CN210942088U

CN210942088U - Electric balance car body structure

Info

Publication number: CN210942088U
Application number: CN201922059589.3U
Authority: CN
Inventors: 胡烨; 应敏
Original assignee: Individual
Current assignee: Individual
Priority date: 2019-05-07
Filing date: 2019-11-25
Publication date: 2020-07-07
Anticipated expiration: 2029-11-25
Also published as: CN110803245A

Abstract

The utility model provides an electrodynamic balance car body structure, wheel including footboard part, horizontal hookup part and band pulley axle, horizontal hookup part is connected with first shaft rotation, horizontal hookup part and second shaft fixed connection, first footboard part rotates with horizontal hookup part to be connected, first footboard part can swing around the horizontal part aslope, first shaft penetrates the horizontal part on the shaft hole in, first footboard part passes through locking piece reciprocal anchorage with first shaft, the locking piece restrict first shaft and horizontal part axial simultaneously and break away from, the second footboard part is arranged on horizontal hookup part. The utility model discloses the advantage is that the assembly is simple, just combines both when horizontal hookup part and first footboard part rotate to connect, then when first footboard part was restricted by first shaft axial, horizontal hookup part also was restricted by the axial. The second axle is fixed to the transverse link member without the need for a second pedal member.

Description

Electric balance car body structure

Technical Field

The utility model relates to an electric motor car especially relates to an electrodynamic balance car body structure by servo motor driven.

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 balance cars on the market generally comprise two types, the first type is a swing car with a framework divided into a left structure and a right structure and connected by a rotating part in the middle, and the other type is a balance car with a framework integrated structure and better rigidity.

Application publication is car is felt to human-computer interaction body of CN106560384A, it includes a whole supporting framework, shaft and supporting framework fixed connection on the wheel, the footboard device can be connected on supporting framework rotatoryly, be equipped with buffering resilient means on the footboard device, footboard device rotational position sensor sensing to the footboard device for supporting framework's gradient information, then remove or rotate through controlling means drive wheel, this kind of connected mode assembly is loaded down with trivial details, resilient means is fragile. Application publication number is CN 207241897U's balanced gesture car, including the connecting axle of being connected with the motor, footboard and integrative skeleton are all connected on the connecting axle, but footboard and skeleton can not accomplish the restriction to it by a connecting piece in the axial of connecting axle, consequently every footboard and skeleton all need lock with the connecting axle through multichannel screw, and the assembly is more complicated.

SUMMERY OF THE UTILITY MODEL

The utility model aims to solve the technical problem that a simple and cost-effective structure of automobile body wheel assembly is provided.

Realize the utility model discloses the technical scheme who adopts does: the utility model provides an electrodynamic balance car body structure, includes the wheel of footboard part, horizontal hookup part and band pulley axle, horizontal hookup part rotates with first shaft to be connected, horizontal hookup part and second shaft fixed connection, first footboard part rotates with horizontal hookup part to be connected, first footboard part can swing around the horizontal part aslope, first shaft penetrates the horizontal part on the shaft hole in, first footboard part passes through locking piece reciprocal anchorage with first shaft, the locking piece restrict first shaft and horizontal part axial simultaneously and break away from, the second footboard part is arranged on horizontal hookup part.

Furthermore, the first pedal part is provided with a jack which is connected with the first wheel shaft in an inserting way.

Furthermore, the locking piece is inserted in the radial direction of the first axle, a sunken flat notch is arranged on the side edge of the first axle and serves as a limiting part, and two blocking parts are formed on the flat notch along the two axial ends of the first axle and used for limiting the axial displacement of the locking piece.

Furthermore, the side edge of the first wheel shaft is provided with two sunken flat notches serving as limiting parts, and the locking piece is inserted into the two flat notches in the radial direction of the first wheel shaft and clamped on the two flat notches.

Further, the locking member is detachably connected to the first step member.

Furthermore, an assembly groove is formed in the first pedal part, the locking piece is inserted into the assembly groove in the radial direction of the first wheel shaft, and the locking piece is connected with the first pedal part through screws.

Furthermore, the rotary seat is connected to the transverse connecting component, and a shaft hole penetrating through the first axle is formed in the rotary seat.

Further, be equipped with integrated into one piece's connecting portion on the horizontal hookup part, be equipped with the shaft hole of interlude first axletree on the connecting portion.

Further, the first pedal member is hinged to the transverse coupling member, and the first pedal member is axially restrained from movement by rotation of the transverse coupling member.

Furthermore, a hole channel which is radially formed in the first wheel shaft is formed in the first wheel shaft, the locking piece comprises an inserting rod, and the inserting rod is inserted into the hole channel.

Further, the second pedal member includes a pedal cover fixedly attached to the transverse coupling member.

Compared with the prior art, the utility model has the advantages that:

1. the connecting parts with the wheel axle are reduced, the first pedal part is rotationally connected to the transverse connecting part, the rotating shaft is limited upwards, the first pedal part and the transverse connecting part are combined into a main body and are assembled with the first wheel axle, and the second pedal part is not assembled with the second wheel axle.

2. The assembly is simple, the first axle is only required to be inserted into the transverse coupling part and the first pedal part, and then the transverse coupling part and the first pedal part can be combined after being fixed through a locking piece, so that the axial movement of the transverse coupling part and the first pedal part relative to the first axle can be limited. The transverse coupling member and the first pedal member are coupled when rotationally coupled and then axially restrained when the first pedal member is axially restrained by the first axle. The second axle is fixed to the transverse link member without the need for a second pedal member.

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 schematic overall appearance diagram of a balance car;

FIG. 2 is a schematic view of the cover removed in a balanced state;

FIG. 3 is an exploded view of the balance car;

FIG. 4 is a schematic view of the pedal member being sliced;

FIG. 5 is a schematic view of a pedal member;

FIG. 6 is a schematic view of a pedal member coupled to an axle for planing;

FIG. 7 is a schematic view of a second embodiment of the pedal assembly coupled to the axle;

fig. 8 is a schematic view of the connection of the motor to the axle.

Fig. 9 shows another alternative pedal member configuration.

In the figure, 1 wheel; 2 a first pedal member; 2-1, a recess; 2-2 assembling grooves; 2-3 jacks; 3, a pedal cover; 3-1 second pedal member, 4 wheels; 4-2 a second axle; 5 transverse coupling means; 6, covering the cover; 7 a first wheel axle; 7-1 flat notch; 7-2 blocking sites; 8, screw holes; 9 rotating the second base; 10, a stud; 11, rotating the first base; 12 a locking member; 121 contact surface; 13 a rod member; 14 pore canals; 15 a rotor module; 16 stator modules; 17 splines; 18 connecting part.

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 and 8, the electric balance car comprises two wheels (1, 4), wherein motors are arranged in the wheels (1, 4), and an outer rotor servo motor is preferably adopted. Each wheel (1, 4) is connected with the wheel axle, specifically, the rotor module 15 is arranged on the outer ring of the stator module 16, the wheel axle is directly inserted into the stator module 16 of the motor and is fixedly connected with the stator module 16, for example, a spline 17 or a single key is arranged on the wheel axle, a key groove is arranged in the stator module 16, and the stator module are in press fit connection.

As shown in fig. 1 and 2, a transverse coupling member 5 is arranged between the two wheel shafts, the transverse coupling member 5 is hinged with a first wheel shaft 7, and the transverse coupling member 5 is fixed with a second wheel shaft 4-1. The transverse coupling part 5 is used to determine the distance between the two wheels (1, 4).

As shown in fig. 3, the first wheel axle 7 is connected with the first rotating base 11, the first wheel axle 7 is inserted into the axle hole of the first rotating base 11, and the first rotating base 11 is fixedly connected with the transverse connecting component 5. Preferably, the rotating base one 11 is fixedly connected with the transverse connecting part 5 through screws. More preferably, two rotary seats one 11 are provided in connection with the first wheel axle 7.

In fig. 9, in another alternative, the transverse coupling member 5 is provided with an integrally formed coupling portion 18, on which a shaft hole is provided, into which the first wheel axle 7 is inserted.

One of the turning points of the first pedal part 2 is rotationally connected with the transverse coupling part 5. Specifically, a second rotary seat 9 is arranged on the transverse connecting component 5, and the second rotary seat 9 is fixedly connected with the transverse connecting component 5 through screws. More specifically, the second rotating base 9 is hinged to the first pedal component 2 through a rotating shaft, the second rotating base 9 is fixed to the transverse connecting component 5 through screws, and the first pedal component 2 is provided with screw holes 8 which facilitate connection of the screws through the studs 10 of the first pedal component 2 and the transverse connecting component 5. In this case the first pedal member 2 and the transverse coupling member 5 are rotationally axially constrained but are able to rotate relative to each other, forming a single assembly.

As shown in fig. 4-6, in the first embodiment, two axisymmetric flat notches 7-1 are provided on the first wheel axle 7, the flat notch 7-1 may be a plane, and when the wheels (1, 4) are in a balanced state by a balancing force of the teacher's motor, the flat notch 7-1 is provided at the side of the first wheel axle 7 in a vertical state. Preferably, two planes are lathed or milled on two sides of the first wheel axle 7, and the flat notch 7-1 naturally forms the blocking part 7-2 axially forwards and backwards.

The first pedal part 2 is provided with a locking member 12 and the first wheel axle 7 is directly inserted into a first rotary seat 11 of the coupling part 5. Axial locking can then be effected as soon as the locking element 12 is inserted axially into the first wheel axle 7. While the locking member 12 serves for fixing the direction of rotation of the first pedal part 2 and the first wheel axle 7.

Specifically, the first pedal part 2 is provided with an assembling groove 2-2, and the locking piece 12 and the first pedal part 2 can be detached and fixed by screws. The locking member 12 is inserted into the fitting groove 2-2, and the head of the locking member 12 is inserted in the radial direction of the first hub 7. The locking member 12 is provided with two contact surfaces 121, the two contact surfaces 121 forming a fork, the contact surfaces 121 being positioned just in contact with the flat recesses 7-1 of the first wheel axle 7, the locking member 12 being axially limited by the blocking portion 7-2. This design has two functions, one is to define the first pedal member 2 and the transverse link member 5 with the wheel axle by one member; secondly, the locking piece 12 and the surface of the first wheel axle 7 limit the bidirectional rotation linkage between the first wheel axle 7 and the first pedal part 2.

If the second rotary seat 9 is arranged in the middle of the first pedal part 2, the second rotary seat 9 can support the treading force of the first pedal part 2.

Preferably, the first pedal part 2 is provided with a jack 2-3, and the first wheel axle 7 is directly inserted into the jack 2-3 of the first pedal part 2, so that the first pedal part 2 has two rotation points and can be stressed uniformly when being pedaled. Compared with the first pedal part 2 provided with the second two rotating seats 9, the assembly is simpler, and the cost of the second rotating seat 9 can be saved.

More preferably, the locking element 12 forms two contact surfaces 121 of the fork with the first wheel axle 7 and the top of the fork with the first wheel axle 7, so that one more contact point is provided for stepping on, which increases the rigidity.

In a second solution, shown in fig. 7, a radially arranged hole 14 is provided in the first wheel axle 7, and a locking member 12 is provided on the first step part 2, the locking member 12 comprising a shaft or rod 13, the locking member 12 being adapted to be inserted into the hole 14 of the first wheel axle 7. Thus, axial disengagement of the transverse coupling member 5 and the first pedal member 2 can be restricted by the lock 12, and also bi-directional rotational linkage between the first wheel axle 7 and the first pedal member 2 is possible.

The first pedal member 2 is linked to the first wheel shaft 7 in a bi-directional rotation manner.

The first pedal member 2 is provided with a sensor and a controller which can sense the inclination of the first pedal member 2, and the sensor senses the inclination of the first pedal member 2 respectively to control the front and rear rotation of the wheel 1. The first wheel shaft 7 is always in a balanced state under the action of the servo system, and the first pedal part 2 can be rightly returned to a horizontal position through the reverse acting force of the first wheel shaft 7 after the first pedal part 2 is inclined by treading, so that the horizontal accuracy of the first pedal part 2 is maintained.

The second pedal part 3-1 is arranged on the transverse connecting part 5, the second pedal part 3-1 is arranged on one pedal cover 3, and the pedal cover 3 is fixedly connected with the transverse connecting part 5.

The transverse coupling part 5 is provided with a sensor and a controller which can sense the inclination of the transverse coupling part 5, and the sensor senses the inclination of the second pedal part 3-1 and the transverse coupling part 5 to control the front and back rotation of the wheel 4. The second wheel axle 4-1 is always in a balanced state under the action of the servo system, and the transverse connecting component 5 can be rightly returned to the horizontal position through the reverse acting force of the second wheel axle 4-1 after the second pedal component 3-1 is inclined.

The sensor and the controller are described by taking the existing structure as a case: the sensor includes an angle sensor, an acceleration sensor, or a gyroscope, and the acceleration sensor may measure acceleration generated by the action of earth 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 also photoelectric conversion, but A, B, Z three groups of square wave pulses are output, wherein A, B two pulses are different in phase difference to judge the rotation direction of the motor, and Z pulse is one pulse per rotation to facilitate the positioning of a reference point.

The first pedal part 2 comprises a pedal box and a pedal cover, the middle of the pedal box is inwards sunken, a sensor and a controller are arranged at the sunken part 2-1, the sensor and the controller are arranged in a circuit board, and a connection wire led out from the center of the first wheel shaft 7 is connected with the circuit board. The transverse coupling part 5 is further provided with an upper cover 6, the upper cover 6 is also connected with the first pedal part 2, the upper cover 6 rotates along with the rotation of the first pedal part 2, and in fig. 4, the transverse coupling part 5 is provided with a space S on the side surface, and the space is used for the movement of the upper cover 6.

The transverse coupling member 5 is of plate-like construction with a rechargeable battery located in the cavity. The intermediate cover closes the transverse coupling part 5 so that the rechargeable battery is hidden inside the transverse coupling part 5. The transverse coupling member 5 may also be of an elongate configuration.

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 utility model provides an electrodynamic balance car body structure, includes pedal part, horizontal hookup part and the wheel of band pulley axle, its characterized in that, horizontal hookup part rotates with first shaft to be connected, horizontal hookup part and second shaft fixed connection, first pedal part rotates with horizontal hookup part to be connected, first pedal part can swing back and forth aslope on the horizontal part, first shaft penetrates the shaft hole on the horizontal part in, first pedal part passes through locking piece reciprocal anchorage with first shaft, the locking piece restrict first shaft and horizontal part axial simultaneously and break away from, the second pedal part is arranged on horizontal hookup part.

2. The electric balance car body structure of claim 1, wherein the first pedal member is provided with an insertion hole to be inserted into the first wheel shaft.

3. The electric balance car body structure of claim 1, wherein the locking member is inserted in a radial direction of the first axle, the first axle is provided at a side thereof with a recessed flat notch as a stopper, and the flat notch forms two stopping portions along both ends in an axial direction of the first axle for limiting an axial displacement of the locking member.

4. The electric balance car body structure of claim 1, wherein the first wheel shaft side is provided with two recessed flat notches as stopper portions, and the locking member is inserted in the radial direction of the first wheel shaft and is clamped on the two flat notches.

5. The electric balance car body structure of claim 1, wherein the lock member is detachably connected to the first step part.

6. The electric balance car body structure of claim 1, wherein the first step part is provided with a fitting groove, the locking member is inserted into the fitting groove in a radial direction of the first wheel shaft, and the locking member is connected to the first step part by a screw.

7. The electric balance car body structure according to claim 1, wherein the transverse coupling member is connected to a rotary base, and the rotary base is provided with a shaft hole through which the first axle is inserted.

8. The electric balance car body structure according to claim 1, wherein the transverse coupling member is provided with an integrally formed connecting portion, and the connecting portion is provided with a shaft hole through which the first axle is inserted.

9. The electric balance car body structure of claim 1, wherein the first pedal member is hinged with the transverse coupling member, the first pedal member axially restricting movement from rotation with the transverse coupling member.

10. The electric balance car body structure of claim 1, wherein the first wheel axle is provided with a hole channel radially opened, the locking member comprises an insert rod, and the insert rod is inserted into the hole channel.

11. The electric balance car body structure of claim 1, wherein the second pedal member includes a pedal cover fixedly connected to the transverse coupling member.