CN213735366U

CN213735366U - Double-wheel balance vehicle with steering controlled by foot pedal

Info

Publication number: CN213735366U
Application number: CN202022334003.2U
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: 2021-07-20
Anticipated expiration: 2030-10-20

Abstract

The utility model provides a double round balance car of foot pedal control steering, including the automobile body, the wheel of being connected with the automobile body, install electronic gyroscope, electronic accelerometer and the controller that detect the automobile body gradient in the automobile body, the top of the automobile body is provided with the left and right footboard of relative automobile body rotation; the left pedal and the right pedal are respectively provided with one of a magnet and a Hall sensor towards one end close to each other, the other of the magnet and the Hall sensor is installed on the vehicle body, the Hall sensor stretches into the magnet, and the controller is electrically connected with the electronic gyroscope, the electronic accelerometer, the Hall sensor and the hub motor of the wheel. The balance car fully combines the habit of walking of people and the steering mechanism designed by combining the characteristics of the linear Hall sensor, has good operability, and the left pedal and the right pedal are respectively driven by the rotation angles of the Hall sensor detectors relative to the bottom plate, so that the car body can steer more flexibly.

Description

Double-wheel balance vehicle with steering controlled by foot pedal

Technical Field

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

Background

The swing car in the double-wheel electric balance car is easy to control balance and flexible to rotate compared with a single-wheel balance car due to small volume, so that the swing car is popular with the public. The swing car structure comprises a left pedal and a right pedal which can rotate relatively, wheels are arranged on the outer side of each pedal, a framework, a power supply and an inertial sensor (usually an electronic gyroscope and an electronic accelerometer) are arranged in each pedal, and the frameworks in the left pedal and the right pedal are connected through a rotating shaft to realize relative rotation; the inclination of left and right pedals relative to a horizontal plane is respectively detected through two sets of inertial sensors (an electronic gyroscope and an electronic accelerometer), and then the operation of two wheels is respectively controlled through a controller to realize advancing, retreating and 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.

The invention patent with the application number of 201710311234.1 aims at solving the problem that the novel two-wheeled electric balance car comprises a car body and wheels connected with the car body, wherein an electronic gyroscope, an electronic accelerometer and a controller for detecting the inclination of the car body are installed in the car body, a left pedal and a right pedal which rotate relative to the car body are arranged at the top end of the car body, the bottoms of the left pedal and the right pedal are respectively connected with a left rotating shaft and a right rotating shaft, and the rotating shafts are movably installed on the car body. The annular magnet and the Hall sensor are respectively arranged at the near ends of the left rotating shaft and the right rotating shaft, the Hall sensor extends into the annular magnet, and the controller is electrically connected with the gyroscope, the accelerometer, the Hall sensor and the motor of the wheel. This novel two-wheeled electrodynamic balance car automobile body is structure as an organic whole, and overall structure is compact, and automobile body intensity improves. However, the angle sensor measures the relative rotation angle between the two pedals, and in the case that the two pedals rotate simultaneously, the rotation angle of a single pedal relative to the base plate cannot be calculated, and the turning flexibility and the control accuracy need to be improved.

SUMMERY OF THE UTILITY MODEL

The utility model discloses to foretell technical problem, provide a footboard about detectable respectively for the turned angle of bottom plate, the nimble double round balance car of automobile body turn.

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

a pedal control steering double-wheel balance car comprises a car body and wheels connected with the car body, wherein an electronic gyroscope, an electronic accelerometer and a controller for detecting the inclination of the car body are mounted in the car body, and a left pedal and a right pedal which rotate relative to the car body are arranged at the top end of the car body; the left pedal and the right pedal are respectively provided with one of a magnet and a Hall sensor towards one end close to each other, the other of the magnet and the Hall sensor is installed on the vehicle body, the Hall sensor stretches into the magnet, and the controller is electrically connected with the electronic gyroscope, the electronic accelerometer, the Hall sensor and the hub motor of the wheel.

Preferably, the magnet is a ring magnet having a half N pole and a half S pole.

Preferably, the magnets are two magnets with opposite N poles and S poles.

Preferably, the magnetic device further comprises a magnet frame, wherein a through hole is formed in the magnet frame, and the magnet is installed in the through hole.

Preferably, the left and right pedals are provided at four corners thereof with elastic members.

Preferably, the vehicle further comprises a lithium ion battery, and the lithium ion battery supplies power to the wheel motor, the Hall sensor and the controller.

Preferably, the left pedal and the right pedal are provided with on-off switches, and when the left pedal and the right pedal are both used for pedaling, the hub motor is electrified.

Preferably, the on-off switch comprises a blocking piece and a photoelectric switch, the blocking piece is installed on the elastic body, the photoelectric switch is installed on the pedal and located below the elastic body, and the blocking piece extends into the photoelectric switch when the elastic body is stepped on to send out a starting signal.

Preferably, the on-off switch comprises an elastic body and a Hall plate which are arranged on the pedal, the elastic body is provided with a magnet, the Hall plate moves towards the direction close to the magnet when the elastic body is treaded, and the Hall plate is electrically connected with the controller

Preferably, the vehicle body is provided with a handle.

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

the double-wheel balance car fully combines the habit of walking of people and the steering mechanism designed by combining the characteristics of the linear Hall sensor, has good operability, and can realize steering by a user naturally. The left pedal and the right pedal are respectively and accurately controlled in rotating speed and steering of two wheels through respective Hall sensor detectors relative to the rotating angle of the bottom plate, and the vehicle body is more flexible in steering. The switch structure of hall plate cooperation magnet compares in infrared photoelectric switch and detects the reliability height, and is not fragile.

Drawings

FIG. 1 is a perspective view of the dual wheel balance car of the present invention;

FIG. 2 is a front view of the dual wheel balance car of the present invention;

FIG. 3 is a partial exploded view of the dual wheel balance car of the present invention;

FIG. 4 is an electric control relationship diagram of the dual wheel balance car of the present invention;

in the above figures: 1. a vehicle body; 2. a wheel; 21. a motor fixing block; 3. a pedal; 31. a left pedal; 311. a left rotating shaft; 32. a right pedal; 321. a right rotating shaft; 4. positioning the bearing; 5. a magnet; 51. a magnet frame; 6. an elastomer; 7. a Hall sensor; 71. a support; 72. a left Hall sensor; 73. and a right Hall sensor.

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): as shown in fig. 1 to 3, a two-wheeled balance car with foot-controlled steering comprises a car body 1 and wheels 2 connected with the car body 1, wherein two pedals 3, namely a left pedal 31 and a right pedal 32, are arranged above the car body 1.

The vehicle body 1 can be arranged into an integrally formed flat plate shape to pursue lightness and thinness; other shapes may be provided for aesthetic purposes; for the convenience of lifting, a handle is arranged on the side surface of the vehicle body 1. The wheel 2 is internally provided with a hub motor, the wheel 2 is symmetrically arranged at two sides of the vehicle body 1 and is fixed by screws through a motor fixing block 21.

A battery and a main control board are installed in the vehicle body 1, and the lithium ion battery supplies power for the hub motor, the Hall sensor and the controller. The controller, the electronic gyroscope and the electronic accelerometer are integrated on the main control board, the controller is electrically connected with the electronic gyroscope and the electronic accelerometer, the controller obtains inclination angle data through the electronic gyroscope and the electronic accelerometer, the running speed and the rotating direction of the hub motor are further controlled, the lithium ion battery supplies power to the controller and the hub motor, and reference is made to fig. 4 for the relationship between the electrical connection and the signal transmission.

To achieve steering of the vehicle body 1, the balance car is provided with a foot-operated steering mechanism. The pedal steering mechanism comprises four positioning bearings 4 which are arranged on the upper surface of the vehicle body 1 and are parallel to the direction of the wheel axle of the wheel 2, a left rotating shaft 311 is arranged in the two positioning bearings 4 on the left side, a right rotating shaft 321 is arranged in the two positioning bearings 4 on the right side, a left pedal 31 and a right pedal 32 are respectively arranged on the left rotating shaft 321 and the right rotating shaft 321, and when the left pedal and the right pedal rotate, the left rotating shaft 321 and the right rotating shaft 321 rotate in the positioning bearings 4. The left pedal and the right pedal are provided with a magnet 5 frame towards the approaching end, the magnet frame 51 is provided with a through hole, and the magnet 5 is arranged in the through hole. The magnet 5 may be a ring magnet, the ring surface of which is parallel to the ring surface of the wheel 2. When the annular magnet is magnetized, the annular magnet is divided into two parts along the diameter, wherein one part is an N pole, and the other part is an S pole.

At this time, two supports 71 are required to be arranged on the frame at a position close to the annular magnet, a left hall sensor 72 and a right hall sensor 73 are respectively arranged on the two supports 71, and the detection ends of the two linear hall sensors 7 extend into the annular magnet. The hall sensor 7 is electrically connected with the controller and transmits the detected voltage signal to the controller. The annular magnet can also be a bar magnet with two oppositely arranged N poles and S poles, and the installation positions of the magnet 5 and the Hall sensor can be interchanged.

Based on the habit of walking, when a person turns to the left side, the tiptoe of the left foot is lifted, the heel of the right foot is lifted, and the same principle is applied to turning to the right side. When a person steps on the balance car with two feet and wants to turn, the same action is also performed, and when the person turns left, the left pedal 31 tilts backwards, and the right pedal 32 tilts forwards. For example, when a person turns left, the left pedal 31 tilts backwards, the right pedal 32 tilts forwards, when the left pedal 31 rotates relative to the bottom plate, the annular magnet rotates along with the left pedal 31, the hall plate rotates by a certain angle under the driving of the bottom plate, the detection surface of the hall plate correspondingly leans 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 the controller converts the voltage change into a driving signal to control the forward rotation or the reverse rotation of the left hub motor and the right hub motor, accelerate or decelerate, so that the steering of the balance car is realized. The structure of the right pedal 32 is the same as that of the left pedal 31, and the description is omitted. The left pedal 31 and the right pedal 32 are respectively and precisely controlled by respective Hall sensor detectors relative to the rotation angle of the bottom plate, so that the rotation speed and the steering of the two wheels 2 can be respectively and precisely controlled, and the vehicle body 1 can be steered more flexibly.

In order to provide a good return and shock absorption of the pedals 3, a plurality of elastic members 6, preferably elastic rubber or springs, are provided between the left and

right pedals

31 and 32 and the vehicle body 1 at the four corners of the left and

right pedals

31 and 32.

Be provided with the switch mounting hole on left and right footboard, install on-off switch in the switch mounting hole, on-off switch is used for detecting whether both feet of riding passerby all step on the footboard, and both feet just begin to rotate after all stepping on footboard 3 to it easily gets on or off the bus to ride passerby. The on-off switch can be set to be a left pedal and a right pedal respectively, or a plurality of on-off switches can be set according to requirements. The specific on-off switch comprises a blocking piece and a photoelectric switch, wherein the blocking piece is arranged on an elastic body, and the elastic body is fixed in a switch mounting hole. Photoelectric switch installs on footboard 3, is located the elastomer below, blocks when trampling the elastomer and stretches into in photoelectric switch, blocks the transmission signal of viewpoint switch, and photoelectric switch is connected with the controller electricity, and when photoelectric switch on left and right footboard all blocked, the controller control wheel hub motor circular telegram began the operation. When one of the photoelectric switch signals is switched on, the hub motor stops running.

The other structure of the on-off switch comprises an elastic body and a Hall plate, wherein the elastic body is provided with a protruding part, the periphery of the protruding part is connected with an elastic skirt edge, the edge part of the elastic skirt edge is installed in a switch installation hole, and a magnet is installed on the elastic body. The hall plate is installed in the bottom of switch mounting hole, and when riding passerby's both feet stand on left and right footboard, the elastomer was pushed down, and the magnet removes to the direction that is close to the hall plate this moment, and the hall plate is connected with the controller electricity, and the voltage of hall plate 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 opens the pedal 3, the magnet is far away from the Hall plate, the controller judges that the rider gets off the bicycle, and the in-wheel motor stops running at the moment. The setting of on-off switch 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 2 and begin to rotate immediately on footboard 3 with a foot, leads to automobile body 1 to spin, leads to riding the problem that the passerby is difficult to the getting on the bus, has improved the security.

The lifting handle is arranged on the vehicle body 1, so that the vehicle is convenient to move.

The double-wheel balance car fully combines the habit of walking of people and the steering mechanism designed by combining the characteristics of the linear Hall sensor, has good operability, and can realize steering by a user naturally. The left pedal 31 and the right pedal 32 are respectively and precisely controlled by respective Hall sensor detectors relative to the rotation angle of the bottom plate, so that the rotation speed and the steering of the two wheels 2 can be respectively and precisely controlled, and the vehicle body 1 can be steered more flexibly. The switch structure of hall plate cooperation magnet compares in infrared photoelectric switch and detects the reliability height, and is not fragile.

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 two-wheeled balance car that foot control turned to which characterized in that: the electronic gyroscope, the electronic accelerometer and the controller for detecting the inclination of the vehicle body are mounted in the vehicle body, and a left pedal and a right pedal which rotate relative to the vehicle body are arranged at the top end of the vehicle body; the left pedal and the right pedal are respectively provided with one of a magnet and a Hall sensor towards one end close to each other, the other of the magnet and the Hall sensor is installed on the vehicle body, the Hall sensor stretches into the magnet, and the controller is electrically connected with the electronic gyroscope, the electronic accelerometer, the Hall sensor and the hub motor of the wheel.

2. The foot-controlled steering two-wheeled balance vehicle of claim 1, wherein: the magnet is a ring magnet with half N pole and half S pole.

3. The foot-controlled steering two-wheeled balance vehicle of claim 1, wherein: the magnet is two magnets with opposite N poles and S poles.

4. The foot-controlled steering two-wheeled balance vehicle of claim 1, wherein: the magnetic body frame is provided with a through hole, and the magnetic body is arranged in the through hole.

5. The foot-controlled steering two-wheeled balance vehicle of claim 1, wherein: and the four corners of the left pedal and the right pedal are provided with elastic bodies.

6. The foot-controlled steering two-wheeled balance vehicle of claim 1, wherein: the vehicle wheel motor controller also comprises a lithium ion battery, and the lithium ion battery supplies power to the wheel motor, the Hall sensor and the controller.

7. The foot-controlled steering two-wheeled balance vehicle of claim 1, wherein: the left pedal and the right pedal are provided with on-off switches, and when the left pedal and the right pedal are both used for pedaling, the hub motor is electrified.

8. The foot-controlled steering two-wheeled balance vehicle of claim 7, wherein: the on-off switch comprises a blocking piece and a photoelectric switch, the blocking piece is installed on the elastic body, the photoelectric switch is installed on the pedal and located below the elastic body, and the blocking piece extends into the photoelectric switch when the elastic body is trampled, so that a starting signal is sent out.

9. The foot-controlled steering two-wheeled balance vehicle of claim 7, wherein: the on-off switch comprises an elastic body and a Hall plate, the elastic body is provided with a magnet, the Hall plate moves towards the direction close to the magnet when the elastic body is trampled, and the Hall plate is electrically connected with the controller.

10. The foot-controlled steering two-wheeled balance vehicle of claim 1, wherein: the car body is provided with a handle.