CN211281317U

CN211281317U - Novel balance car

Info

Publication number: CN211281317U
Application number: CN201821464506.8U
Authority: CN
Inventors: 臧传美
Original assignee: Zhejiang Aerlang Technology Co Ltd
Current assignee: Zhejiang Aerlang Technology Co Ltd
Priority date: 2018-09-07
Filing date: 2018-09-07
Publication date: 2020-08-18
Anticipated expiration: 2028-09-07

Abstract

The utility model relates to a novel balance car, include: first frame, second frame and be used for the sensing first frame and the second frame between the sensing relative turned angle's sensing device, rotate between first frame and the second frame and be connected, be provided with in first frame or the second frame and be used for according to the controller that the sensed relative turned angle of sensing device arrived in order to realize turning to. The utility model discloses simple structure is ingenious, sets up rationally, realizes steering control, and is swift sensitive according to the relative rotation angle of the two frames that sensing device on two frames sensing arrived.

Description

Novel balance car

Technical Field

The utility model relates to a novel balance car.

Background

In the conventional balance car, especially a swing car, the steering is controlled by sensors mounted under left and right pedals, and if a photoelectric sensor is generally adopted, when the swing car needs to turn, the photoelectric sensor under the pedals senses the inclination degree of the pedals by stepping on the pedals by the feet of an operator, so that the balance car is controlled by steering. The balance car has a complex structure, more and complex sensors are arranged, and the maintenance and the replacement are inconvenient; each sensor is arranged below the pedal area and is easy to damage and lose control.

SUMMERY OF THE UTILITY MODEL

The utility model relates to a novel balance car can retrench the setting of wearing parts such as sensors to a great extent, and the structure sets up rationally, can effectively solve the problem among the background art.

The utility model discloses a realize through following technical scheme:

novel balance car includes: first frame, second frame and be used for the sensing first frame and the second frame between the sensing relative turned angle's sensing device, rotate between first frame and the second frame and be connected, be provided with in first frame or the second frame and be used for according to the controller that the sensed relative turned angle of sensing device arrived in order to realize turning to.

By adopting the above technical scheme, the deflection angle between the first frame and the second frame of the balance car is sensed by the sensing device, namely the so-called deflection angle, namely the relative rotation angle between the first frame and the second frame, and the sensing device can be located at the position where the first frame and the second frame rotate relatively, and the position can be the middle part of the balance car or the part where the two frames are connected or other parts. The steering of the balance car is realized by the deflection angle of the two car frames sensed by the sensing device. If the angle that the first frame leans forward is greater than the angle that the second frame leans forward, turn to second frame one side direction, if the angle that the second frame leans forward is greater than the angle that the first frame leans forward, turn to first frame one side direction, combine the slope condition of two frames to realize turning to promptly, if sensing device sets up in the position that two rotate the frame connection, can more directly measure the relative rotation angle between two frames more high-efficiently to realize turning more swiftly.

As a further improvement of the present invention, the sensing device is a hall sensor. By adopting the technical scheme, the Hall sensor can sense the rotation angle of the first frame relative to the second frame sensitively and quickly by utilizing the change of the magnetic field between the two rotating parts.

As a further improvement, be connected through a pivot between first frame and the second frame, pivot one end and second frame fixed connection, the pivot other end for first frame swing joint, but sensing device sensing pivot is for the turned angle of first frame. Through adopting above-mentioned technical scheme, pivot one end and second frame fixed connection, the pivot other end for first frame swing joint, sensing device as long as sense the pivot for the turned angle of first frame, can be equivalent to sensing turned angle between two frames, and the structure is ingenious reasonable for whole motorcycle type is compacter reasonable.

As a further improvement, the sensing device is disposed on the rotating shaft or on the first frame. By adopting the technical scheme, the arrangement position of the sensing device is in the relative rotating position of the two frames, the rotating angle between the two rotating bodies can be efficiently measured, and the device is safe and reliable.

As a further improvement, the first frame is provided with a reset device for resetting the rotating shaft. Through adopting above-mentioned technical scheme, resetting means's setting makes first frame or second frame after the rotation can in time resume to initial position when withdrawing the exogenic action.

As a further improvement, the resetting device comprises an elastic plate, the middle part of the elastic plate is directly or indirectly abutted against the rotating shaft, and the two ends of the elastic plate are directly or indirectly abutted against the first frame. Through adopting above-mentioned technical scheme, resetting means's concrete structure can make two rotate the frame more reliably more stably realize reseing, and the atress of elastic plate is even, and the effect that resets is splendid.

As a further improvement, the elastic plate has two ends provided with elastic members, two one ends of the elastic members are all supported or connected to the elastic plate, and the other ends are all supported or connected to the first frame. Through adopting above-mentioned technical scheme, the elastic plate is on the elastic component, and the process of resetting is stable gentle noninterference. The resilient member may be a spring or a resilient post or other resilient member.

As a further improvement of the utility model, a groove for the elastic plate to lean against is arranged on the rotating shaft. Through adopting above-mentioned technical scheme, the setting of recess in the pivot is favorable to the installation location and the reseing of elastic plate, makes the installation more firm, resets more steadily.

As a further improvement of the utility model, the elastic plate is an elastic steel plate. Through adopting above-mentioned technical scheme, the elastic plate is elastic steel plate, and the wearability is good, and processing is convenient, and life is longer. Because the elastic plate such as a steel plate is not easy to deform, when the first frame is stressed and the second frame is not stressed, if the first frame inclines, the second frame also correspondingly inclines, and the two frames keep consistency.

As a further improvement, the reset device is a torsion spring, one end of the torsion spring is connected with the second frame or the rotating shaft, and the other end of the torsion spring is connected with the first frame. Through adopting above-mentioned technical scheme, the setting of torsional spring also is favorable to the restoration of pivot or two frames.

As a further improvement, the first frame and the second frame include an upper frame and a lower frame. Through adopting above-mentioned technical scheme, the motorcycle type of balance car is two-layer formula, including last frame and lower frame, overall structure is slim and graceful reasonable.

As a further improvement, the first frame and the second frame comprise an upper frame, a middle frame and a lower frame. Through adopting above-mentioned technical scheme, the motorcycle type of balance car is three laminar, including last frame, well frame and lower frame, overall structure is firm stable.

As a further improvement of the utility model, still be provided with attitude sensor in first frame or/and the second frame. By adopting the technical scheme, the advancing and retreating of the balance car are controlled by the inclination degrees of the first frame and the second frame sensed by the attitude sensor, if the first frame inclines forwards, one side of the first frame advances forwards, if the second frame inclines forwards, the second frame advances forwards, and the retreating of the balance car is controlled by the retreating of the frame.

A balance car control method adopts the balance car of any one of the above technical schemes, and comprises the following steps:

A. the first frame and the second frame rotate relatively, the sensing device senses a relative rotation angle between the first frame and the second frame and feeds the relative rotation angle back to the controller of the balance car, and the controller of the balance car realizes steering according to the relative rotation angle;

B. the first frame and the second frame of balance car are leaned forward to attitude sensor on the balance car, and then the balance car gos forward, and the first frame and the second frame that the first frame and the second frame of balance car of attitude sensor sensing on the balance car are leaned backward, then the balance car is backed. By adopting the technical scheme, the control method is simple and convenient to operate, the two frames rotate relatively, the size and the direction of the rotating angle are sensed to realize the steering of the balance car, and the forward or backward movement of the balance car is sensed by the attitude sensor and controlled by the controller, so that the balance car is efficient and convenient. Because of the setting of resetting means, be difficult to produce deformation such as elastic plate, steel sheet torsional spring for when first frame atress and second frame not atress, then if first frame takes place the slope, then the second frame also can take place the slope correspondingly, makes two frames keep the uniformity, and control one side frame can realize holistic advancing or retreat. Only when the two frames are forcibly rotated by stepping on the two frames by feet, the two frames can generate a relative rotation angle.

As a further improvement of the present invention, in step a, when the sensing device located at the connecting position of the two frames in the middle of the balance car senses that the forward tilting angle of the second frame is larger than the forward tilting angle of the first frame, the balance car turns to the direction of the side where the first frame is located; if the angle that the first frame inclines forwards is larger than the angle that the second frame inclines forwards, the balance car turns to the direction of the side where the second frame is located. By adopting the technical scheme, the steering direction and speed are determined by the value of the inclination angle of the two frames of the balance car.

According to the utility model discloses a novel balance car, simple structure, ingenious, novel do benefit to and adorn in the relative pivoted angle of sensing device sensing of two frame connection departments of balance car to according to relative pivoted angle size and direction, realize turning to, convenient to use turns to control in a flexible way.

In order to make the aforementioned and other objects, features and advantages of the present invention comprehensible, preferred embodiments accompanied with figures are described in detail below.

Drawings

Fig. 1 is an overall structure schematic diagram of the novel balance car provided by an embodiment of the present invention.

Fig. 2 is an explosion diagram of the novel balance car provided by an embodiment of the present invention.

Fig. 3 is a schematic structural view of a rotating shaft and a sensing device of the novel balance car according to an embodiment of the present invention.

Fig. 4 is a schematic view of an explosion structure of a rotating shaft and a sensing device of the novel balance car according to an embodiment of the present invention.

Fig. 5 is a schematic view of a rotating shaft of the novel balance car according to an embodiment of the present invention.

In the figure: the vehicle body frame comprises a first vehicle frame 11, a second vehicle frame 12, a controller 15, a sensing device 16, a first upper vehicle frame 111, a first lower vehicle frame 112, a second upper vehicle frame 121, a second lower vehicle frame 122, a rotating shaft 161, a first sleeve 162, a second sleeve 163, a hall sensor 164, an elastic plate 165, a first spring 166, a second spring 167, a magnetic member 168, a fixed end 1611, a flange portion 1612, a groove 1613, a movable end 1614 and a cavity 1615.

Detailed Description

To further illustrate the technical means and effects of the present invention adopted to achieve the objects of the present invention, the following buckling drawings and preferred embodiments are described in detail below with reference to the following detailed description of the embodiments, structures, features and effects of the present invention.

In this application, unless expressly stated or limited otherwise, the terms "mounted," "connected," "secured," and the like are to be construed broadly and can include, for example, fixed connections, removable connections, or integral connections; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meaning of the above terms in the present application can be understood by those of ordinary skill in the art as appropriate.

It should be noted that, in the utility model discloses in "first frame" and "second frame" etc. "first" and "second" only be for explaining more clearly the utility model discloses the scheme is a relative notion, does not show right the utility model discloses protection scope's only limited, like in fig. 1, first frame is left frame, and second frame is right frame, trades a visual angle, then the reference of first frame or second frame then probably changes, all understands and is in the utility model protection scope.

Example 1

Referring to fig. 1 to 5, the novel balance car includes: the first frame 11 and the second frame 12 are rotatably connected between the first frame 11 and the second frame 12, and a sensing device 16 for sensing a relative rotation angle between the two frames is arranged at a position where the first frame 11 is connected with the second frame 12. The sensing device is a hall sensor 164. In other embodiments, the sensing device may be other sensors that sense an angle.

In this embodiment, the first frame 11 and the second frame 12 are connected by a rotating shaft 161, one end of the rotating shaft is fixedly connected to the second frame 12 and is a fixed end 1611, the other end of the rotating shaft is movably connected to the first frame 11 and is a movable end 1614, and the sensing device can sense the rotating angle of the rotating shaft relative to the first frame. The rotating shaft 161 is sleeved with a first sleeve 162 and a second sleeve 163, the first sleeve 162 is disposed in the second frame, and the first sleeve is disposed in the first frame.

In other embodiments, since the first frame and the second frame are opposite concepts, one end of the axle may be fixedly connected to the first frame, and the other end is movably connected to the second frame. Are to be understood as being within the scope of the present invention.

In this embodiment, the hall sensor 164 is disposed on the first frame 11, and the magnetic member 168 is disposed on the rotating shaft. The shaft 161 is provided with a cavity 1615 for placing the magnetic member 168.

In other embodiments, the hall sensor 164 is disposed on the rotating shaft, and the magnetic member 168 is disposed on the first frame.

The first frame is provided with a reset device for resetting the rotating shaft. The resetting device comprises an elastic plate 165 and springs arranged at two ends of the elastic plate, one end of the first spring 166 is abutted against or connected with the lower surface of one end of the elastic plate, and the other end of the first spring is abutted against or connected on the first frame; one end of the second spring 167 abuts against or is connected to the lower surface of one end of the elastic plate, and the other end abuts against or is connected to the first frame. The elastic plate 165 is a steel plate. In this embodiment, the rotating shaft 161 is provided with a groove 1613 for the elastic plate 165 to abut against, the elastic plate 165 is fixed in the groove by a fastener, and two sides of the groove 1613 are provided with flange portions 1612. In other embodiments, the reset device may be a reset device of other structure. The two springs may be other elastic members, such as elastic columns.

In other embodiments, the reset device can be only a steel plate, the middle part of the steel plate is propped against the rotating shaft, and the two ends of the steel plate are propped against the first frame, so that the two rotating frames can achieve the reset effect.

The first frame and the second frame both comprise an upper frame and a lower frame. Specifically, the first frame 11 includes a first upper frame 111 and a first lower frame 112, the first upper frame and the first lower frame are combined to form the first frame, the controller 15, the battery, the attitude sensor, and the like of the balance car can be mounted in the first frame, the second frame includes a second upper frame 121 and a second lower frame 122, the second upper frame and the second lower frame are combined to form the second frame, and the balanced attitude sensor and the like can be mounted in the second frame. Specifically, one end of the rotating shaft 161 is fixedly connected to the second lower frame 122 or the second upper frame 121, and the other end of the rotating shaft is movably connected to the first upper frame or the first lower frame. One end of the rotating shaft is coated by the first covered frame, and the other end of the rotating shaft is coated by the second covered frame. The outer side end of the first frame is connected with a wheel, the outer side end of the second frame is connected with another wheel, each wheel is internally provided with a hub motor, and each hub motor is electrically connected to the controller and the battery.

A balance car control method adopts the balance car and comprises the following steps:

A. an operator treads on the first frame 11 and the second frame 12 with two feet respectively, the operator controls the inclination degree of the two frames through the two feet, if relative rotation is generated between the first frame 11 and the second frame 12, the sensing device senses the relative rotation angle between the first frame and the second frame and feeds the relative rotation angle back to the controller of the balance car, and the controller of the balance car realizes steering according to the relative rotation angle; specifically, when the sensing device at the connecting position of the two frames in the middle of the balance car senses that the forward tilting angle of the second frame 12 is larger than the forward tilting angle of the first frame 11, the balance car turns to the direction of the side where the first frame is located; if the first frame 11 is inclined forward by a larger angle than the second frame 12 is inclined forward, the balance car is steered in the direction of the side where the second frame is located.

B. When the attitude sensors on the balance car sense that the first frame 11 and the second frame 12 of the balance car incline forwards, the balance car moves forwards, and when the attitude sensors on the balance car sense that the first frame 11 and the second frame 12 of the balance car incline backwards, the balance car moves backwards.

The Hall sensor is used for sensing the change of the angle, and the change of the angle is reflected by the regular change of the magnetic field measured by the Hall sensor, so that the direction and the size of the rotation angle are reflected to a certain degree. The Hall sensor is arranged on one frame, the magnetic steel is arranged on the other frame, and sensing is realized by utilizing the relative rotation of the Hall sensor and the magnetic steel. Alternatively, other angle sensors may be used for sensing the rotation angle, and are not described herein for the prior art.

Example 2

The first frame and the second frame of the balance car comprise an upper frame, a middle frame and a lower frame, the balance car with the three layers of frames is stable in structure, one end of a rotating shaft in a sensing device can be fixedly connected to the middle frame of the second frame, and the other end of the rotating shaft is movably connected with the middle frame of the first frame. The upper frame and the lower frame are coated on the upper part and the lower part of the middle frame. Other structures and the steering control method thereof are the same as those in embodiment 1, and are not described again.

Example 3

The reset device of the rotating shaft in the balance car can be a torsion spring, one end of the torsion spring is connected with the second car frame or the rotating shaft, the other end of the torsion spring is connected with the first car frame, and the reset device can also play a role in resetting the two car frames after relative rotation. Other structures and the steering control method thereof are the same as those in embodiment 1, and are not described again.

The above description is only a preferred embodiment of the present invention, and the present invention is not limited to the above description, and although the present invention has been disclosed by the preferred embodiment, it is not limited to the present invention, and any person skilled in the art can make modifications or changes equivalent to the above embodiments without departing from the scope of the present invention, but all the modifications, changes and modifications of the above embodiments that do not depart from the technical scope of the present invention are within the scope of the present invention.

Claims

1. The utility model provides a novel balance car which characterized in that includes: the steering device comprises a first vehicle frame (11), a second vehicle frame (12) and a sensing device for sensing a relative rotation angle between the first vehicle frame (11) and the second vehicle frame (12), wherein the first vehicle frame (11) is rotatably connected with the second vehicle frame (12), and a controller (15) for realizing steering according to the relative rotation angle sensed by the sensing device is arranged in the first vehicle frame (11) or the second vehicle frame (12).

2. The novel balance car of claim 1, wherein the sensing device is a hall sensor.

3. The novel balance car as claimed in claim 1, wherein the first frame (11) and the second frame (12) are connected by a rotating shaft (161), one end of the rotating shaft (161) is fixedly connected with the second frame, the other end of the rotating shaft (161) is movably connected with respect to the first frame, and the sensing device can sense the rotating angle of the rotating shaft with respect to the first frame.

4. A new balance car as claimed in claim 3 wherein the sensing means is provided on the shaft (161) or on the first frame.

5. A new balance car as claimed in claim 3 or 4, characterized in that the first frame is provided with a resetting device for resetting the rotary shaft (161).

6. The balance vehicle of claim 5, wherein the return means comprises a resilient plate (165) having a middle portion directly or indirectly abutting against the axle (161), and two ends directly or indirectly abutting against the first frame.

7. The balance car of claim 6, wherein the two ends of the elastic plate are provided with elastic members, one end of each of the two elastic members abuts against or is connected with the elastic plate, and the other end of each of the two elastic members abuts against or is connected with the first frame.

8. The balance car of claim 6, wherein the rotating shaft (161) is provided with a groove (1613) for the elastic plate (165) to abut against.

9. The balance car of claim 6, wherein the resilient plate (165) is a steel plate.

10. The balance car of claim 5, wherein the return device is a torsion spring, one end of the torsion spring is connected with the second car frame or the rotating shaft, and the other end of the torsion spring is connected with the first car frame.

11. The novel balance car as claimed in claim 1 or 2 or 3 or 4 or 6 or 7 or 8 or 9 or 10, wherein an attitude sensor is further provided in the first frame or/and the second frame.