2, it is made to generate speed Difference can turn to.

Vehicle frame is integral the plate of formula structure.The structure of vehicle frame is conducive to the stabilization of vehicle, and portable easy manipulation.

Control module includes master control borad, posture tablet, strain-ga(u)ge transducer database；Posture tablet is for receiving appearance The vehicle body attitude data information that state sensor senses, and the data information is fed back into master control borad, strain-ga(u)ge transducer data The specific effect force information that plate is used to receive operator that strain-ga(u)ge transducer senses to strain-ga(u)ge transducer, and by the information Master control borad is fed back to, master control borad controls the revolving speed of the hub motor of car body and steering according to each data information, to realize Control to balance car car body.Believe containing a three-axis gyroscope to sense the inclination angle of balance car car body in attitude transducer Breath.

The above descriptions are merely preferred embodiments of the present invention, not makees in any form to the utility model Limitation, although the utility model with preferred embodiment disclose as above, be not intended to limit the utility model, Ren Heben Field technical staff is not departing within the scope of technical solutions of the utility model, makes when using the technology contents of the disclosure above A little change or the equivalent embodiment for being modified to equivalent variations, but it is all without departing from the content of the technical scheme of the utility model, foundation The technical essence of the utility model any simple modification, equivalent change and modification to the above embodiments still fall within this In the range of utility model technical solution.

Claims

1. a kind of balance car characterized by comprising vehicle frame (1), is installed on being used for for vehicle frame (1) medium position at wheel (5) The sensor of sensing middle part deformation extent and, data information for acquire according to the sensor is to control balance car turn To or straight trip control module (3)；The wheel (5) is installed on the left and right sides of vehicle frame (1), and wheel (5) is built-in with wheel hub electricity Machine, the control module (3) are installed on the downside of vehicle frame.

2. balance car as described in claim 1, which is characterized in that the sensor is strain-ga(u)ge transducer.

3. balance car as described in claim 1, which is characterized in that sensor includes the front side for being set to vehicle frame medium position 4th sensor (24) of first sensor (21) and rear side.

4. the balance car as described in claims 1 or 2 or 3, which is characterized in that sensor further includes being set to vehicle frame medium position The second sensor (22) of upside and the 3rd sensor (23) of downside.

5. the balance car as described in claims 1 or 2 or 3, which is characterized in that vehicle frame (1) uses the metal plate of monolithic construction Or hard plastic board.

6. the balance car as described in claims 1 or 2 or 3, which is characterized in that further include one for sensing balance vehicle carriage posture Attitude transducer.

7. the balance car as described in claims 1 or 2 or 3, which is characterized in that the middle part of the vehicle frame (1) is relative to a vehicle frame left side Right both ends are in gradually-reducing shape.

8. the balance car as described in claims 1 or 2 or 3, which is characterized in that the middle part of the vehicle frame (1) is relative to a vehicle frame left side Right inward at both ends is recessed in arc-shaped.

9. balance car as claimed in claim 8, which is characterized in that it is minimum that the sensor is set to area of section in the middle part of vehicle frame Place.

10. the balance car as described in claims 1 or 2 or 3, which is characterized in that be also equipped on the downside of the vehicle frame for The battery module (4) of control module (3), hub motor and sensor power supply.