CN210503014U

CN210503014U - Electric balance car

Info

Publication number: CN210503014U
Application number: CN201921505437.5U
Authority: CN
Inventors: 胡烨; 应敏
Original assignee: Individual
Current assignee: Individual
Priority date: 2019-05-07
Filing date: 2019-09-10
Publication date: 2020-05-12
Anticipated expiration: 2029-09-10
Also published as: CN211223720U; CN110481690A; CN110562372A; CN210793472U; CN210793471U; CN110481688A; CN110481689A

Abstract

The utility model provides an electric balance car, which comprises two wheels with built-in motors of wheel shafts, two pedal parts which can incline forwards and backwards, a transverse connecting part which limits the distance between the two wheels and a sensor which can sense the inclination of the pedal parts, wherein the wheel shafts of the corresponding wheels are fixedly connected with the pedal parts, and the transverse connecting parts are rotatably connected with the wheel shafts of the wheels; the sensor receives the inclination information of the pedal part, and the controller drives the corresponding wheel to rotate according to the inclination information. Its advantages are high sensitivity and reliability of car body, high stability and reliability, and high reliability. The movable transverse coupling part enables each pedal part to be controlled independently, and if the two pedal parts are inclined forwards/backwards together, the vehicle body rotates forwards/backwards; if one pedal part is forward and the other pedal part is not moved, the two wheels generate speed difference to realize steering control.

Description

Electric balance car

Technical Field

The utility model relates to an electric motor car especially relates to an electrodynamic balance car by servo motor drive.

Background

The electric balance car detects the change of the posture of the car body by using a gyroscope and an acceleration sensor in the car body, and accurately drives a motor to carry out corresponding adjustment by using a servo control system so as to keep the balance of the car body and the system. The electric balance car is used as a riding tool and a leisure and entertainment apparatus by modern people.

The application publication number is CN104029769A electrodynamic balance swing car, which comprises a left set of pedal modules and a right set of pedal modules capable of being twisted, wherein the pedal modules are connected through a rotating shaft; the balance swing car with the structure has relatively good flexibility and controllability, but due to split type rotary connection, the middle structural strength is not enough, and accidental collision easily causes failure and even risks of breakage.

The balance car with the authorization notice number of CN205469471U has two wheels independently and rotatably arranged on a connecting shaft, two pedal mechanisms rotatably arranged on the connecting shaft, respective pedal mechanisms in butt joint with respective wheels, and angular motion detection mechanisms respectively arranged on respective pedal mechanisms, and is the balance car with an integrated structure.

Application publication is CN 106560384A's human-computer interaction body and feels car, and it includes that a whole support chassis, the shaft on the wheel and support chassis fixed connection, and the footboard device can be connected on the support chassis rotatoryly, is equipped with buffering resilient means on the footboard device, and when the footboard device rotated, the position sensor sensing arrived the footboard device for the gradient information of support chassis, then removed or rotate through controlling means drive wheel. The integrated supporting framework is improved in the strength of the whole machine.

The wheel shaft of the wheel of the human body interaction motion sensing vehicle is directly fixedly connected with the supporting framework, the pedal device is connected to the supporting framework in a shaft mode, the pedal device is reset to a balance state through the spring arranged below the pedal device, and the controller drives the wheel through judging the gradient of the pedal device relative to the supporting framework. Where their presence can be improved; on the one hand, the pedal device is indirectly connected with the wheel shaft of the wheel, and the spring is easy to deform or fail, so that the pedal device is influenced to reset to the initially set balance position. The above reasons all affect the sensitivity of the vehicle body control system.

SUMMERY OF THE UTILITY MODEL

The utility model aims to solve the technical problem that an electrodynamic balance car of sensitivity is improved is provided, through the direct shaft fixed connection with the wheel of footboard part, the mode of horizontal hookup part and wheel shaft swing joint improves electrodynamic balance car's sensitivity.

The technical scheme of the utility model is that: the electric balance car is characterized by comprising two wheels with built-in motors of wheel shafts, two pedal parts capable of inclining forwards and backwards, a transverse connecting part for limiting the distance between the two wheels and a sensor capable of sensing the inclination of the pedal parts, wherein the wheel shafts of the corresponding wheels are fixedly connected with the pedal parts, and the transverse connecting parts are rotatably connected with the wheel shafts of the wheels; the sensor receives the inclination information of the pedal part, and the controller drives the corresponding wheel to rotate according to the inclination information.

The utility model discloses further preferred scheme does: the pedal component is sleeved and fixed on the wheel shaft of the wheel, or the pedal component is fixed on the wheel shaft of the wheel in an inserting or clamping way.

The utility model discloses further preferred scheme does: at least one end of the transverse connecting part is rotatably connected with the wheel axle of the corresponding wheel.

The utility model discloses further preferred scheme does: one end of the transverse connecting part is rotatably connected with one wheel shaft, and the other end of the transverse connecting part is fixedly connected with the wheel shaft of the other wheel.

The utility model discloses further preferred scheme does: the wheel shaft of the wheel penetrates through the whole width of the pedal part; or the wheel axle of the wheel is fixed at one end of the pedal part, and the other end of the pedal part is coupled with the transverse coupling part.

The utility model discloses further preferred scheme does: the sensor and the controller are integrated on a circuit board, and the circuit board is arranged on the pedal component.

The utility model discloses further preferred scheme does: the pedal component comprises a pedal seat and a pedal cover which are connected with the wheel shaft, and the circuit board is arranged in a cavity formed in the pedal seat and the pedal cover.

The utility model discloses further preferred scheme does: the sensor is an angle sensor, an acceleration sensor or a gyroscope.

The utility model discloses further preferred scheme does: the transverse connecting component is of a plate-shaped structure, a concave cavity is arranged in the middle of the transverse connecting component of the plate-shaped structure, and the rechargeable battery is positioned in the concave cavity; or the transverse coupling member is in a shaft-shaped or columnar structure, and the rechargeable battery is arranged at the outer side part of the transverse coupling member.

The utility model discloses further preferred scheme does: the motor is a servo motor, receives the inclination information processed by the controller and drives the wheels to rotate

Compared with the prior art, the utility model has the advantages that the pedal part provided with the sensor is fixedly connected with the wheel shaft of the wheel, and the transverse connecting part is rotatably connected with the wheel shaft of the wheel; the motor servo system in the wheel directly controls the state of the pedal part, the inclination of the pedal part is directly fed back to the motor servo system to drive the wheel, and the control sensitivity and reliability of the vehicle body can be improved. The transverse connecting part is rotationally connected with the wheel shaft of the wheel, so that the pedal component is rotationally connected with the transverse connecting part; that is, each pedal part can be controlled independently, and if the two pedal parts are inclined forwards/backwards together, the vehicle body rotates forwards/backwards; if one pedal part is forward and the other pedal part is not moved, the two wheels generate speed difference to realize steering control.

Drawings

The present invention will be described in further detail below with reference to the drawings and preferred embodiments, but those skilled in the art will appreciate that the drawings are only drawn for the purpose of illustrating the background art and explaining the preferred embodiments, and therefore should not be taken as limiting the scope of the present invention. Furthermore, unless specifically stated otherwise, the drawings are merely schematic representations based on conceptual representations of elements or structures depicted and may contain exaggerated displays and are not necessarily drawn to scale.

FIG. 1 is a profile view of the overall profile structure and pedal assembly in a first state;

FIG. 2 is a schematic view of the two pedal members, the transverse link member, in a state of equilibrium;

FIG. 3 is a schematic illustration of the steering control effect of two pedal members and the following of the transverse link member;

FIG. 4 is a side view of the two pedal members following the action of the steering control and transverse linkage;

FIG. 5 is a schematic view of the connection structure of the pedal member, the transverse coupling member and the wheel axle;

FIG. 6 is a schematic view of the pedal member in combination with the axle;

FIG. 7 is a schematic view showing the relationship between the pedal member and the axle;

FIG. 8 is an exploded view of the pedal member and axle;

FIG. 9 is a schematic view of the transverse coupling member in combination with the axle;

FIG. 10 is a schematic view of a circuit board and a battery mounting position;

FIG. 11 is a schematic view of the connection structure of the pedal member, the transverse coupling member and the wheel axle in the second state;

FIG. 12 is a schematic illustration of the axle being inserted in the second state;

FIG. 13 is a schematic view of the connection structure of the pedal member, the transverse coupling member and the wheel axle in the third state;

FIG. 14 is a schematic illustration of the axle being inserted in the third state;

fig. 15 is a schematic view of the connection structure of the pedal member, the transverse coupling member and the wheel axle in the fourth state.

In the figure, 1 left wheel; 1-1 left wheel axle; 1-2 middle section; 2 a left pedal member; 2-1 pedal seat; 2-2 pedal covers; 3 transverse coupling means; 4a right pedal member; 5 a right wheel; 5-1 right wheel axle; 6, a second hoop; 7, a hoop I; 8, passing through the groove; 9a circuit board; 10 charging the battery; 11 a hinge; 12 a reinforcing shaft; 13 connecting the shaft; 14 connecting the beams; 15 lower shell.

Detailed Description

Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the accompanying drawings. Those skilled in the art will appreciate that the description is illustrative only, and is not to be construed as limiting the scope of the invention.

It should be noted that: like reference numerals refer to like items in the following figures, and thus, once an item is defined in one figure, it may not be further defined and explained in subsequent figures.

In the description of the present invention, it should be noted that the terms "inside" and "outside" are used for indicating the position or positional relationship based on the position or positional relationship shown in the drawings, or the position or positional relationship that the utility model is usually placed when using, and are only for convenience of describing the present invention and simplifying the description, but not for indicating or implying that the device or element to be referred must have a specific position, be constructed and operated in a specific position, and thus should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and the like are used merely to distinguish one description from another, and are not to be construed as indicating or implying relative importance.

As shown in fig. 1, the electric balance car includes two left and

right wheels

1 and 5 with built-in motors of wheel shafts, a left pedal member 2 tiltable forward and backward, a right pedal member 4, a lateral coupling member 3 defining a distance between the two wheels, and a sensor sensing inclination of the pedal members.

Specifically, the outer rings of the left wheel 1 and the right wheel 5 are provided with colloid rims, and the rims are internally provided with motors which can be external rotor motors. The shell of the motor can be used as a hub, and an independent hub can also be arranged. The axle of the wheel can be the motor shaft of the outer rotor motor.

Preferably, the motor is an existing servo motor, receives the inclination information processed by the controller and drives the wheel to rotate, and a code disc and an encoder which rotate coaxially with the motor are arranged.

The left wheel 1 is provided with a left wheel axle 1-1, the right wheel 5 is provided with a right wheel axle 5-1, the left wheel axle 1-1 is fixedly connected with the left pedal part 2, and the right wheel axle 5-1 is fixedly connected with the right pedal part 4. The transverse connection 3 is rotatably connected to the wheel axle. Specifically, at least one end of the transverse connecting portion 3 is rotatably connected to the axle of the corresponding wheel, and may be one end of the transverse connecting portion 3 is rotatably connected to one of the axles, and the other end of the transverse connecting portion is fixedly connected to the axle of the other wheel. This also enables the left and

right pedal members

2, 4 to be tilted relative to each other.

Preferably, the transverse link 3 is in rotational connection with the left wheel axle 1-1, the transverse link 3 also being in rotational connection with 5-1. The left sensor receives the left pedal part 2, the right sensor receives the inclination information of the right pedal part 4, and the controller drives the corresponding wheel to rotate according to the inclination information.

Specifically, a left sensor is arranged in the left pedal part 2, and a left controller is electrically connected with the left sensor. And a right sensor is arranged on the right pedal part 4, and a right controller is connected with the right sensor.

More specifically, as shown in fig. 2 to 4, the left wheel axle 1-1 with the left pedal member 2 is kept horizontal and the right wheel axle 5-1 with the right pedal member 4 is kept horizontal in the initial state of energization. Under normal conditions, the wheel shaft can be kept still at a certain angle by the adjusting force. When the left pedal part 2 and the right pedal part 4 are pedaled to incline forwards and lean backwards simultaneously, the controller obtains feedback of the sensor to control the two rims to roll forwards and backwards simultaneously; when the left pedal part 2 keeps balance and the right pedal part 4 pedals forwards and backwards, a speed difference is generated, and the controller obtains feedback of the sensor to control the right rim to rotate so as to realize the unilateral steering function.

The transverse coupling part 3 is located between the two wheels for determining the distance, and also connects the two wheels simultaneously as a beam. However, since the left pedal part 2 is fixedly connected with the left wheel axle 1-1, the right pedal part 4 is fixedly connected with the right wheel axle 5-1, and the left pedal part 2 and the right pedal part 4 must rotate independently, at least one side of the transverse connecting part 3, the left wheel axle 1-1 and the right wheel axle 5-1 is movably connected. As shown in fig. 4, the transverse coupling part 3 will also follow the rotation angle a °.

If the transverse connecting part 3 is fixedly connected with the left wheel axle 1-1 and the right wheel axle 5-1, the left pedal part 2 and the right pedal part 4 can only tilt forwards and backwards at the same time, and the purpose of unilateral control steering cannot be realized.

The left pedal part 2 is sleeved and fixed on the left wheel axle 1-1, and the right pedal part 4 is sleeved and fixed on the right wheel axle 5-1.

Specifically, as shown in fig. 5-7, the left axle 1-1 transversely penetrates into the pedal seat 2-1 of the left pedal component 2, two hoops one 7 are arranged to press on the left axle 1-1, and the hoops one 7 clamp the left axle 1-1 and then are fixed with the pedal seat 2-1 by bolts. In order to limit rotation, a flat edge is arranged on the left wheel axle 1-1, the hoop I7 is also a plane, and the plane of the hoop I7 is just pressed on the flat edge. The left pedal component 2 solves the problem of balance resetting of the pedal components by utilizing the principle that the wheel shaft is always balanced, so that the connection relation is simplest, the purpose is most accurate, and the high sensitivity of control is realized. The right pedal part 4 is connected to the left pedal part 2 in the same manner.

Of course, the left pedal part 2 can be inserted and fixed on the left wheel axle 1-1, and the right pedal part 4 can be inserted and fixed on the right wheel axle 5-1. The left pedal part 2 can also be clamped and fixed on the left wheel axle 1-1, and the right pedal part 4 can also be clamped and fixed on the right wheel axle 5-1.

For example, when the left pedal part 2 is fixed by inserting, a polygonal insertion hole can be formed in the left pedal part 2, and the left wheel axle 1-1 can be provided with a multi-surface flat edge, so that the left wheel axle 1-1 is inserted into the left pedal part 2 to be limited in rotation. The right pedal member 4 is provided as above.

For another example, when the left pedal component 2 is fixed by clamping, a clamping groove is arranged on the left pedal component, and the left wheel axle 1-1 is clamped in the clamping groove to limit rotation. The right pedal member 4 is provided as above.

Or the wheel axle of the wheel is fixed at one end of the pedal part, and the other end of the pedal part is coupled with the transverse coupling part.

Preferably, the left axle 1-1 extends the entire width of the left pedal member 2, the right axle 5-1 extends the entire width of the right pedal member 4, and the left axle 1-1 and the right axle 5-1 define a major axis.

Specifically, the transverse connection portion 3 and the left wheel axle 1-1 are rotationally connected as shown in fig. 5 and 8, the left wheel axle 1-1 is a long axle, two hoops two 6 are arranged to press on the left wheel axle 1-1, inner rings of the hoops two 6 are circular arcs, and the left wheel axle 1-1 can rotate in the hoops two 6. The bottom of the pedal seat 2-1 is provided with a through groove 8, one hoop II 6 penetrates through the through groove 8, the width of the through groove 8 is basically consistent with that of the hoop II 6, and the through groove is designed for limiting the hoop II 6 and the left wheel axle 1-1. The penetrating sequence of the left wheel axle 1-1 is hoop two 6 → hoop one 7 → hoop two 6 → hoop one 7. The long axis is described as having a continuous intermediate section 1-2 to increase the rigidity of the connection. The left wheel axle 1-1 is inserted from one side of the pedal seat 2-1 of the pedal component but does not penetrate through the other side of the pedal seat 2-1, and the pedal cover 2-2 is added, so that the appearance is attractive, and rainwater can be reduced from entering from the side. The transverse connecting part 3 is connected with the right wheel shaft 5-1 in a rotating connection manner.

For another example, the left wheel axle 1-1 is fixed to one end of the left pedal member 2, and the other end of the left pedal member 2 is coupled to the lateral coupling member 3. Specifically, the left axle 1-1 is a short axis. The transverse connecting part 3 is connected with the right wheel shaft 5-1 in a rotating connection manner.

Specifically, as shown in fig. 13-14, the left wheel axle 1-1 transversely penetrates into the pedal seat 2-1 of the left pedal component 2, and a hoop i 7 is arranged to press on the wheel axle, and the hoop i 7 is fixed with the pedal seat 2-1 by bolts after clamping the wheel axle. In order to limit rotation, a flat edge is arranged on the left pedal part 2, the hoop I7 is also a plane, and the plane of the hoop I7 is just pressed on the flat edge of the left pedal part 2. A second hoop 6 is arranged to press on the left pedal component 2, the inner ring of the second hoop 6 is arc, and the left pedal component 2 can rotate in the second hoop 6. A reinforcing shaft 12 is arranged in the pedal seat 2-1, and the other hoop I7 is arranged on the pedal seat 2-1 and is tightly connected with the reinforcing shaft 12. The bottom of the pedal seat 2-1 is provided with a through groove 8, another hoop II 6 penetrates through the through groove 8, the width of the through groove 8 is basically consistent with that of the hoop II 6, the hoop II 6 is connected with the transverse connecting component 3, and meanwhile, the hoop II 6 also clamps the reinforcing shaft 12. The expression of the minor axis is without the intermediate section 1-2 in the first state.

For another example, as shown in fig. 11 to 12, the left wheel axle 1-1 is fixed to one end of the left pedal member 2, and the other end of the left pedal member 2 is connected to the transverse link member 3 by a hinge. The transverse connecting part 3 is connected with the right wheel shaft 5-1 in a rotating connection manner.

For another example, as shown in fig. 15, the left wheel axle 1-1 is fixed to one end of the left pedal member 2, the right wheel axle 5-1 is fixed to one end of the right pedal member 4, and the lateral coupling member 3 includes a connecting beam 14 and a lower case 15. The transverse coupling member 3 is rotatably coupled at the other ends of the left and

right pedal members

2 and 4, respectively, in the middle, and the lower housing 15 is coupled to the coupling beam 14.

Regarding sensors and control systems: as shown in FIG. 10, the left pedal member 2 or the right pedal member 4 includes a pedal seat 2-1 coupled to the axle and also includes a pedal cover 2-2 coupled to the axle, the pedal seat 2-1 and the pedal cover 2-2 forming a cavity therein. The sensor and controller are integrated on a circuit board 9. the circuit board 9 is arranged in the cavity. Three groups of wiring of the motor extend out from the center of the axle and are connected to the controller.

The sensor and the controller are described by taking the existing structure as a case: the sensor is an angle sensor, an acceleration sensor or an electronic gyroscope. The acceleration sensor may measure acceleration generated by the action of earth's gravity or the movement of an object. The vehicle inclination can be calculated by measuring the acceleration value in one direction. For example, an acceleration signal in the X axis direction is used, and when the vehicle is standing upright, the fixed accelerometer is in the X axis horizontal direction, and at this time, the output signal is a zero bias voltage signal. When the vehicle is inclined, the gravity acceleration g forms an acceleration component in the X-axis direction, so that the output signal of the axis is changed. The gyroscope can be used for measuring the rotation angular velocity of an object, measuring the angular velocity of the vehicle inclination, and performing integral processing on the angular velocity signal to obtain the inclination angle of the vehicle. Both sensors alone achieve accurate, stable attitude in dynamic situations, but the two sensors have complementarity, namely: the acceleration sensor has better use effect under the static condition, and the gyroscope has better effect under the dynamic condition. At this time, an algorithm is required: and the variable fuzzy Kalman filtering algorithm with compensation is used for realizing the fusion of attitude data, so that stable and accurate attitude information under a high dynamic environment is obtained.

The controller can be a photoelectric encoder, for example, an existing incremental encoder is adopted, the main working principle of the incremental encoder is photoelectric conversion, but the output of the incremental encoder is A, B, Z three groups of square wave pulses, wherein A, B two pulses are 90 degrees out of phase to judge the rotating direction of the motor, and Z pulse is one pulse per rotation to facilitate the positioning of a reference point.

The transverse coupling component 3 is of a plate-shaped structure, a cavity is formed in the middle of the transverse coupling component 3 of the plate-shaped structure, the rechargeable battery 10 is located in the cavity, and a charging hole is formed outside the transverse coupling component 3. The transverse coupling part 3 has an upper cover housing which can be opened.

For another example, the lateral coupling member 3 is of a shaft-like or columnar structure, and the rechargeable battery 10 is disposed on the outer side of the lateral coupling member 3.

It is right above the utility model provides an electrodynamic balance car has carried out detailed introduction, and it is right to have used specific individual example herein the utility model discloses a principle and implementation mode have been elucidated, and the description of above embodiment is only used for helping understanding the utility model discloses and core thought. It should be noted that, for those skilled in the art, without departing from the principle of the present invention, the present invention can be further modified and modified, and such modifications and modifications also fall within the protection scope of the appended claims.

Claims

1. The electric balance car is characterized by comprising two wheels with built-in motors of wheel shafts, two pedal parts capable of inclining forwards and backwards, a transverse connecting part for limiting the distance between the two wheels and a sensor capable of sensing the inclination of the pedal parts, wherein the wheel shafts of the corresponding wheels are fixedly connected with the pedal parts, and the transverse connecting parts are rotatably connected with the wheel shafts of the wheels; the sensor receives the inclination information of the pedal part, and the controller drives the corresponding wheel to rotate according to the inclination information.

2. The electric balance car of claim 1, wherein the pedal member is coupled to the axle fixed to the wheel, or the pedal member is fixed to the axle of the wheel by a plug-in or snap-fit.

3. The vehicle of claim 1, wherein at least one end of the transverse link is rotatably coupled to the axle of the corresponding wheel.

4. The vehicle of claim 3, wherein one end of the transverse link is rotatably connected to one of the axles, and the other end of the transverse link is fixedly connected to the axle of the other wheel.

5. The vehicle of claim 1, wherein the axle of the wheel extends across the entire width of the treadbase member; or the wheel axle of the wheel is fixed at one end of the pedal part, and the other end of the pedal part is coupled with the transverse coupling part.

6. The vehicle of claim 1, wherein the sensor and controller are integrated on a circuit board disposed on the pedal member.

7. The vehicle of claim 6, wherein the pedal member includes a pedal housing and a pedal cover coupled to the axle, and the circuit board is disposed within a cavity formed within the pedal housing and the pedal cover.

8. The electrodynamic balance car of claim 1, characterized in that the sensor is an angle sensor, an acceleration sensor or a gyroscope.

9. The electrodynamic balance car of claim 1, wherein the transverse coupling member is a plate-like structure, a cavity is provided in a middle portion of the transverse coupling member of the plate-like structure, and the rechargeable battery is located in the cavity; or the transverse coupling member is in a shaft-shaped or columnar structure, and the rechargeable battery is arranged at the outer side part of the transverse coupling member.

10. The vehicle of claim 1, wherein the motor is a servo motor, and the controller receives the processed inclination information and drives the wheels to rotate.