CN210852758U - Double-hand-rod balance car - Google Patents

Abstract

The utility model belongs to the technical field of the instrument of riding instead of walk, a both hands pole balance car is related to, install respectively in the wheel of frame bottom along length direction both sides including frame, two, every wheel is by a motor drive, its characterized in that respectively: two sides of the upper part of the frame along the length direction are respectively provided with a handhold rod for controlling the turning motion of the balance car; the balance car steering control system is characterized by further comprising a linear sensor used for detecting shaking data of the grab bar and a controller used for controlling the balance car to move straight or turn, wherein the controller receives the shaking data of the grab bar detected by the linear sensor and feeds the received shaking data back to the corresponding motor so as to control the turning direction and the turning speed of the balance car. The balance car realizes effective control of turning motion through the hand levers arranged on the two sides of the car body respectively.

Description

Double-hand-rod balance car

Technical Field

The utility model belongs to the technical field of the instrument of riding instead of walk, a both hands pole balance car is related to.

Background

The balance car is a device which judges the gravity center of a human body by a gyroscope so as to control the direction, the balance car does not have a special braking device, a user leans forward, and the balance car moves forward. The user leans back, and the balance car realizes the function of braking and backspacing through wheel speed reduction then reverse rotation.

Currently, there are two main types of balance cars, the first type: the two wheels are connected through a coupler, the centers of the two wheels are on the same shaft, the two wheel shafts can rotate relatively, and just because the two wheel shafts can rotate relatively, a gyroscope is respectively arranged on the two shafts and used for sensing respective postures, and the purposes of controlling the motor to move forward, move backward, turn left and turn right are achieved through operation, and the vehicle is called as a 'swing vehicle' or a 'drift vehicle'. The second pattern is as follows: the double wheels are coaxially fixed on a metal frame, a coupling is not arranged in the middle, the shafts of the two wheels are fixed and cannot rotate relatively, a gyroscope is arranged on the metal frame to achieve balance control, the gyroscope can be balanced through operation control, a steering handle is arranged at the center of the frame to control steering, and the steering handle is turned through left-right shaking. Although both of the above embodiments can realize the balance control function, they are insufficient.

The first of these has the following problems: first, because the two shafts can rotate relatively, the pedals on the two sides are difficult to keep the same posture, so the direction is easy to deflect during fast running, and the linear running is difficult to control. Secondly, the user completely depends on the feet to control the actions of advancing, backing and turning, and safety accidents are easy to happen. The second type has the following problems: firstly, because the steering handle is arranged at the center of the frame, the forward and backward directions of the balance car are fixed, if a user gets on the balance car reversely, the steering direction is opposite to the direction controlled by the steering handle, and safety accidents are easy to happen. Secondly, if the user breaks down when riding, because the mounted position of steering handle, the user can't get off from the balance car front, easily takes place the incident.

Disclosure of Invention

The utility model provides a to above-mentioned problem, a both hands pole balance car is provided, and this balance car realizes the effective control to the turning motion through the handrail that the automobile body both sides set up respectively.

According to the technical scheme of the utility model: the utility model provides a both hands pole balance car, includes frame, two install respectively in the wheel of frame bottom along length direction both sides, and every wheel is by a motor drive, its characterized in that respectively: two sides of the upper part of the frame along the length direction are respectively provided with a handhold rod for controlling the turning motion of the balance car;

the balance car steering control system is characterized by further comprising a linear sensor used for detecting shaking data of the grab bar and a controller used for controlling the balance car to move straight or turn, wherein the controller receives the shaking data of the grab bar detected by the linear sensor and feeds the received shaking data back to the corresponding motor so as to control the turning direction and the turning speed of the balance car.

As a further improvement, the utility model discloses a every the handrail is at the equal perpendicular to frame of natural state, and linear transducer is used for detecting the swing data of handrail central point.

As a further improvement, the handrail can swing at the position connected with the frame.

As a further improvement of the utility model, when one side of the grab bar swings forwards, the wheels on the same side rotate forwards; when the grab rail at one side swings backwards, the wheels at the same side rotate backwards.

As a further improvement, the handrails on both sides swing to the same direction, and the balance car keeps the original working state.

As a further improvement, the larger the amplitude of the shaking of the handrail, the larger the wheel rotating speed.

As a further improvement, the built-in attitude sensor of controller, attitude sensor are used for detecting the automobile body angle to control balance car and go straight or retreat.

As a further improvement of the utility model, the linear sensor is arranged at the lower part of the handrail.

As a further improvement of the utility model, the controller is arranged in the frame.

The technical effects of the utility model reside in that: the utility model increases the safety of getting on the bus and reduces the learning difficulty of the user by arranging the handrails on the two sides of the bus body respectively; meanwhile, the user can get on the vehicle effectively without distinguishing the front and the back; the frame is an integral body, relative rotation cannot occur, and deflection is not easy to occur during straight line running; the accuracy of turning can be realized by means of the shaking data stability of the handrail.

Drawings

Fig. 1 is a schematic structural diagram of the present invention.

Fig. 2 is an explosion diagram of the present invention.

Detailed Description

The following description will further describe embodiments of the present invention with reference to the accompanying drawings.

In fig. 1 and 2, the electric bicycle comprises an upper cover 1, a lower cover 2, a wheel 3, a bicycle body 4, a handrail 5, a rocker upper cover 6, a pressure contact switch pressing sheet 7, a pressure contact switch 8, a first rocker rotating shaft 9, a second rocker rotating shaft 10, a third rocker rotating shaft 11, a rocker elastic sheet 12, a wheel fixing pressing sheet 13, a battery 14, a controller 15, a bolt 16 and the like.

As shown in figures 1 and 2, the utility model relates to a two-hand balance car, the effective control of the turning of the balance car is realized by arranging handrails 5 on the two sides of the car frame, the concrete realization scheme is as follows, the car frame comprises an upper cover 1 and a lower cover 2 which are connected in an up-and-down involutory way and a car body 4 which is encapsulated between the upper cover 1 and the lower cover 2, after the upper cover 1 and the lower cover 2 are involutory way, the wheels 3 are locked by bolts 16, the wheels 3 are respectively arranged on the two sides after the upper cover 1 and the lower cover 2 are connected, in order to realize the reliable connection of the wheels 3 and the car body 4, the connection part of the wheels 3 and the car body 4 is provided with a wheel fixing pressing sheet 13 for limiting the connection shaft of the wheels 3, a motor is respectively arranged corresponding to each wheel 3 for driving the wheels 3 to rotate, it can be understood that, in order to realize the power supply to the motor, batteries 14 are respectively arranged in the battery grooves on the two sides of, effective positioning of the vehicle body 4 is achieved.

Each handrail 5 is perpendicular to the frame in a natural state, and the linear sensor is used for detecting swing data of the central point of the handrail 5. Two handrails 5 respectively pass through the groove bodies arranged on the two sides of the upper cover 1 along the front-back direction and extend to the position of the car body 4, pass through the rocker upper cover 6 and are connected with the rocker rotating shaft assembly, so that the mutual linkage of the handrails 5 and the rocker rotating shaft assembly is realized, in order to effectively detect the swinging position of the handrails 5, the Hall linear sensor is installed on the rocker upper cover 6, the upper cover 6 is fixed on the car body 4, and the position of the Hall linear sensor is not changed relative to the car body 4. The magnet is mounted on the shaft 10 to rotate as the handrail swings. Therefore, when the handrail drives the rocker rotating shaft assembly to swing, a magnetic field changes relative to the Hall linear sensor, through the Hall effect, the Hall linear sensor can convert a magnetic field change value into a voltage change to facilitate calculation of a control system, when the handrail is specifically arranged, the rocker rotating shaft assembly comprises a second rocker rotating shaft 10, a connecting shaft at the lower end of the handrail 5 is connected with a connecting hole in the second rocker rotating shaft 10, two axial ends of the second rocker rotating shaft 10 are respectively connected with a first rocker rotating shaft 9 and a second rocker rotating shaft 11, and the linear sensor is installed on the second rocker rotating shaft 10; the rocker rotating shaft assembly is rotatably arranged on the mounting seats at two ends of the surface of the upper part of the vehicle body 4, a rocker elastic sheet 12 is arranged in each mounting seat, and the rocker elastic sheets 12 are matched with the rocker rotating shaft assembly. The linear sensor or hall linear sensor model is SS 49E.

In order to realize above-mentioned operation mode of handrail 5, the utility model discloses still set up controller 15 between automobile body 4 and lower cover 2, linear transducer feeds back the detection data of handrail 5 to controller 15, and controller 15 is according to linear transducer's data to the motor send-out order of corresponding wheel 3, realizes advancing or the control of moving back to wheel 3 to the realization is turned the operation to the balance car. The specific working process is as follows: when the handrail 5 on one side swings forwards, the corresponding wheel 3 rotates forwards, and at the same time, the handrail 5 on the other side swings backwards, and the corresponding wheel 3 rotates backwards; at the moment, the balance car realizes turning movement; on the contrary, the grab bar 5 on one side swings backwards, the corresponding wheel 3 rotates backwards, at the moment, the grab bar on the other side swings forwards, the corresponding wheel 3 rotates forwards, and the corresponding turning motion of the balance car is realized. The rotation speed of the balance car during turning is determined by the swing amplitude of the handrail 5, the larger the swing amplitude of the handrail 5 is, the larger the rotation speed of the wheel 3 is, and the realization principle is that the larger the swing amplitude of the handrail 5 is, the larger the voltage change detected by the linear sensor is, the larger the difference between the voltage value calculated by the controller 15 and the central point when the handrail does not swing vertically is, and at the moment, an instruction is sent to the corresponding motor to drive the motor to rotate. The utility model provides a controller 15 adopts the model to be STM32F030C8T 6's chip.

Because the swing of the handrail 5 on two sides has two other combination forms, namely, the handrail 5 on two sides swings forwards or backwards simultaneously, in order to ensure the safety of the vehicle, when the handrail 5 on two sides swings in the same direction, the linear sensor detects the data signal and feeds the signal back to the controller 15, and at the moment, the controller 15 outputs the signal, so that the motor keeps the original working state, namely, the balance vehicle keeps the original working state.

It can be understood that the handrail 5 can swing in the left-right direction with respect to the upper cover 1 in addition to swinging in the front-rear direction with respect to the upper cover 1, and when the swinging direction of the handrail 5 is set to the left-right direction, the setting direction of the mounting seat at the lower portion of the handrail 5 is adjusted correspondingly in synchronization, so that the handrail 5 can swing in the corresponding direction. Of course, during the specific production and manufacture, the swinging direction of the handrail 5 can be correspondingly set according to the requirements of customers. The arrangement modes of the handrail 5 are consistent with the control mode of the balance car when the handrail 5 swings back and forth. The utility model provides an attitude sensor's model adopts MPU6050 or MPU 6887.

In order to realize effective control of forward and backward movement of the balance car, a standing position treading area corresponding to the foot shape of a human body is further arranged on the upper cover 1, a pressure contact switch pressing sheet 7 is arranged on the car body 4 and below the standing position treading area, a pressure contact switch 8 is respectively arranged at the front end and the rear end below the pressure contact switch pressing sheet 7, each pressure contact switch 8 is connected with a posture sensor arranged in the controller 15, the posture sensors are used for detecting the angle of the balance car, when a user leans forwards on the balance car, the pressure detected by the front pressure contact switch 8 through the pressure contact switch pressing sheet 7 is large, the posture sensors 8 feed back the detected signals to the controller 15, the controller 15 sends out signals to the motor, so that the motor drives the wheels 3 to rotate forwards, and the balance car walks forwards; otherwise, the balance car moves backwards. In the concrete production, the pressure contact switch pressing sheet 7 is I-shaped, correspondingly, two corresponding I-shaped mounting grooves are formed in two sides of the upper surface of the vehicle body 4 respectively to effectively accommodate the pressure contact switch pressing sheet 7, and pressure contact switches 8 are arranged on the bottom surfaces of the front end and the rear end of the I-shaped pressure contact switch pressing sheet 7 respectively.

Claims (9)

1. The utility model provides a both hands pole balance car, includes frame, two and installs respectively in wheel (3) of frame bottom along length direction both sides, every wheel (3) are respectively by a motor drive, its characterized in that: two sides of the upper part of the frame along the length direction are respectively provided with a handrail (5) for controlling the turning motion of the balance car;

the balance car steering control system is characterized by further comprising a linear sensor used for detecting shaking data of the grab bar (5) and a controller (15) used for controlling the balance car to run straight or steer, wherein the controller (15) receives the shaking data of the grab bar (5) detected by the linear sensor and feeds the received shaking data back to the corresponding motor so as to control the turning direction and the turning speed of the balance car.

2. The two-handed bar balance car of claim 1, wherein: each handrail (5) is perpendicular to the frame in a natural state, and the linear sensor is used for detecting swing data of the central point of the handrail (5).

3. The two-handed bar balance car of claim 1, wherein: the handrail (5) can swing at the connecting part of the handrail and the frame.

4. The two-handed bar balance car of claim 3, wherein: when the handrail (5) at one side swings forwards, the wheels (3) at the same side rotate forwards; when the grab rail (5) at one side swings backwards, the wheels (3) at the same side rotate backwards.

5. The two-handed bar balance car of claim 3, wherein: the hand-held rods (5) on the two sides swing towards the same direction, and the balance car keeps the original working state.

6. A two-hand-bar balance car as defined in any one of claims 1 to 5, wherein: the larger the shaking amplitude of the handrail (5), the larger the rotating speed of the wheel (3).

7. The two-handed bar balance car of claim 1, wherein: the controller (15) is internally provided with an attitude sensor which is used for detecting the angle of the vehicle body so as to control the balance vehicle to move straight or move backwards.

8. The two-handed bar balance car of claim 1, wherein: the linear sensor is arranged at the lower part of the handrail (5).

9. The two-handed bar balance car of claim 1, wherein: the controller (15) is arranged in the frame.

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