CN213502750U

CN213502750U - Novel foot-controlled double-wheel balance car

Info

Publication number: CN213502750U
Application number: CN202022348661.7U
Authority: CN
Inventors: 张殿旋; 周邓金; 曾辉海; 周甫齐
Original assignee: Shenzhen Chitado Technology Co Ltd
Current assignee: Shenzhen Chitado Technology Co Ltd
Priority date: 2020-10-20
Filing date: 2020-10-20
Publication date: 2021-06-22
Anticipated expiration: 2030-10-20

Abstract

The utility model provides a novel foot-controlled double-wheel balance car, which comprises a left pedal, a right pedal and a bottom plate, wherein the left pedal and the right pedal are rotatably arranged on the bottom plate, elastic devices are respectively connected between the left pedal and the bottom plate, wheels are arranged outside the left pedal and the right pedal, and wheel hub motors are arranged in the wheels; the driving system comprises a power supply, a controller, an angle sensor and an inertial sensor, wherein the angle sensor comprises a magnet and a Hall plate, one of the magnet and the Hall plate is arranged on the left pedal, and the other one of the magnet and the Hall plate is arranged on the right pedal; the controller controls the corresponding hub motor to drive the wheel to rotate according to the detection signal transmitted by the sensor. This balance car is whole firm, compares with the traditional swing type swing car of controlling and does not have the tiny fragile part of jackshaft ratio, has avoided swing car axis fragile problem even that drops, and the security improves.

Description

Novel foot-controlled double-wheel balance car

Technical Field

The utility model belongs to the balance car field especially relates to a novel double round balance car of foot control.

Background

Balance cars are also called somatosensory cars, thinking cars and the like, and the market mainly comprises two types, namely a single wheel and a double wheel. The operating principle is mainly established on the basic principle called dynamic stability, a gyroscope and an acceleration sensor in the vehicle body are used for detecting the change of the vehicle body posture, and a servo control system is used for accurately driving a motor to perform corresponding adjustment so as to keep the balance of the system.

Two-wheeled balance vehicle structures typically include a vehicle body over which a rider steps. Wheels are connected with two sides of the vehicle body, an electronic gyroscope, an electronic accelerometer and a controller are installed in the vehicle body, and the front and back movement of the vehicle body is realized by detecting the front and back inclination of the vehicle body. In order to realize turning of the vehicle body, a handle is generally vertically arranged on the vehicle body, and the steering of the vehicle body is controlled by rotating the handle left and right, however, the handle greatly increases the occupied space of the balance vehicle, and is inconvenient to transport or store. A swing car without a handle is also available in the market, which divides a car body into two parts capable of rotating left and right relatively, and two sets of inertia units (usually, a gyroscope and an acceleration sensor) are used for respectively detecting the inclination of left and right pedals, and respectively controlling the operation of two wheels to realize steering. However, the left pedal and the right pedal are connected through a rotating shaft, so that the structure is complex, and the strength of the bicycle frame is greatly reduced. Because the middle shaft bears larger torque, the middle shaft is easy to have a fault of inflexible rotation after long-term use, and even has the condition of falling off of the middle shaft.

SUMMERY OF THE UTILITY MODEL

The utility model discloses to the technical problem that current swing car axis easily damaged, provide a novel double round balance car of foot control that overall structure is compact and firm.

In order to achieve the above object, the utility model discloses a technical scheme be:

a novel foot-controlled double-wheel balance car comprises a left pedal, a right pedal and a bottom plate, wherein the left pedal and the right pedal are rotatably arranged on the bottom plate;

the driving system comprises a power supply, a controller, an angle sensor and an inertial sensor, wherein the angle sensor comprises a magnet and a Hall plate, one of the magnet and the Hall plate is arranged on the left pedal, and the other one of the magnet and the Hall plate is arranged on the right pedal; the inertial sensor comprises an electronic gyroscope and an accelerometer which are installed on the bottom plate, the controller is electrically connected with the angle sensor, the inertial sensor, the power supply and the hub motor, and the controller controls the corresponding hub motor to drive the wheel to rotate according to detection signals transmitted by the sensors.

Preferably, the magnet is a ring magnet with a half N pole and a half S pole, and the detection end of the Hall plate extends into the ring magnet.

Preferably, the magnet is two magnets with opposite N poles and S poles, and the detection end of the Hall plate extends into the space between the two magnets.

Preferably, the wheel comprises a wheel body and an axle, and the axle is arranged on the left pedal and the right pedal through an axle fixing piece.

Preferably, the wheel axle fixing part comprises a fixing plate and 2-4 connecting bolts, and a central groove is formed in the fixing plate.

Preferably, the axle is provided with an axial hole in the axial direction.

Preferably, the bottom surfaces of the left pedal and the right pedal are provided with pedal fixing frames, the bottom plate is provided with a bottom plate fixing frame, and the pedal fixing frames are connected with the bottom plate fixing frame through rotating shafts.

Preferably, the elastic device comprises a spring fixing frame and a spring sleeved on the spring fixing frame.

Preferably, the magnetic body frame and the Hall plate frame are respectively arranged at the ends, close to the left pedal and the right pedal, the magnetic body is arranged in the magnetic body frame, and the Hall plate is arranged on the Hall plate frame.

Compared with the prior art, the utility model discloses an advantage lies in with positive effect:

1. novel double round balance car of foot control, the automobile body includes two left and right footboards and bottom plate, bottom plate structure as an organic whole controls the pivot between footboard and the bottom plate and sets up in the footboard below. The whole relatively more firm of this structure automobile body compares with the traditional swing type swing car of controlling and does not have the tiny fragile part of jackshaft ratio, has avoided the problem that swing car axis fragile even drops, and the security improves.

2. The shaft of wheel is fixed on the footboard, and the footboard passes through resilient means and is connected with the bottom plate, and people's both feet pressure passes through footboard direct action on motor shaft, and resilient means need not to support human gravity, and consequently the people of different weights need not to set up different spring strength, and people that all weights can be guaranteed to same kind of spring strength can both turn smoothly, has avoided the balance car because of the restriction of elastomer intensity to user's weight.

3. The bicycle body is arranged in bilateral symmetry, and can be ridden forwards and backwards, so that the use pleasure is increased.

4. The novel balance car has a compact overall structure, the gravity center of the car body is lowered, and the balance car is easy to master.

5. The internal structure is simplified, the number of parts is greatly reduced, only one group of inertial sensors is needed, and the manufacturing cost is reduced.

6. The automobile body is thinner, can increase terrain clearance, improves trafficability characteristic, and the automobile body volume reduces, and weight is lighter, more portable and transport.

Drawings

FIG. 1 is a perspective view of the novel foot-controlled two-wheeled balance car of the present invention;

FIG. 2 is an exploded view of the novel foot-controlled two-wheeled balance car of the present invention;

FIG. 3 is a top view of the novel foot-controlled two-wheel balance car of the present invention;

FIG. 4 is a cross-sectional view taken along line AA in FIG. 3;

FIG. 5 is a partial sectional view taken in the direction BB in FIG. 3;

FIG. 6 is an electrical control relationship diagram of the novel electrodynamic balance car of the present invention;

in the above figures: in the above figures: 1. a pedal; 11. a left pedal; 12. a right pedal; 13. a pedal fixing frame; 14. a bottom plate fixing frame; 15. a boss portion; 16. a switch mounting hole; 17. a rotating shaft; 2. a base plate; 21. a handle; 3. a wheel; 31. a wheel body; 32. a wheel axle; 321. a shaft hole; 33. an axle fixing member; 331. a fixing plate; 332. a central recess; 333. a connecting bolt; 4. an elastic device; 41. a spring fixing frame; 411. fixing the frame plate; 412. a fixed frame column; 42. a spring; 5. a main control board; 51. an angle sensor; 511. a magnet frame; 512. a magnet; 513. a Hall plate frame; 514. a Hall plate; 6. a power-off switch; 61. a raised post; 62. an elastic skirt; 7. a battery pack.

Detailed Description

For a better understanding of the present invention, reference is made to the following detailed description taken in conjunction with the accompanying drawings and examples.

Example (b):

in the description of the present invention, it should be noted that the wheel axial direction of the balance car is the left-right direction, the advancing direction of the balance car is the front-back direction, the directions or position relations indicated by the terms "front", "back", "left", "right", etc. are the position relations based on the drawings, and are only for convenience of description, but not for indication or suggestion that the indicated device or element must have a specific direction, be constructed and operated in a specific direction, and therefore, should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.

As shown in fig. 1-4, a novel foot-controlled two-wheel balance car comprises a car body, two wheels 3 and a driving system, wherein the car body comprises a pedal 1 and a bottom plate 2, and the pedal 1 is divided into a left pedal 11 and a right pedal 12. The left pedal 11 and the right pedal 12 are rotatably arranged on the bottom plate 2, elastic devices 4 are connected between the left pedal 11 and the bottom plate 2 and between the right pedal 11 and the bottom plate 12, a wheel 3 is arranged on the outer sides of the left pedal 11 and the right pedal 12, and a hub motor is arranged in the wheel 3.

The device also comprises a driving system, wherein the driving system comprises a power supply, a controller, an angle sensor and an inertial sensor. The angle sensor is used for detecting a relative rotation angle between the left pedal 11 and the right pedal 12, and the angle sensor structurally comprises a magnet and a Hall plate, wherein one of the magnet and the Hall plate is installed on the left pedal 11, and the other one of the magnet and the Hall plate is installed on the right pedal 12. The inertial sensor is used for detecting the rotation angle of the base plate 2 relative to the ground, the structure of the inertial sensor comprises an electronic gyroscope and an accelerometer which are installed on the base plate 2, the controller is electrically connected with the angle sensor, the inertial sensor, the power supply and the hub motor, and the controller controls the corresponding hub motor to drive the wheel to rotate according to detection signals transmitted by the sensors (refer to fig. 6).

The inertial sensor comprises an electronic gyroscope and an acceleration sensor, and is modularized, the electronic gyroscope, the acceleration sensor and the controller are integrated on the main control board 5, detection and maintenance are facilitated, and space is effectively utilized. The main control board 5 is installed on the bottom board 2, and the specific main control board 5 may be installed on the upper surface of the bottom board 2 or on the lower surface. The existing swing car needs to be provided with a group of inertial sensors on two pedals 1 which can be mutually twisted, so that the rotation directions and speeds of two wheels 3 are respectively controlled by respectively detecting the rotation angles of the two pedals 1 relative to the ground, and the forward or backward movement and the steering of a car body are realized. Not only the cost of inertial sensor is higher, needs stronger microcomputer chip to solve the data moreover, this embodiment novel electrodynamic balance car only needs a set of inertial sensor, has reduced product cost.

The magnetic frame and the Hall plate frame are respectively installed at one end, close to the left pedal and the right pedal, of the magnetic frame, a through hole is formed in the magnetic frame, the magnet is installed in the through hole, and the Hall plate is installed on the Hall plate frame. In the embodiment, a magnet is arranged on the left pedal, and a Hall plate is arranged on the right pedal. The magnet is preferably an annular magnet, the annular surface of the annular magnet is parallel to the annular surface of the wheel 2, the annular magnet is divided into two parts along the diameter when being magnetized, one part is an N pole, the other part is an S pole, and the N pole and the S pole are respectively positioned at the front side and the rear side when being installed, so that the magnetic induction line horizontally points to the S pole from the N pole. The Hall plate comprises a linear Hall sensor and a sensor circuit, one side of the Hall sensor is a detection surface, and the Hall sensor extends into the annular magnet. When the initial position is that two pedals are all horizontal, the detection surface of the Hall sensor is horizontally arranged, and the Hall sensor is powered by the lithium ion battery. The linear output voltage of the linear hall sensor is determined by the supply voltage, and the magnitude is proportional to the magnetic field strength. Assuming that the supply voltage of the hall sensor is V, the output voltage of the hall sensor at this time is V/2. When the left pedal or/and the right pedal rotate, the Hall plate and the annular magnet rotate along with the rotating shaft, and the angle between the detection surface of the Hall plate and the magnetic induction line changes. When the left pedal and the right pedal rotate relatively, the detection surface of the Hall plate is correspondingly leaned against the S pole or the N pole, and the magnetic field intensity changes. According to the characteristics of the Hall sensor, the output voltage of the Hall sensor is correspondingly increased or decreased and is transmitted to the controller, and the controller converts the voltage change into a driving signal to control the forward rotation or the reverse rotation, the acceleration or the deceleration of the left hub motor and the right hub motor. When the rotating speeds of the two hub motors are different or one hub motor rotates forwards and the other hub motor rotates backwards, the turning of the vehicle body can be realized.

The annular magnet can also be replaced by two oppositely-placed bar magnets, the N poles and the S poles of the two bar magnets are oppositely placed, and the Hall plate goes deep into the space between the two bar magnets.

The wheel 3 comprises a wheel body 31 and a wheel shaft 32, the wheel shaft 32 is mounted on the bottom surfaces of the left and

right pedals

11 and 12 through a wheel shaft fixing member 33, and the wheel body 31 extends towards two sides of the pedal 1. The wheel axle fixing member 33 includes a fixing plate 331, a central recess 332 is formed in the middle of the fixing plate 331, and 2-4 connecting bolts 333 are disposed at four corners of the fixing plate 331. During installation, the axle 32 is placed in the central recess 332 and then the four connecting bolts 333 are fastened to the left and

right pedals

11, 12. The axle 32 is provided with the shaft hole 321 along the axial direction, and power cords and the like for supplying power to the hub motor in the wheel 3 can penetrate through the shaft hole 321 to reach the wheel 3, so that external wiring is reduced, a circuit can be well protected, and the circuit is prevented from being damaged.

The left and

right pedals

11 and 12 are rotatably mounted on the bottom plate 2, and the rotating direction is consistent with the rotating direction of the wheels 3. The bottom surfaces of the left pedal 11 and the right pedal 12 are fixed with pedal fixing frames 13, the bottom plate 2 is fixedly provided with a rotating shaft 17, and two ends of the rotating shaft 17 are inserted into the pedal fixing frames 13 to realize the rotatable connection of the pedals 1 and the bottom plate 2. In order to facilitate assembly and processing, the pedal fixing frame 13 is installed on the bottom surfaces of the left and

right pedals

11 and 12, the pedal fixing frame 13 comprises two left and right protrusions 15, the bottom plate fixing frame 14 is installed on the bottom plate 2, the bottom plate fixing frame 14 comprises one protrusion 15, and the rotating shaft 17 is inserted into the protrusions 15 of the pedal fixing frame 13 and the bottom plate fixing frame 14 to form a rotatable structure for connecting the pedal 1 and the bottom plate 2. The pedal fixing frame 13 is provided with a groove for passing through the power line and other circuits.

The traditional swing car center shaft is positioned between the left pedal 11 and the right pedal 12, a certain distance is left between the feet of a person and the rotating shaft 17, so that the center shaft bears a larger moment, the requirement on the processing precision of the center shaft is high, the middle shaft is blocked frequently in practical application, and the rotation is not flexible. The rotating shaft 17 between the pedal 1 and the bottom plate 2 is located under the pedal 1, the torque is small, the requirement on the machining precision of the rotating shaft 17 is low, the product safety is improved, and meanwhile, the product production cost is reduced.

The elastic device 4 comprises a spring fixing frame 41 and a spring 42 sleeved on the spring fixing frame 41, and the elastic device 4 plays a role in supporting the pedal 1, so that the pedal 1 can freely rotate on the pedal 1 and can timely reset when no external force is applied. The elastic means 4 may also be provided as another elastic body other than the spring 42, such as elastic rubber; other arrangements may be used to mount the pedal 1 to the base 2, such as providing elastomeric sleeves on the pedal 1 and base 2, with the elastomer being mounted within the sleeves.

A set of elastic devices 4 is disposed on the left pedal 11 and the right pedal 12, the elastic devices 4 include a spring fixing frame 41, the spring fixing frame 41 includes a fixing frame plate 411, two fixing frame columns 412 are disposed on the fixing frame bottom plate 2, and each fixing frame column 412 is sleeved with a spring 42. The fixed frame plate 411 is attached to the base plate 2 by screws so that the springs 42 are positioned below both left corners of the left pedal 11 to give the left pedal 11 an additional supporting force in the front-rear direction. Two sets of elastic devices 4 may be provided as needed, so that the four corners of the left pedal 11 are provided with springs 42.

The left pedal 11 and the right pedal 12 are provided with switch mounting holes 16, the switch mounting holes 16 are internally provided with power-off switches 6, the power-off switches 6 are used for detecting whether both feet of a rider step on the pedals 1 or not, and the hub motor starts to rotate after both feet step on the pedals 1 so as to facilitate the rider to easily get on or off the vehicle. The power-off switch 6 may be provided as one of the left and

right pedals

11 and 12, or as many as necessary. The power-off switch 6 may be an infrared photoelectric switch or an ultrasonic inductive switch. As shown in fig. 5, the power-off switch 6 of the present embodiment includes an elastic body and a hall plate 514, the elastic body is provided with a protrusion 61, the periphery of the protrusion 61 is connected with an elastic skirt 62, the edge of the elastic skirt 62 is installed in the switch installation hole 16, and the elastic body is provided with a magnet. The hall plate 514 is installed in the bottom of switch mounting hole 16, and when the person of riding's both feet stood on left and

right footboard

11, 12, the elastomer is pressed down, and the magnet removes to the direction that is close to hall plate 514 this moment, and hall plate 514 is connected with the controller electricity, and the voltage of hall plate 514 changes this moment, and the controller is according to the change control wheel hub motor circular telegram of signal, and the balance car begins normal operating. When a rider wants to get off the bicycle, one of the feet is used for opening the pedal 1, the magnet is far away from the Hall plate 514, the controller judges that the rider gets off the bicycle, and the in-wheel motor stops running at the moment. The setting of power-off switch 6 has avoided the balance car among the prior art to open the power after start-up wheel hub motor immediately, rides the car and stands this side wheel 3 on footboard 1 and begin to rotate immediately, leads to the automobile body to beat and changes, leads to riding the problem that the passerby is difficult to the getting on the bus, has improved the security. The switch structure of hall plate 514 cooperation magnet compares in infrared photoelectric switch detection reliability high, and is not fragile.

In order to carry the balance car conveniently, a handle 21 is further arranged on the bottom plate 2, the handle 21 can be directly formed into an integral handle by forming a hole in the bottom plate 2, and an external handle can also be installed outside the bottom plate 2 or the handle can be formed by directly casting the bottom plate 2 during forming. Compared with the existing balance car with the left and

right pedals

11 and 12 in a twisting mode, the handle 21 is arranged on the pedal 1 on one side, and when the handle 21 is lifted, the other pedal 1 can be twisted, so that hands are easily injured. This embodiment bottom plate 2 of balance car is structure as an organic whole, has avoided crowded problem of hindering, portable.

The power supply is set as a battery pack 7, the battery pack 7 is installed on the bottom plate 2 and is specifically positioned below the left pedal and/or the right pedal, and limited space on the pedal 1 is fully utilized, so that the whole pedal 1 is compact in structure. The battery pack 7 comprises a battery box, a lithium battery is arranged in the battery box, and the battery is modularized, convenient to overhaul and capable of well protecting the battery.

Before the balance car is started, the balance car naturally inclines backwards and forwards, and after the balance car is started, when a person does not stand on the pedal 1, the inertial sensor fixed on the bottom plate 2 can measure the inclination angle between the bottom plate 2 and the ground level, and the information of the angle is sent to the controller. If the angle value is not zero, the controller drives the motor to rotate in the corresponding direction, that is, the hub motor and the motor shaft rotate relatively, and the motor shaft is connected with the pedal 1 and the bottom plate 2 into a whole, so that the rotation of the motor shaft drives the pedal 1 and the bottom plate 2 to rotate, and finally the bottom plate 2 reaches the horizontal position relative to the bottom surface, that is, the relative angle between the bottom plate 2 and the ground level returns to the zero point. The balance car can automatically keep the car body horizontal, and is convenient for a rider to get on the car.

After balance car bottom plate 2 got back to and is parallel relatively with the ground level, the people just can get on the bus and ride, stands on two footboard 1 when people's both feet, and the controller receives the power off switch 6 signal change on left footboard 11 and the right footboard 12, judges that both feet get on the bus promptly, starts the wheel hub motor and gets into the state of riding this moment. The rider can force the pedal 1 to rotate around the bottom plate 2, and the elastic device 4 positioned on the bottom surfaces of the left pedal 11 and the right pedal 12 can be compressed in the rotating process, and meanwhile, the bottom plate 2 is driven to incline forwards and backwards to a certain degree. After the controller receives the two angle signals, the corresponding motor is driven to rotate towards the corresponding direction, so that the whole balance car can move forwards and backwards, turn left and turn right.

This embodiment novel balance car, the automobile body is including controlling two footboard 1 and bottom plate 2, bottom plate 2 structure as an organic whole, pivot 17 setting between left and

right footboard

11, 12 and the bottom plate 2 and footboard 1 below. The whole relatively more firm of this structure automobile body compares with the traditional swing type swing car of controlling and does not have the tiny fragile part of jackshaft ratio, has avoided the problem that swing car axis fragile even drops, and the security improves. The shaft of wheel 3 is fixed on footboard 1, and footboard 1 passes through resilient means 4 to be connected with bottom plate 2, and people's biped pressure passes through footboard 1 direct action motor shaft, and resilient means 4 need not to support human gravity, and consequently the people of different weights need not to set up different spring strength, and the people of all weights can both be guaranteed to turn smoothly to same kind of spring strength, has avoided the balance car to the restriction of user's weight because of elastomer strength. The bicycle body is arranged in bilateral symmetry, and can be ridden forwards and backwards, so that the use pleasure is increased.

The novel double-wheel balance car has a compact overall structure, the gravity center of the car body is lowered, and the car body is easy to master. The internal structure is simplified, the number of parts is greatly reduced, only one group of inertial sensors is needed, and the manufacturing cost is reduced. The automobile body is thinner, can increase terrain clearance, improves trafficability characteristic, and the automobile body volume reduces, and weight is lighter, more portable and transport.

The above description is only a preferred embodiment of the present invention, and is not intended to limit the present invention in other forms, and any person skilled in the art may use the above-mentioned technical contents to change or modify the equivalent embodiment into equivalent changes and apply to other fields, but any simple modification, equivalent change and modification made to the above embodiments according to the technical matters of the present invention will still fall within the protection scope of the technical solution of the present invention.

Claims

1. The utility model provides a novel double round balance car of foot control which characterized in that: the bicycle comprises a left pedal, a right pedal and a bottom plate, wherein the left pedal and the right pedal are rotatably arranged on the bottom plate;

2. The novel foot-controlled two-wheel balance car of claim 1, characterized in that: the magnet is an annular magnet with a half N pole and a half S pole, and the detection end of the Hall plate extends into the annular magnet.

3. The novel foot-controlled two-wheel balance car of claim 1, characterized in that: the magnet is two magnets with N poles and S poles oppositely arranged, and the detection end of the Hall plate extends between the two magnets.

4. The novel foot-controlled two-wheel balance car of claim 1, characterized in that: the wheel comprises a wheel body and a wheel shaft, and the wheel shaft is arranged on the left pedal and the right pedal through a wheel shaft fixing piece.

5. The novel foot-controlled two-wheel balance car of claim 4, characterized in that: the wheel shaft fixing piece comprises a fixing plate and 2-4 connecting bolts, and a central groove is formed in the fixing plate.

6. The novel foot-controlled two-wheel balance car of claim 5, characterized in that: the wheel shaft is provided with a shaft hole along the axial direction.

7. The novel foot-controlled two-wheel balance car of claim 1, characterized in that: the pedal fixing frame is installed on the bottom surfaces of the left pedal and the right pedal, the bottom plate is provided with the bottom plate fixing frame, and the pedal fixing frame is connected with the bottom plate fixing frame through a rotating shaft.

8. The novel foot-controlled two-wheel balance car of claim 1, characterized in that: the elastic device comprises a spring fixing frame and a spring sleeved on the spring fixing frame.

9. The novel foot-controlled two-wheel balance car of claim 1, characterized in that: the magnet frame and the Hall plate frame are respectively installed at the end, close to the left pedal and the right pedal, of the left pedal, the magnet is installed in the magnet frame, and the Hall plate is installed on the Hall plate frame.