CN209441512U - A kind of unmanned electrodynamic balance vehicle of automatic trailing type - Google Patents

Abstract

The utility model discloses a kind of automatic unmanned electrodynamic balance vehicles of trailing type, it is related to electrodynamic balance vehicle technical field, including car body, the upper surface of the car body is fixedly connected with pedal, the inside of the pedal is equipped with driving mechanism, and the inside of the pedal is equipped with transmission mechanism.The automatic unmanned electrodynamic balance vehicle of trailing type, the 5th gear and third gear is driven to be rotated by the 4th gear, to which the overturning preferably for the second folded sheet and the first folded sheet provides power, the first circular arc ratch is driven by the rotation of first gear and second gear and the second circular arc ratch is synchronous stretches out or retraction fixed bin, when the first circular arc ratch and the second circular arc ratch stretch out, the first folded sheet and the second folded sheet is driven to be rotated by the center of circle of hinge axis, the one side split plane for being located remotely from each other the first folded sheet and the second folded sheet, to carry out being placed on flat surface progress loading traveling from the article with allowing user to carry at any time in balance car.

Description

A kind of unmanned electrodynamic balance vehicle of automatic trailing type

Technical field

The utility model relates to electrodynamic balance vehicle technical field, specially a kind of unmanned electrodynamic balance vehicle of automatic trailing type.

Background technique

Electrodynamic balance vehicle is called body-sensing vehicle, thinking vehicle and the vehicle that acts as regent etc., is passed using the gyroscope and acceleration of vehicle body Sensor to detect the variation of vehicle body attitude, and utilizes servo-control system, and accurately driving motor is adjusted correspondingly, with The balance of holding system is a kind of novel environmentally protective product that modern is used as walking-replacing tool and amusement and recreation, Traditional balance car is all to drive by user or lift carrying, and in some special cases just seem some burden, Therefore, the unmanned electrodynamic balance vehicle that can be followed automatically seems particularly convenient.

From following unmanned balance car carrying out from when following, the structure on pedal is protrusion installation mostly, Control lever is also therefore, to be difficult to placement and belongings on balance car when driving being followed on pedal mostly, because This, in user in use, can not preferably be utilized to balance car, it is difficult to carry out loading.

Utility model content

The purpose of the utility model is to provide a kind of automatic unmanned electrodynamic balance vehicle of trailing type, has and facilitate progress loading Advantage solves the problems, such as to follow unmanned balance car to be difficult to carry out loading certainly.

Technical solution

To achieve the above object, the utility model provides the following technical solutions: a kind of automatic unmanned electrodynamic balance of trailing type Vehicle, including car body, the upper surface of the car body are fixedly connected with pedal, and the inside of the pedal is equipped with driving mechanism, The inside of the pedal is equipped with transmission mechanism, and the transmission mechanism includes hinge axis, fixed bin, first through hole, the first tooth Wheel, the first driving wheel, the first pin shaft, the first transmission belt, the first circular arc ratch, the first folded sheet, the second transmission belt, limiting ball, Second pin shaft, the second driving wheel, the second through-hole, second gear, the second folded sheet and the second circular arc ratch, the driving mechanism packet Include third gear, third pin shaft, third driving wheel, the 4th driving wheel, third transmission belt, the 5th driving wheel, positive and negative motor, the 4th Gear, the 4th pin shaft, the 6th driving wheel, the 5th gear and the 5th pin shaft.

The left and right sides of the car body are fixedly connected to gear watt, and the inside of each gear watt is placed with idler wheel, And two idler wheels are fixedly connected with the output end of car body, are fixedly connected with fixed bin in the middle part of the pedal upper surface, institute It states and is fixedly connected with support rod in the middle part of the back side of car body, the front of the support rod is fixedly hinged with the first folding by hinge axis Lamination and the second folded sheet, and the first folded sheet and the second folded sheet one side close to each other respectively with the left and right of fixed bin two Side is in contact, and the lower part of second folded sheet right side is fixedly connected with the first circular arc ratch, the left side of the fixed bin Face offers first through hole, and the one end of the first circular arc ratch far from the second folded sheet through first through hole and extends to fixed bin Inside, the inside of the first through hole is fixedly hinged with first gear, and first gear and the first circular arc by the first pin shaft Ratch is meshed, and the front of the first gear is fixedly connected with the first driving wheel, the top of first folded sheet left side It is fixedly connected with the second circular arc ratch, the top of the fixed bin right side offers the second through-hole, the second circular arc ratch One end far from the first folded sheet runs through the second through-hole and extends to the inside of fixed bin, and the top of the fixed bin inner wall passes through Second pin shaft is fixedly hinged with second gear, and second gear is meshed with the second circular arc ratch, the front of the second gear It is fixedly connected with the second driving wheel.

Positive and negative motor is fixedly connected in the middle part of the fixed bin inner bottom wall, the output end of the positive and negative motor is fixedly connected There is the 5th driving wheel, the lower part of the fixed bin inner wall is fixedly hinged with the 4th gear, the 4th gear by the 5th pin shaft Front be fixedly connected with the 4th driving wheel, and the 4th driving wheel passes through third transmission belt and the transmission connection of the 5th driving wheel, institute The inside for stating fixed bin passes through the 4th pin shaft respectively and third pin shaft is fixedly hinged with the 5th gear and third gear, the third Gear and the 5th gear one end close to each other are meshed with the 4th gear.

Further, one end and the second circular arc ratch far from the second folded sheet of the first circular arc ratch are far from the first folding One end of lamination is fixedly connected to limiting ball, and the diameter value of limiting ball is respectively greater than the width of first through hole and the second through-hole Value, can the position preferably to the first circular arc ratch and the second circular arc ratch limit, avoid making during adjusting At the problem being detached from fixed bin.

Further, the front of the third gear is fixedly connected with third driving wheel, and third driving wheel passes through first Transmission belt and the first driving wheel are sequentially connected, and preferably the first driving wheel can be driven to be rotated by third driving wheel, from And the position for being able to drive the first circular arc ratch is adjusted.

Further, the front of the 5th gear is fixedly connected with the 6th driving wheel, and the 6th driving wheel passes through second Transmission belt and the second driving wheel are sequentially connected, and preferably the second driving wheel can be driven to be rotated by the 6th driving wheel, from And the position for being able to drive the second circular arc ratch is adjusted.

Further, the top of the support rod is fixedly connected with handle, and the upper surface of the pedal is fixedly connected with Two symmetrical non-slip mats can preferably allow user to carry out driving use to the balance car, avoid the foot when driving The problem of sliding.

Further, the width value of the first circular arc ratch is less than the width value of first through hole, second circle-arc tooth The width value of bar less than the second through-hole width value, can stretching preferably to the first circular arc ratch and the second circular arc ratch it is long Degree is adjusted, and avoids the problem that causing Caton when adjusting.

1, the automatic unmanned electrodynamic balance vehicle of trailing type is used cooperatively pedal, non-slip mat, gear by being provided with car body Watt and idler wheel, can preferably allow user to stand in non-slip mat or allowing it to follow from traveling to carry out using passing through the device It is provided with fixed bin, is used cooperatively third gear, third pin shaft, third driving wheel, the 4th driving wheel, third transmission belt, the 5th Driving wheel, positive and negative motor, the 4th gear, the 4th pin shaft, the 6th driving wheel, the 5th gear and the 5th pin shaft, can preferably lead to Cross positive and negative motor positive direction rotation drive the 5th driving wheel rotated, thus by third transmission belt drive the 4th gear into Row rotation drives the 5th gear, the 6th driving wheel, third gear and third driving wheel to be rotated by the 4th gear, thus First gear and second gear is driven to be rotated by the first transmission belt and the second transmission belt, to preferably fold for second The overturning of plate and the first folded sheet provides power.

2, the automatic unmanned electrodynamic balance vehicle of trailing type is led to by being provided with fixed bin with the use of hinge axis, first Hole, first gear, the first driving wheel, the first pin shaft, the first transmission belt, the first circular arc ratch, the first folded sheet, the second transmission Band, limiting ball, the second pin shaft, the second driving wheel, the second through-hole, second gear, the second folded sheet and the second circular arc ratch, pass through 4th gear drives third gear and the 5th gear to be rotated, thus the rotation direction of first gear and second gear on the contrary, To pass through first gear stretching synchronous with the rotation of second gear the first circular arc ratch of drive and the second circular arc ratch or retraction Fixed bin, to drive the first folded sheet and the second folded sheet to close when the first circular arc ratch and the second circular arc ratch stretch out Page axis is that the center of circle is rotated, until pushing extreme position, the one side for being located remotely from each other the first folded sheet and the second folded sheet Split is plane, to preferably carry from allowing the article of user's carrying to be placed on flat surface at any time in balance car Object traveling.

Detailed description of the invention

Fig. 1 is the cross-sectional view of the utility model fixed bin front view；

Fig. 2 is structure enlargement diagram at A in the utility model Fig. 1；

Fig. 3 is structure enlargement diagram at B in the utility model Fig. 2.

In figure: 1 car body, 2 gears watt, 3 transmission mechanisms, 301 hinge axis, 302 fixed bins, 303 first through hole, 304 first teeth Wheel, 305 first driving wheels, 306 first pin shafts, 307 first transmission belts, 308 first circular arc ratch, 309 first folded sheets, 310 Second transmission belt, 311 limiting balls, 312 second pin shafts, 313 second driving wheels, 314 second through-holes, 315 second gears, 316 Eighty percent discount lamination, 317 second circular arc ratch, 4 driving mechanisms, 401 third gears, 402 third pin shafts, 403 third driving wheels, 404 4th driving wheel, 405 third transmission belts, 406 the 5th driving wheels, 407 positive and negative motors, 408 the 4th gears, 409 the 4th pin shafts, 410 the 6th driving wheels, 411 the 5th gears, 412 the 5th pin shafts, 5 idler wheels, 6 non-slip mats, 7 pedals, 8 support rods, 9 handles.

Specific embodiment

As shown in Figure 1-3, the utility model provides a kind of technical solution: a kind of automatic unmanned electrodynamic balance vehicle of trailing type, Including car body 1, the upper surface of car body 1 is fixedly connected with pedal 7, and the inside of pedal 7 is equipped with driving mechanism 4, pedal 7 Inside transmission mechanism 3 is installed, transmission mechanism 3 includes hinge axis 301, fixed bin 302, first through hole 303, first gear 304, the first driving wheel 305, the first pin shaft 306, the first transmission belt 307, the first circular arc ratch 308, the first folded sheet 309, Two transmission belts 310, limiting ball 311, the second pin shaft 312, the second driving wheel 313, the second through-hole 314, second gear 315, second Folded sheet 316 and the second circular arc ratch 317, driving mechanism 4 include third gear 401, third pin shaft 402, third driving wheel 403, the 4th driving wheel 404, third transmission belt 405, the 5th driving wheel 406, positive and negative motor 407, the 4th gear the 408, the 4th pin Axis 409, the 6th driving wheel 410, the 5th gear 411 and the 5th pin shaft 412.

The left and right sides of car body 1 are fixedly connected to gear watt 2, and the inside of each gear watt 2 is placed with idler wheel 5, and two A idler wheel 5 is fixedly connected with the output end of car body 1, and fixed bin 302, car body 1 are fixedly connected in the middle part of 7 upper surface of pedal The back side in the middle part of be fixedly connected with support rod 8, the top of support rod 8 is fixedly connected with handle 9, and the upper surface of pedal 7 is solid There are two symmetrical non-slip mats 6 for fixed connection, can preferably allow user to carry out driving use to the balance car, avoid driving The front of the problem of Shi Shi foot is slided, support rod 8 is fixedly hinged with the first folded sheet 309 and the second folding by hinge axis 301 Lamination 316, and the first folded sheet 309 and the second folded sheet 316 one side close to each other respectively with the left and right two of fixed bin 302 Side is in contact, and the lower part of 316 right side of the second folded sheet is fixedly connected with the first circular arc ratch 308, the left side of fixed bin 302 Face offers first through hole 303, and the first circular arc ratch 308 runs through first through hole 303 simultaneously far from one end of the second folded sheet 316 The inside of fixed bin 302 is extended to, the inside of first through hole 303 is fixedly hinged with first gear 304 by the first pin shaft 306, And first gear 304 is meshed with the first circular arc ratch 308, the front of first gear 304 is fixedly connected with the first driving wheel 305, the top of 309 left side of the first folded sheet is fixedly connected with the second circular arc ratch 317, the top of 302 right side of fixed bin The second through-hole 314 is offered, the width value of the first circular arc ratch 308 is less than the width value of first through hole 303, the second circular arc ratch 317 width value, can be preferably to the first circular arc ratch 308 and the second circular arc ratch less than the width value of the second through-hole 314 317 extension elongation is adjusted, and avoids the problem that causing Caton when adjusting, the second circular arc ratch 317 is folded far from first One end of plate 309 runs through the second through-hole 314 and extends to the inside of fixed bin 302, and the first circular arc ratch 308 is folded far from second One end of plate 316 and the second circular arc ratch 317 are fixedly connected to limiting ball 311 far from one end of the first folded sheet 309, and limit The diameter value of ball 311 processed is respectively greater than the width value of first through hole 303 and the second through-hole 314, can be preferably to the first circular arc The position of ratch 308 and the second circular arc ratch 317 is limited, and avoids causing a departure from during adjusting in fixed bin 302 The problem of, the top of 302 inner wall of fixed bin is fixedly hinged with second gear 315, and second gear 315 by the second pin shaft 312 It is meshed with the second circular arc ratch 317, the front of second gear 315 is fixedly connected with the second driving wheel 313.

Positive and negative motor 407 is fixedly connected in the middle part of 302 inner bottom wall of fixed bin, positive and negative motor 407 is also known as motor positive and inverse, As long as positive and reverse rotation control circuit figure and its principle analysis will realize that the positive and negative rotation of motor will be connected to motor three phase mains inlet wire In any two-phase exchange wiring i.e. and can reach the purpose of reversion, positive and negative motor 407 is slowspeed machine, the control of positive and negative motor 407 End processed is equipped with electric machine controller, and direction of the positive and negative motor 407 according to setting, speed are controlled by the active of integrated circuit Degree, angle, response time and the state of uncaging work, and positive and negative motor 407 is equipment well known to the prior art, positive and negative motor 407 output end is fixedly connected with the 5th driving wheel 406, and the lower part of 302 inner wall of fixed bin passes through 412 fixed hinge of the 5th pin shaft There is the 4th gear 408, the front of the 4th gear 408 is fixedly connected with the 4th driving wheel 404, and the 4th driving wheel 404 passes through the Three transmission belts 405 and the 5th driving wheel 406 are sequentially connected, and the inside of fixed bin 302 passes through the 4th pin shaft 409 and third pin respectively Axis 402 is fixedly hinged with the 5th gear 411 and third gear 401, third gear 401 and the 5th gear 411 it is close to each other one End is meshed with the 4th gear 408, and the front of third gear 401 is fixedly connected with third driving wheel 403, and third driving wheel 403 are sequentially connected by the first transmission belt 307 and the first driving wheel 305, can preferably pass through the drive of third driving wheel 403 the One driving wheel 305 is rotated, and so as to drive the position of the first circular arc ratch 308 to be adjusted, the 5th gear 411 is just Face is fixedly connected with the 6th driving wheel 410, and the 6th driving wheel 410 is driven by the second transmission belt 310 and the second driving wheel 313 Connection preferably can drive the second driving wheel 313 to be rotated by the 6th driving wheel 410, so as to drive the second circle The position of curved tooth bar 317 is adjusted.

In use, positive and negative motor 407 is connected with storage source, is passed through during following balance car automatic running automatically The positive direction rotation of positive and negative motor 407 drives the 5th driving wheel 406 to be rotated, to drive the by third transmission belt 405 Four gears 408 are rotated, and drive the 5th gear 411, the 6th driving wheel 410,401 and of third gear by the 4th gear 408 Third driving wheel 403 is rotated, to drive first gear 304 and the by the first transmission belt 307 and the second transmission belt 310 Two gears 315 are rotated, and drive the first circular arc ratch 308 and second by the rotation of first gear 304 and second gear 315 Circular arc ratch 317 is synchronous to stretch out fixed bin 302, to drive the first folded sheet 309 and the second folded sheet 316 with hinge axis 301 It is rotated for the center of circle, until pushing extreme position, the side for being located remotely from each other the first folded sheet 309 and the second folded sheet 316 Face split be plane, thus user can preferably place items within allowed in plane automatically follow balance car carry out loading with With traveling, so that the particle carrying capacity of the automatic running balance car is improved, on the contrary, the opposite direction by positive and negative motor 407 rotates The first folded sheet 309 and the second folded sheet 316 is driven to be folded to the side of fixed bin 302, thus preferably when being not necessarily to loading Driving use is carried out to the device, improves the using effect of the balance car.

Claims (6)

1. a kind of unmanned electrodynamic balance vehicle of automatic trailing type, including car body (1), the upper surface of the car body (1) are fixedly connected with The inside of pedal (7), the pedal (7) is equipped with driving mechanism (4), and the inside of the pedal (7) is equipped with transmission Mechanism (3), it is characterised in that: the transmission mechanism (3) include hinge axis (301), fixed bin (302), first through hole (303), First gear (304), the first driving wheel (305), the first pin shaft (306), the first transmission belt (307), the first circular arc ratch (308), the first folded sheet (309), the second transmission belt (310), limiting ball (311), the second pin shaft (312), the second driving wheel (313), the second through-hole (314), second gear (315), the second folded sheet (316) and the second circular arc ratch (317), the driving Mechanism (4) includes third gear (401), third pin shaft (402), third driving wheel (403), the 4th driving wheel (404), third biography Dynamic band (405), the 5th driving wheel (406), positive and negative motor (407), the 4th gear (408), the 4th pin shaft (409), the 6th transmission Take turns (410), the 5th gear (411) and the 5th pin shaft (412)；

The left and right sides of the car body (1) are fixedly connected to gear watt (2), and the inside of each gear watt (2) is placed with Idler wheel (5), and two idler wheels (5) are fixedly connected with the output end of car body (1), the middle part of pedal (7) upper surface is solid Surely it is connected with fixed bin (302), is fixedly connected with support rod (8) in the middle part of the back side of the car body (1), the support rod (8) Front be fixedly hinged with the first folded sheet (309) and the second folded sheet (316), and the first folded sheet by hinge axis (301) (309) it is in contact respectively with the left and right sides of fixed bin (302) with the second folded sheet (316) one side close to each other, institute The lower part for stating the second folded sheet (316) right side is fixedly connected with the first circular arc ratch (308), a left side for the fixed bin (302) Side offers first through hole (303), and the first circular arc ratch (308) runs through first far from the one end of the second folded sheet (316) The inside of through-hole (303) and the inside for extending to fixed bin (302), the first through hole (303) is solid by the first pin shaft (306) Surely it is hinged with first gear (304), and first gear (304) is meshed with the first circular arc ratch (308), the first gear (304) front is fixedly connected with the first driving wheel (305), and the top of the first folded sheet (309) left side is fixedly connected There is the second circular arc ratch (317), the top of fixed bin (302) right side offers the second through-hole (314), second circle The one end of curved tooth bar (317) far from the first folded sheet (309) is through the second through-hole (314) and extends to the interior of fixed bin (302) The top in portion, fixed bin (302) inner wall is fixedly hinged with second gear (315) by the second pin shaft (312), and the second tooth Wheel (315) is meshed with the second circular arc ratch (317), and the front of the second gear (315) is fixedly connected with the second driving wheel (313)；

Be fixedly connected with positive and negative motor (407) in the middle part of fixed bin (302) inner bottom wall, the positive and negative motor (407) it is defeated Outlet is fixedly connected with the 5th driving wheel (406), and the lower part of fixed bin (302) inner wall is fixed by the 5th pin shaft (412) It is hinged with the 4th gear (408), the front of the 4th gear (408) is fixedly connected with the 4th driving wheel (404), and the 4th passes Driving wheel (404) is sequentially connected by third transmission belt (405) and the 5th driving wheel (406), the inner part of the fixed bin (302) Not Tong Guo the 4th pin shaft (409) and third pin shaft (402) be fixedly hinged with the 5th gear (411) and third gear (401), it is described Third gear (401) and the 5th gear (411) one end close to each other are meshed with the 4th gear (408).

2. a kind of automatic unmanned electrodynamic balance vehicle of trailing type according to claim 1, it is characterised in that: first circular arc The one of ratch (308) one end and the second circular arc ratch (317) separate first folded sheet (309) far from the second folded sheet (316) End is fixedly connected to limiting ball (311), and the diameter value of limiting ball (311) is respectively greater than first through hole (303) and second and leads to The width value in hole (314).

3. a kind of automatic unmanned electrodynamic balance vehicle of trailing type according to claim 1, it is characterised in that: the third gear (401) front is fixedly connected with third driving wheel (403), and third driving wheel (403) passes through the first transmission belt (307) and the One driving wheel (305) transmission connection.

4. a kind of automatic unmanned electrodynamic balance vehicle of trailing type according to claim 1, it is characterised in that: the 5th gear (411) front is fixedly connected with the 6th driving wheel (410), and the 6th driving wheel (410) passes through the second transmission belt (310) and the Two driving wheels (313) transmission connection.

5. a kind of automatic unmanned electrodynamic balance vehicle of trailing type according to claim 1, it is characterised in that: the support rod (8) top is fixedly connected with handle (9), and the upper surface of the pedal (7) is fixedly connected there are two symmetrical non-slip mat (6).

6. a kind of automatic unmanned electrodynamic balance vehicle of trailing type according to claim 1, it is characterised in that: first circular arc The width value of ratch (308) is less than the width value of first through hole (303), and the width value of the second circular arc ratch (317) is less than The width value of second through-hole (314).