CN211956783U - Multifunctional balance experiment device and balance trolley - Google Patents

Abstract

The utility model discloses a multi-functional balanced experimental apparatus and balance car, including the box of self-balancing car body and loading self-balancing car body, be provided with embedded minimum system communication board in the box, this self-balancing car body includes left antiskid wheel, right antiskid wheel, left motor and encoder, right motor and encoder, embedded minimum system interface board and the embedded minimum system control board of grafting on embedded minimum system interface board, sets up respectively at the both ends of embedded minimum system interface board left side antiskid wheel and right antiskid wheel transversely fix left motor and encoder and right motor and encoder respectively at the upper surface both ends of embedded minimum system interface board, and the output shaft and the transmission of left antiskid wheel of left motor and encoder are connected, and the output shaft and the transmission of right antiskid wheel of right motor and encoder are connected. The utility model discloses have higher integrated level, and dismantle and change simply, can realize carrying out the experiment operation control of different functions to the dolly.

Description

Multifunctional balance experiment device and balance trolley

Technical Field

The utility model belongs to the technical field of real standard equipment of embedded teaching, especially, relate to a multi-functional balanced experimental apparatus and balanced dolly.

Background

The application of the robot automatic control technology in various fields is increasing day by day, the research interest of a plurality of robot enthusiasts in the world is attracted, and the robot automatic control technology becomes an ideal platform for verifying various control theories. The two-wheeled self-balancing trolley is a small intelligent robot integrating the technologies of machinery, electronics, communication, automation, artificial intelligence, embedding and the like, and relates to the knowledge in the fields of sensor application, attitude calculation, automatic control and the like; however, teaching in robot automatic control applications is tedious and difficult to demonstrate intuitively. The existing self-balancing trolley approaches to perfect realization of single or few functions, such as tracing, obstacle avoidance, overturning, formation, acceleration and deceleration and turning, can be controlled by remote control, and can well realize the functional value of the self-balancing trolley; but the self-balancing trolley has the disadvantages of complex structure, single function, poor integration level, low trolley space utilization rate, heavy weight, poor cruising ability, high center, poor pit interference performance and high cost, and the structural strength of the trolley can not be ensured, so that the trolley is very easy to damage when falling down. The existing self-balancing trolley cannot be used as teaching experimental equipment to be applied to the field of education and teaching, so that a plurality of abstract control concepts cannot be visually expressed through the two-wheeled self-balancing trolley. Therefore, a brand-new intelligent balance trolley suitable for school student courses and academic research is developed to improve interestingness and visual demonstration.

SUMMERY OF THE UTILITY MODEL

An object of the utility model is to provide a multi-functional balanced experimental apparatus and balanced dolly, the utility model discloses an experimental apparatus and balanced dolly have higher integrated level, and dismantle and change simply, can realize carrying out the experiment operation control of different functions to the dolly, improve the interest and the demonstration nature directly perceived of experiment. In order to achieve the above purpose, the utility model adopts the following technical scheme:

according to one aspect of the utility model, a multifunctional balance experimental device is provided, which comprises a self-balance vehicle body and a box body for loading the self-balance vehicle body, an embedded minimum system communication board is arranged in the box body, the self-balance vehicle body comprises a left anti-skid wheel, a right anti-skid wheel, a left motor and encoder, a right motor and encoder, an embedded minimum system interface board and an embedded minimum system control board inserted on the embedded minimum system interface board, the left anti-skid wheel and the right anti-skid wheel are respectively arranged at two ends of the embedded minimum system interface board, the left motor and encoder and the right motor and encoder are respectively transversely fixed at two ends of the upper surface of the embedded minimum system interface board, the output shaft of the left motor and encoder vertically extends outwards to be in transmission connection with the left anti-skid wheel, the output shaft of the right motor and encoder vertically extends outwards to be in transmission connection with the right anti-skid wheel, the embedded minimum system control board is inserted into the lower surface of the embedded minimum system interface board, the signal control end of the embedded minimum system interface board is respectively and electrically connected with the left motor and the encoder, the right motor and the encoder, and the embedded minimum system control board is in communication connection with the embedded minimum system communication board.

Preferably, the upper surface and the lower surface of the minimum system interface board of the balance car are respectively provided with a plurality of balance car experiment interfaces, the balance car interfaces are respectively inserted with a functional test module, the functional test module is in communication connection with the embedded minimum system control board through the balance car experiment interfaces and the minimum system interface board of the balance car, the two ends of the lower surface of the minimum system interface board of the balance car are respectively fixed with a left battery box and a right battery box, the embedded minimum system control board is inserted between the left battery box and the right battery box, the left battery box and the right battery box are in tail-end serial connection through leads, the anodes of the left battery box and the right battery box after the head-tail serial connection are respectively connected with the positive power supply terminal of the embedded minimum system interface board, the positive power supply terminal of the embedded minimum system control board, the positive power supply input terminal of the left motor and the encoder and the positive power supply input terminal of the right motor and the, and the cathodes of the left battery box and the right battery box after the head and the tail of the left battery box are mutually connected in series are respectively connected with the power supply cathode end of the embedded minimum system interface board, the power supply cathode end of the embedded minimum system control board, the power supply anode input ends of the left motor and the encoder and the power supply anode input ends of the right motor and the encoder.

Preferably, the embedded minimum system control board comprises an embedded minimum system board body, and a main control chip and a crystal oscillator which are arranged on the front surface of the embedded minimum system board body, wherein horizontal plug connectors for enabling the embedded minimum system board body to be horizontally plugged on a minimum system interface board of the balance car are arranged at two ends of the back surface of the embedded minimum system board body, vertical plug connectors for enabling the embedded minimum system board body to be vertically plugged on the minimum system interface board of the balance car are arranged on the front side of the embedded minimum system board body, and a program burning interface is arranged on the rear side of the embedded minimum system board body.

Preferably, the protective supporting block is detachably nested in the box body, a power motherboard placing groove, a first functional module placing groove, a second functional module placing groove, a suite placing groove and a vehicle body placing groove are respectively arranged in the protective supporting block close to the front side edge of the box body, the vehicle body placing groove is arranged in the protective supporting block at the rear side of the power motherboard placing groove, the self-balancing vehicle body is arranged in the vehicle body placing groove, the motherboard placing grooves are arranged at two sides of the vehicle body placing groove, the first functional module placing groove and the second functional module placing groove are respectively arranged at two sides of the power motherboard placing groove, a power motherboard is arranged in the power motherboard placing groove, and two embedded minimum system communication boards in mirror symmetry can be plugged on the power motherboard, and a plurality of minimum system board storage grooves which are transversely distributed are arranged between the power mother board storage groove and the vehicle body storage groove.

Above-mentioned scheme is preferred be provided with the handle in the front center of box, be provided with the support callus on the sole outer wall of box and on the rear side outer wall respectively.

According to one aspect of the present invention, there is provided a multi-functional balance car, comprising a self-balancing car body including a left anti-slip wheel, a right anti-slip wheel, a left motor and encoder, a right motor and encoder, an embedded minimum system interface board and an embedded minimum system control board inserted on the embedded minimum system interface board, wherein the left anti-slip wheel and the right anti-slip wheel are respectively disposed at two ends of the embedded minimum system interface board, the left motor and encoder and the right motor and encoder are respectively transversely fixed at the centers of the two ends of the upper surface of the embedded minimum system interface board, the output shaft of the left motor and encoder extends perpendicularly outward to be in transmission connection with the left anti-slip wheel, the output shaft of the right motor and encoder extends perpendicularly outward to be in transmission connection with the right anti-slip wheel, the embedded minimum system control board is inserted on the lower surface of the embedded minimum system interface board, and the signal control end of the embedded minimum system interface board is respectively and electrically connected with the left motor and the encoder, and the right motor and the encoder.

Preferably, the upper surface and the lower surface of the minimum system interface board of the balance car are respectively provided with a plurality of balance car experiment interfaces, the balance car interfaces are respectively inserted with a functional test module, the functional test module is in communication connection with the embedded minimum system control board through the balance car experiment interfaces and the minimum system interface board of the balance car, the two ends of the lower surface of the minimum system interface board of the balance car are respectively fixed with a left battery box and a right battery box, the embedded minimum system control board is inserted between the left battery box and the right battery box, the left battery box and the right battery box are in tail-end serial connection through leads, the anodes of the left battery box and the right battery box after the head-tail serial connection are respectively connected with the positive power supply terminal of the embedded minimum system interface board, the positive power supply terminal of the embedded minimum system control board, the positive power supply input terminal of the left motor and the encoder and the positive power supply input terminal of the right motor and the, and the cathodes of the left battery box and the right battery box after the head and the tail of the left battery box are mutually connected in series are respectively connected with the power supply cathode end of the embedded minimum system interface board, the power supply cathode end of the embedded minimum system control board, the power supply anode input ends of the left motor and the encoder and the power supply anode input ends of the right motor and the encoder.

Preferably, two rows of female seats are arranged at two ends of the lower surface of the minimum system interface board of the balance car, an OLED liquid crystal display screen is inserted into the front side edge of the upper surface of the minimum system interface board of the balance car, the embedded minimum system control board is horizontally matched and inserted into the minimum system interface board of the balance car through the two rows of female seats, and the embedded minimum system control board is electrically connected with the OLED liquid crystal display screen through the two rows of female seats.

According to the scheme, the left motor, the encoder, the left battery box and the balance car minimum system interface board, and the right motor, the encoder, the right battery box and the balance car minimum system interface board are fixedly connected in an up-down horizontal parallel mode through copper columns.

Preferably, the balance car experiment interface includes, but is not limited to, a wireless communication interface, a bluetooth communication interface, an accelerometer module interface, a gyroscope module interface, a multi-axis motion detection module interface, and an ultrasonic interface, and the function test module includes, but is not limited to, a wireless communication module, a bluetooth communication module, an accelerometer, a gyroscope, a multi-axis motion detection module, and an ultrasonic detection module; and mode operation control switches are respectively arranged at two ends of the edge of the upper surface of the front side of the minimum system interface board of the balance car.

To sum up, because the utility model adopts the above technical scheme, the utility model discloses following technological effect has:

(1) the hardware circuit module of the utility model has higher integration level, is designed into a detachable structure and is convenient to carry; the external module is designed into an independent small module, the external module required by the embedded intelligent balance trolley is easy to disassemble and replace, and the socket is universal and even can be expanded to a minimum system formed by control chips of other different models to carry out experimental operation control on the trolley with different functions, so that a notebook computer and an emulator can be carried at any time and any place to carry out program burning, and debugging of the trolley is facilitated.

(2) The utility model discloses when being applied to the teaching, utilize the balance car to carry out the match activity between the student, through the procedure of writing by oneself, make the student feel more with success in the sports match, can effectual excitation beginner or student's study enthusiasm, have stronger interest and challenge, improve interest and demonstration nature directly perceived.

Drawings

Fig. 1 is a schematic structural diagram of a multifunctional balance experimental device of the present invention;

fig. 2 is a side view of a multifunctional balance testing device of the present invention;

fig. 3 is a front view of a multifunctional balance trolley of the present invention;

fig. 4 is a schematic perspective view of a multifunctional balance cart according to the present invention;

fig. 5 is a bottom view of the multifunctional balance trolley of the present invention;

fig. 6 is a schematic structural diagram of the embedded minimum system control board of the present invention;

fig. 7 is a schematic view of an installation structure of an embedded minimum system interface board and an embedded minimum system control board according to the present invention;

in the drawing, a self-balancing vehicle body 1, a left anti-skid wheel 2, a right anti-skid wheel 3, a left motor and encoder 4, a right motor and encoder 5, an embedded minimum system interface board 6, an embedded minimum system control board 7, a left battery box 8, a right battery box 9, an OLED liquid crystal display screen 10, a double-row female socket 60, an embedded minimum system board body 71, a main control chip 72, a crystal oscillator 73, a horizontal plug 74, a vertical plug 75, a program burning interface 76, a box body 100, an embedded minimum system communication board 101, a protection supporting block 102, a power supply placing groove 103, a first functional module storing groove 104, a second functional module storing groove 105, a suite storing groove 106, a vehicle body storing groove 107, a power supply female board 108, a handle 109, a wireless communication interface 601, a Bluetooth communication interface 602, an accelerometer module interface 602, a gyroscope module interface 603 and a multi-axis motion detection module interface 605, an ultrasonic interface 606, and a mode operation control switch 607.

Detailed Description

In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention will be described in further detail below with reference to the accompanying drawings and by referring to preferred embodiments. It should be understood, however, that the numerous specific details set forth in the specification are merely set forth to provide a thorough understanding of one or more aspects of the present invention, which may be practiced without these specific details.

As shown in fig. 1 and 2, according to the present invention, the multifunctional balance device includes a self-balancing vehicle body 1 and a box 100 for loading the self-balancing vehicle body 1, a handle 109 is provided at the center of the front surface of the box 100, so as to facilitate carrying the box 100, a supporting foot pad 110 is provided on the outer wall of the bottom of the box 100 and the outer wall of the rear side, and the supporting foot pad 111 is a rubber supporting pad, so as to prevent the box 100 from being damaged by touching; an embedded minimum system communication board 101 is arranged in a box body 100, a protection supporting block 102 is detachably nested in the box body 100, a power motherboard placing groove 103, a first function module placing groove 104, a second function module placing groove 105, a suite placing groove 106 and a vehicle body placing groove 107 are respectively arranged in the protection supporting block 102, the power motherboard placing groove 103 is arranged in the protection supporting block 102 close to the front edge of the box body 100, the vehicle body placing groove 107 is arranged in the protection supporting block 102 at the rear side of the power motherboard placing groove 103, the self-balancing vehicle body 1 is arranged in the vehicle body placing groove 107, the suite placing groove 106 is arranged at two sides of the vehicle body placing groove 106, the first function module placing groove 104 and the second function module placing groove 105 are respectively arranged at two sides of the power motherboard placing groove 103, the power motherboard 108 is arranged in the power supply placing groove 103, two embedded minimum system communication boards 101 which are in mirror symmetry can be inserted and connected onto a power motherboard 108, a plurality of minimum system board storage grooves 110 which are transversely distributed are arranged between a power motherboard placement groove 103 and a vehicle body storage groove 107, the embedded minimum system communication boards 101 are respectively placed in the minimum system board storage grooves 110, functional modules such as a wireless communication module, a Bluetooth module, an accelerometer, a gyroscope, a multi-axis motion detection module and an ultrasonic detection module are respectively placed in a first functional module storage groove 104 and a second functional module storage groove 105, and a handle (a remote controller) is stored in a kit storage groove 106, so that experimental control of the self-balancing vehicle body 1 can be conveniently performed.

In the utility model, as shown in fig. 1, fig. 3, fig. 4 and fig. 5, the self-balancing vehicle body 1 comprises a left anti-skid wheel 2, a right anti-skid wheel 3, a left motor and encoder 4, a right motor and encoder 5, an embedded minimum system interface board 6 and an embedded minimum system control board 7 inserted on the embedded minimum system interface board 6, the left anti-skid wheel 2 and the right anti-skid wheel 3 are respectively arranged at two ends of the embedded minimum system interface board 6, the left motor and encoder 4 and the right motor and encoder 5 are respectively transversely fixed at the central parts of two ends of the upper surface of the embedded minimum system interface board 6, the output shaft of the left motor and encoder 4 extends outwards and is in transmission connection with the left anti-skid wheel 2, the output shaft of the left motor and encoder 4 and the central shaft of the left anti-skid wheel 2 are fixed by axial screws, the output shaft of the right motor and encoder 5 extends outwards and is in transmission connection with the right anti-skid wheel 3, the output shaft of the right motor and encoder 5 is fixed with the central shaft of the right anti-skid wheel 3 through an axial screw, the embedded minimum system control board 7 is inserted into the lower surface of the embedded minimum system interface board 6, the signal control end of the embedded minimum system interface board 6 is respectively and electrically connected with the left motor and encoder 4, the right motor and encoder 5, and the embedded minimum system control board 7 is in communication connection with the embedded minimum system communication board 101; the upper surface and the lower surface of the balance car minimum system interface board 6 are respectively provided with a plurality of balance car experiment interfaces, functional test modules are respectively inserted on the balance car interfaces, the functional test modules are in communication connection with the embedded minimum system control board 7 through the balance car experiment interfaces and the balance car minimum system interface board 6, the two ends of the lower surface of the balance car minimum system interface board 6 are respectively fixed with a left battery box 8 and a right battery box 9, the embedded minimum system control board 7 is inserted between the left battery box 8 and the right battery box 9, the left battery box 8 and the right battery box 9 are in tail-end serial connection through conducting wires, and the positive electrode of the left battery box 8 and the right battery box 9 after being in head-tail serial connection is respectively connected with the positive power supply end of the embedded minimum system interface board 6, the positive power supply end of the embedded minimum system control board 7, the, The power supply positive input end of the left motor and encoder 4 is connected with the power supply positive input end of the right motor and encoder 5, the cathodes of the left battery box 8 and the right battery box 9 after the end-to-end serial connection are respectively connected with the power supply negative end of the embedded minimum system interface board 6, the power supply negative end of the embedded minimum system control board 7, the power supply positive input end of the left motor and encoder 4 and the power supply positive input end of the right motor and encoder 5, batteries are respectively placed in the left battery box 8 and the right battery box 9, power is supplied to the left motor and encoder 4, the right motor and encoder 5 and the embedded minimum system interface board 6, the embedded minimum system control board 7 is plugged on the embedded minimum system interface board 6 to obtain working voltage, and therefore the operation control of the left motor and encoder 4, the right motor and encoder 5 can be achieved. In the present invention, as shown in fig. 6, the embedded minimum system control board 7 includes an embedded minimum system board body 71, and a main control chip 72 and a crystal oscillator 73 disposed on the front surface of the embedded minimum system board body 71, the main control chip 72 adopts a minimum system based on an MSP430F149 single chip microcomputer as a core, horizontal connectors 74 for horizontally connecting the embedded minimum system board body 71 to the minimum system interface board 6 of the balance car are disposed at two ends of the back surface of the embedded minimum system board body 71, vertical connectors 75 for vertically connecting the embedded minimum system board body 71 to the minimum system interface board 6 of the balance car are disposed at the front side of the embedded minimum system board body 71, a program burning interface 76 is disposed at the rear side of the embedded minimum system board body 71, and the crystal oscillator 73 are disposed on the embedded minimum system board body 71 through copper foil wiring, The horizontal plug-in connector 74, the vertical plug-in connector 75 and the program burning interface 76 are respectively connected with the corresponding pins of the main control chip 72, in the utility model, the structure and the control principle of the embedded minimum system communication board 101 and the embedded minimum system control board 7 are the same, the embedded minimum system communication board 101 is also provided with the OLED liquid crystal display screen 10, when the self-balancing vehicle body 1 experiment is needed, the box body 100 is opened and the self-balancing vehicle body 1 is taken out from the box body 100, the embedded minimum system communication board 101 is plugged on the power motherboard 108 in the power motherboard placing groove 103, after the embedded minimum system communication board 101 obtains the working power supply voltage, various functional modules (a wireless communication module, a Bluetooth communication module or an ultrasonic detection module) can be plugged on the embedded minimum system communication board 101 so as to carry out data communication control with the embedded minimum system control board 7 plugged on the self-balancing vehicle body 1, therefore, the data of the operation of the self-balancing vehicle body 1 is sent to the embedded minimum system communication board 101 in the box body 100 for display, and the operation condition of the self-balancing vehicle body 1 is visually observed and controlled.

In the utility model, as shown in fig. 3, fig. 4 and fig. 5, a multifunctional balance trolley is also provided, the balance trolley comprises a self-balance trolley body 1, the self-balance trolley body 1 comprises a left anti-skid wheel 2, a right anti-skid wheel 3, a left motor and encoder 4, a right motor and encoder 5, an embedded minimum system interface board 6 and an embedded minimum system control board 7 inserted on the embedded minimum system interface board 6, the left anti-skid wheel 2 and the right anti-skid wheel 3 are respectively arranged at two ends of the embedded minimum system interface board 6, the left motor and encoder 4 and the right motor and encoder 5 are respectively transversely fixed at the central parts of two ends of the upper surface of the embedded minimum system interface board 6, the output shaft of the left motor and encoder 4 extends outwards and vertically to be connected with the left anti-skid wheel 2 in a transmission way, the output shaft of the right motor and encoder 5 extends outwards and vertically to be connected with the right anti-skid wheel 3 in a transmission, therefore, the self-balancing vehicle can balance weight uniformly, the antiskid tires with larger radius are used, the stability of the self-balancing vehicle is improved, the whole trolley hardware can be overhead, and the hardware damage caused by the collision of the trolley with the bottom surface is avoided; the embedded minimum system control board 7 is inserted into the lower surface of the embedded minimum system interface board 6, and the signal control end of the embedded minimum system interface board 6 is electrically connected with the left motor and encoder 4 and the right motor and encoder 5 respectively; a plurality of balance car experiment interfaces are respectively arranged on the lower surface of the balance car minimum system interface board 6, functional test modules are respectively inserted into the balance car interfaces, and the functional test modules are in communication connection with the embedded minimum system control board 7 through the balance car experiment interfaces and the balance car minimum system interface board 6; the balance car experiment interface includes, but is not limited to, a wireless communication interface 601, a bluetooth communication interface 602, an accelerometer module interface 603, a gyroscope module interface 604, a multi-axis motion detection module interface 605 and an ultrasonic interface 606, and as shown in fig. 5, the function test module includes, but is not limited to, a wireless communication module, a bluetooth communication module, an accelerometer, a gyroscope, a multi-axis motion detection module and an ultrasonic detection module; a left battery box 8 and a right battery box 9 are respectively fixed at two ends of the lower surface of a minimum system interface board 6 of the balance car, an embedded minimum system control board 7 is inserted between the left battery box 8 and the right battery box 9, the left battery box 8 and the right battery box 9 are connected in series in a tail-end mode through leads, the anodes of the left battery box 8 and the right battery box 9 after the head-tail serial connection are respectively connected with the positive power terminal of the embedded minimum system interface board 6, the positive power terminal of the embedded minimum system control board 7, the positive power input end of the left motor and encoder 4 and the positive power input end of the right motor and encoder 5, the cathodes of the left battery box 8 and the right battery box 9 after the head-tail serial connection are respectively connected with the negative power terminal of the embedded minimum system interface board 6, the negative power terminal of the embedded minimum system control board 7, the positive power input end of the left motor and encoder 4 and the positive power input end of the right motor and encoder (ii) a The left motor and encoder 4 and the left battery box 8 are fixedly connected with the balance car minimum system interface board 6, and the right motor and encoder 5 and the right battery box 9 are fixedly connected with the balance car minimum system interface board 6 in an upper and lower horizontal parallel manner through copper columns 11; the shell of the left motor and encoder 4, the shell of the left battery box 8, the left battery box 8 and the right battery box 9 are respectively fastened on the balance car minimum system interface board 6 through copper columns 11;

in the utility model, as shown in fig. 5 and 7, the two ends of the front upper surface edge of the minimum system interface board 6 of the balance car are respectively provided with a mode operation control switch 607, the two ends of the lower surface of the minimum system interface board 6 of the balance car are provided with double-row female seats 60, the front edge of the upper surface of the minimum system interface board 6 of the balance car is provided with an OLED liquid crystal display 10 in an inserting way, the running state of the self-balance car body 1 is observed in real time through the OLED liquid crystal display 10, the horizontal plug 74 on the embedded minimum system control board 7 is inserted and connected on the minimum system interface board 6 of the balance car in a horizontal matching way through the double-row female seats 60, and the embedded minimum system control board 7 is electrically connected with the OLED liquid crystal display 10 through the double-; the embedded minimum system control board 7 is inserted in the horizontal plug-in connector 74 through the double-row female socket 60, various function test modules are respectively inserted in each balance car experiment interface of the balance car minimum system interface board 6, for example, with reference to fig. 3 to 7, an accelerometer is inserted in the accelerometer module interface 603, a gyroscope is inserted in the gyroscope module interface 604, and/or a multi-axis motion detection module (adopting a chip type MPU6050 detection chip) is inserted in the multi-axis motion detection module interface 605, and after the working power supply voltage is obtained through two power supply boxes, the main control chip 72 on the embedded minimum system control board 7 drives the left anti-skid wheel 2 and the right anti-skid wheel 3 to rotate and walk when the left motor and the encoder 4, the right motor and the encoder 5 are driven to rotate, and the balance car runs in the non-balance car mode and the balance car mode by adjusting the control switch 607 respectively, when the balance car runs in the mode of the non-balance car, the balance car can keep basic functions of uniform forward and uniform backward, and beginners can learn and control more easily in teaching; when the balance car runs in the balance car mode, the balance car can accelerate and decelerate, balance and turning functions are kept, the balance car can be freely switched between the two working modes, and a user can conveniently learn to quickly understand the control principle of the balance car. When the wireless communication module (the wireless communication interface 601 is 1 or more than 2, including Zigbee wireless communication module, wifi communication module or GPRS wireless communication module, etc.) is plugged in the wireless communication interface 601 or the bluetooth communication module or the ultrasonic detection module is plugged in the bluetooth communication interface 602, the embedded minimum system control board 7 respectively plugged in the minimum system interface board 6 of the balance car performs wireless communication experiments through the wireless communication module, the bluetooth communication module or the ultrasonic detection module and various functional modules (the wireless communication module, the bluetooth communication module or the ultrasonic detection module) plugged in the embedded minimum system communication board 101, and interaction of operation experiment data of the self-balance car body 1 is realized, and therefore, the minimum system interface board 6 of the balance car arranged on the self-balance car body 1 integrates various external module interfaces (such as ultrasonic waves, ultrasonic, Bluetooth, Zigbee and wifi interface) to can accomplish outside expansion experiment through the access module, for example keep away various functional tests such as barrier, formation, and remote control, realize embedded chip access through inserting an embedded minimum system control panel 7, it has both made things convenient for the programming and the debugging of procedure like this, consequently, also can hand-carry the embedded minimum system control panel that has written different functions with having burnt many pieces and let the balance car accomplish different tasks.

The foregoing is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, a plurality of modifications and decorations can be made without departing from the principle of the present invention, and these modifications and decorations should also be regarded as the protection scope of the present invention.

Claims (10)

1. The utility model provides a multi-functional balanced experimental apparatus which characterized in that: the multifunctional balancing device comprises a self-balancing vehicle body and a box body for loading the self-balancing vehicle body, wherein an embedded minimum system communication board is arranged in the box body, the self-balancing vehicle body comprises a left anti-skid wheel, a right anti-skid wheel, a left motor and encoder, a right motor and encoder, an embedded minimum system interface board and an embedded minimum system control board inserted on the embedded minimum system interface board, the left anti-skid wheel and the right anti-skid wheel are respectively arranged at two ends of the embedded minimum system interface board, the left motor and encoder and the right motor and encoder are respectively and transversely fixed at two ends of the upper surface of the embedded minimum system interface board, output shafts of the left motor and encoder extend outwards and vertically to be connected with the left anti-skid wheel in a transmission manner, output shafts of the right motor and encoder extend outwards and vertically to be connected with the right anti-skid wheel in, the embedded minimum system control board is inserted into the lower surface of the embedded minimum system interface board, the signal control end of the embedded minimum system interface board is respectively and electrically connected with the left motor and the encoder, the right motor and the encoder, and the embedded minimum system control board is in communication connection with the embedded minimum system communication board.

2. The multifunctional balance experimental device of claim 1, wherein: the upper surface and the lower surface of the minimum system interface board of the balance car are respectively provided with a plurality of balance car experiment interfaces, functional test modules are respectively inserted on the balance car interfaces, the functional test modules are in communication connection with the embedded minimum system control board through the balance car experiment interfaces and the minimum system interface board of the balance car, a left battery box and a right battery box are respectively fixed at the two ends of the lower surface of the minimum system interface board of the balance car, the embedded minimum system control board is inserted between the left battery box and the right battery box, the left battery box and the right battery box are in end-to-end serial connection through leads, and the anodes of the left battery box and the right battery box after the end-to-end serial connection are respectively connected with the positive power supply end of the embedded minimum system interface board, the positive power supply end of the embedded minimum system control board, the positive power supply input ends of the left motor and the encoder and the positive power supply input, and the cathodes of the left battery box and the right battery box after the head and the tail of the left battery box are mutually connected in series are respectively connected with the power supply cathode end of the embedded minimum system interface board, the power supply cathode end of the embedded minimum system control board, the power supply anode input ends of the left motor and the encoder and the power supply anode input ends of the right motor and the encoder.

3. The multifunctional balance experimental device of claim 2, wherein: the embedded minimum system control board comprises an embedded minimum system board body, a main control chip and a crystal oscillator, wherein the main control chip and the crystal oscillator are arranged on the front surface of the embedded minimum system board body, horizontal plug connectors enabling the embedded minimum system board body to be horizontally plugged on a minimum system interface board of the balance car are arranged at two ends of the back surface of the embedded minimum system board body, vertical plug connectors enabling the embedded minimum system board body to be vertically plugged on the minimum system interface board of the balance car are arranged on the front side of the embedded minimum system board body, and a program burning interface is arranged on the rear side of the embedded minimum system board body.

4. The multifunctional balance experimental device of claim 1, wherein: the protection support block can be detachably nested in the box body, a power motherboard placing groove, a first functional module placing groove, a second functional module placing groove, a suite placing groove and a vehicle body placing groove are respectively arranged in the protection support block close to the front edge of the box body, the vehicle body placing groove is arranged in the protection support block at the rear side of the power motherboard placing groove, the self-balancing vehicle body is arranged in the vehicle body placing groove, the suite placing grooves are arranged at two sides of the vehicle body placing groove, the first functional module placing groove and the second functional module placing groove are respectively arranged at two sides of the power motherboard placing groove, the power motherboard is arranged in the power motherboard placing groove, two embedded minimum system communication boards which are in mirror symmetry can be plugged in the power motherboard, and a plurality of minimum system board placing grooves which are transversely distributed are arranged between the power motherboard placing groove and the vehicle body placing groove A groove.

5. The multifunctional balance experimental device of claim 1, wherein: the front center of the box body is provided with a handle, and the outer wall of the bottom of the box body and the outer wall of the rear side of the box body are respectively provided with a supporting foot pad.

6. The utility model provides a balance car which characterized in that: the balance trolley comprises a self-balance trolley body, the self-balance trolley body comprises a left anti-skid wheel, a right anti-skid wheel, a left motor and encoder, a right motor and encoder, an embedded minimum system interface board and an embedded minimum system control board inserted on the embedded minimum system interface board, the left anti-skid wheel and the right anti-skid wheel are respectively arranged at two ends of the embedded minimum system interface board, the left motor and encoder and the right motor and encoder are respectively and transversely fixed at the centers of two ends of the upper surface of the embedded minimum system interface board, output shafts of the left motor and encoder extend outwards and vertically to be in transmission connection with the left anti-skid wheel, output shafts of the right motor and encoder extend outwards and vertically to be in transmission connection with the right anti-skid wheel, and the embedded minimum system control board is inserted on the lower surface of the embedded minimum system interface board, and the signal control end of the embedded minimum system interface board is respectively and electrically connected with the left motor and the encoder, and the right motor and the encoder.

7. The balance trolley of claim 6, wherein: the upper surface and the lower surface of the minimum system interface board of the balance car are respectively provided with a plurality of balance car experiment interfaces, functional test modules are respectively inserted on the balance car interfaces, the functional test modules are in communication connection with the embedded minimum system control board through the balance car experiment interfaces and the minimum system interface board of the balance car, a left battery box and a right battery box are respectively fixed at the two ends of the lower surface of the minimum system interface board of the balance car, the embedded minimum system control board is inserted between the left battery box and the right battery box, the left battery box and the right battery box are in end-to-end serial connection through leads, and the anodes of the left battery box and the right battery box after the end-to-end serial connection are respectively connected with the positive power supply end of the embedded minimum system interface board, the positive power supply end of the embedded minimum system control board, the positive power supply input ends of the left motor and the encoder and the positive power supply input, and the cathodes of the left battery box and the right battery box after the head and the tail of the left battery box are mutually connected in series are respectively connected with the power supply cathode end of the embedded minimum system interface board, the power supply cathode end of the embedded minimum system control board, the power supply anode input ends of the left motor and the encoder and the power supply anode input ends of the right motor and the encoder.

8. The balance trolley of claim 7, wherein: the embedded minimum system control board is horizontally matched and inserted on the balance car minimum system interface board through the double rows of female seats, and is electrically connected with the OLED liquid crystal display screen through the double rows of female seats.

9. A balance trolley according to claim 6 or 7 wherein: and the left motor and the encoder, the left battery box and the balance car minimum system interface board, and the right motor and the encoder, the right battery box and the balance car minimum system interface board are fixedly connected in an up-down horizontal parallel manner through copper columns.

10. The balance trolley of claim 7, wherein: the balance car experiment interface comprises but is not limited to a wireless communication interface, a Bluetooth communication interface, an accelerometer module interface, a gyroscope module interface, a multi-axis motion detection module interface and an ultrasonic interface, and the function test module comprises but is not limited to a wireless communication module, a Bluetooth communication module, an accelerometer, a gyroscope, a multi-axis motion detection module and an ultrasonic detection module; and mode operation control switches are respectively arranged at two ends of the edge of the upper surface of the front side of the minimum system interface board of the balance car.

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