CN215285121U - Balance car - Google Patents

Abstract

The utility model provides a balance car, which comprises a car body, an operating rod, wheels and a motor for driving the wheels, wherein the lower part of the operating rod is provided with a steering shaft which can swing along with the operating rod and rotate, and the steering shaft is rotatablely arranged in the car body; the end part of the steering shaft, which is close to the through shaft, is provided with a driving part, and the driving part is provided with a driving structure which is matched with the barrel and is used for driving the barrel to rotate along the circumferential direction of the through shaft. The shaft with the integrated through shaft structure has good self rigidity, and if the through shaft is fixed on the vehicle body through the shaft seat, the strength of the vehicle body in the length direction of the through shaft can be obviously enhanced, the pressure resistance is improved, and the service life is prolonged; the steering shaft and the driving part drive the cylinder body to deflect correspondingly, so that the mechanical structure for signal transmission is simplified, the structure is simple, and the production cost is reduced.

Description

Balance car

Technical Field

The utility model relates to a balance car, especially a novel balance car of area control lever.

Background

The operation principle of the electric balance vehicle, also called a somatosensory vehicle and a thinking vehicle, is mainly based on a basic principle called dynamic stability, a gyroscope and an acceleration sensor in the vehicle body are utilized to detect the change of the posture of the vehicle body, and a servo control system is utilized to accurately drive a motor to perform corresponding adjustment so as to keep the balance of the system.

The balance car in the prior art comprises a pedal seat, a control rod and a Hall assembly, wherein a steering shaft (generally swinging left and right) capable of swinging along with the steering shaft is arranged at the lower part of the control rod, the steering shaft is rotatably connected with the pedal seat, when the balance car needs to steer, a user standing on the pedal seat adjusts the control rod to swing towards a corresponding direction, the control rod drives the steering shaft to rotate, a rotating signal of the rotating shaft is acquired by the Hall assembly and fed back to a control main board, the control main board sends a signal to a hub of the balance car to make a corresponding steering action, the control main board is controlled by the Hall assembly, and the market competitiveness of the balance car with the control rod is severely restricted. For example, the chinese patent application No. 202010825418.1 discloses a balance car with a control lever, which is used to get rid of the toggle of a hall element through a mechanical signal transmission manner, wherein the lower part of the control lever is provided with a steering shaft capable of swinging and rotating along with the steering shaft, and further comprises a transmission member and a main board box for controlling the installation of the main board, the transmission member is connected with the steering shaft so as to rotate along with the steering shaft, the main board box is hinged in the cavity of the pedal seat and is located in the rotation interference range of the transmission member, when the transmission member rotates, the main board box rotates or swings due to the interference of the transmission member, but the signal transmission manner is complex and the sensitivity is low. For example, the chinese patent application No. 201810179506.1 provides an electric balance car, when a user applies force to drive a first supporting cover and a second supporting cover to generate relative torsion, a sensor sends a sensing signal to a control unit, and the control unit drives wheels to operate to further realize turning of the electric balance car, but the sensitivity of the signal transmission mode is low. It is desirable to provide a novel balance car with a control lever, which further reduces the production cost. For the existing balance car and swing car, the driving technology of the wheels is already mature, for example, the chinese invention patent with patent application number 201921540015.1 provides a swing car double-driving circuit, the independent main and auxiliary driving circuits are used to drive the main and auxiliary motors to rotate, the abrasion between the middle components can be reduced, and the failure rate can be reduced. Further, numerous publications of wheel control systems have been disclosed in the prior art and are not described in detail herein.

Disclosure of Invention

In order to overcome the not enough of prior art, the utility model provides a balance car, its mechanical cooperation through steering spindle and left back axle and right back axle realizes transmitting turn signal, simple structure can show reduction in production cost to can improve signal transmission's sensitivity.

The utility model provides a technical scheme that its technical problem adopted is: a balance car is characterized by comprising a car body, a control rod, wheels and a motor for driving the wheels, wherein the lower part of the control rod is provided with a steering shaft which can swing along with the control rod to rotate, and the steering shaft is rotatably arranged in the car body;

the end part of the steering shaft, which is close to the through shaft, is provided with a driving part, and the driving part is provided with a driving structure which is matched with the barrel and is used for driving the barrel to rotate along the circumferential direction of the through shaft.

The utility model has the advantages that: the utility model discloses an axle that leads to axle structure as an organic whole in balance car body, self rigidity is good, if will lead to the axle through the axle bed on being fixed in the automobile body, then can show the reinforcing automobile body and improve crushing resistance, increase of service life in leading to the ascending intensity of axle length direction. The barrel is sleeved on the through shaft, and the steering shaft realizes rotation control of the barrel through the driving part, so that the control system sends out corresponding control signals, rotation control of the left wheel and the right wheel is realized, and the purpose of steering is further achieved. The barrel is connected with the steering shaft through the driving structure, when the steering shaft rotates, the driving structure stirs the barrel to deflect, and the steering shaft is mechanically matched with the barrel to transmit an external steering signal to the balance car. For example, during the use, when the control lever swung left, the control lever drove to turn to the axial and left rotation, drives the barrel through the drive division simultaneously and rotates forward, and the relative rotation of barrel is directly or indirectly sensed to the sensor unit in the balance car, and the sensor sends sensing signal and gives the control unit, and the control unit drive wheel operation and then realize that electrodynamic balance car turns. Compared with the foot force application control in the prior art, the manual operation steering through the control rod is more sensitive and convenient to control. In addition, the balance car drives the cylinder to correspondingly deflect through the steering shaft and the driving part, so that the mechanical structure for signal transmission is simplified, the structure is simple, and the production cost is reduced.

Further setting the following steps: the barrel body is convexly provided with a connecting column arranged towards the steering shaft, the driving part is a driving clamping piece, and the driving structure is a notch which is arranged on the driving clamping piece and used for inserting the connecting column.

Adopt above-mentioned technical scheme, set up the drive division into the drive card, the spliced pole on the barrel inserts the breach on it, leaves the space between breach and the spliced pole to form the drive structure that can drive the barrel and take place relative deflection through the cooperation of drive card and spliced pole. The drive card is a thin web so that the connecting posts deflect and are toggled when the drive card is rotated.

Further setting the following steps: the barrel body is convexly provided with a connecting column arranged towards the steering shaft, the driving part is a rubber sleeve, and the driving structure is a slot which is arranged on the rubber sleeve and used for inserting the connecting column.

By adopting the technical scheme, the driving part is set to be the rubber sleeve, the connecting column on the barrel body is inserted into the slot on the barrel body, the slot forms a driving structure capable of driving the connecting column to swing due to the elasticity of the rubber sleeve, and the connecting column deflects and is stirred when the rubber sleeve rotates. The rubber sleeve can also improve the sealing between the driving part and the connecting column, and improve the sensitivity of signal transmission.

Further setting the following steps: the position of the cylinder body corresponding to the steering shaft is provided with a gear tooth part which is helical teeth; the driving part is a helical gear, and the driving structure is a helical gear structure which is positioned on the helical gear and is engaged with the gear teeth.

By adopting the technical scheme, the driving part is set to be the helical gear, the gear tooth part on the cylinder body is meshed with the helical gear, and when the helical gear rotates along with the steering shaft, the cylinder body is deflected towards the corresponding direction respectively. Preferably, the denser the number of teeth of the helical gear, the more advantageous the control of the barrel in the shaft deflection angle.

Further setting the following steps: gear teeth are arranged at the positions of the cylinder body corresponding to the steering shaft, and the gear teeth are straight teeth; the driving part is a straight gear, and the driving structure is a straight gear structure which is positioned on the straight gear and is meshed and matched with the gear tooth part.

By adopting the technical scheme, the driving part is provided with the straight gear, the gear tooth part on the cylinder body is meshed with the straight gear, and when the straight gear rotates along with the steering shaft, the cylinder body is respectively stirred towards different directions. Preferably, the denser the number of teeth of the spur gear, the more advantageous the control of the barrel on the shaft's dial angle.

Further setting the following steps: the vehicle body comprises an upper cover and a lower cover, an installation cavity for placing a steering shaft and a through shaft is arranged between the upper cover and the lower cover, the through shaft is fixed on the lower cover, a cylinder limiting block is convexly arranged on the surface of the cylinder, a cylinder limiting groove matched with the limiting block in shape is arranged at the lower cover and/or the upper cover, and the cylinder limiting groove is used for limiting the cylinder to circumferentially rotate along the through shaft and is axially and relatively static; and/or the lower cover is provided with a shaft seat for placing a steering shaft, the steering shaft is convexly provided with a steering shaft limiting block, the lower cover and/or the upper cover are provided with a steering shaft limiting groove matched with the steering shaft limiting block in shape, and the steering shaft limiting groove is used for limiting the steering shaft to rotate along the circumferential direction of the steering shaft and is relatively static in the axial direction.

By adopting the technical scheme, the barrel limiting block and the barrel limiting groove are matched, so that the barrel is limited at the position inside the vehicle body, the barrel can only rotate along the circumferential direction, the barrel keeps static along the axial direction, the working state of the barrel and the auxiliary plate frame is limited, and the barrel is ensured to rotate stably. In addition, the position of the steering shaft in the vehicle body is limited by the matching of the steering shaft limiting block and the steering shaft limiting groove, so that the steering shaft can only rotate along the circumferential direction of the steering shaft and keeps relatively static along the axial direction of the steering shaft, the working state of the steering shaft is limited, and the steering shaft is ensured to rotate stably.

Further setting the following steps: the cylinder body and the auxiliary plate frame are of an integrally formed structure; or the cylinder, the auxiliary plate frame and the driving part are integrally formed.

By adopting the technical scheme, the integral structure can ensure that the barrel and the auxiliary plate frame are integral, or the integral rigidity of the barrel, the auxiliary plate frame and the driving part is stronger, the supporting shaft is very high to resist impact and torsion, and the service life of a product is prolonged.

Further setting the following steps: the auxiliary plate frame extends forwards and/or backwards along the direction perpendicular to the through shaft, an elastic piece used for enabling the auxiliary plate frame to restore to the initial state is arranged at the bottom of the auxiliary plate frame, one end of the elastic piece abuts against the bottom surface of the auxiliary plate frame, and the other end of the elastic piece abuts against the surface of the lower cover.

By adopting the technical scheme, the auxiliary plate frame amplifies the rotation signal when the barrel rotates, and the auxiliary plate frame which is arranged on the barrel in an extending mode is inclined greatly relative to the slight degree when the barrel rotates, so that the sensitivity of signal transmission is improved. The sensor unit may be a pressure sensor or a gyroscope and an acceleration sensor for indirectly detecting a rotation change of the cylinder by sensing the inclination of the subframe. The elastic element can be a return spring, elastic rubber or a return component made of other elastic materials; the elastic piece is used for promoting the auxiliary plate frame to drive the cylinder body to restore to the horizontal position, so that the steering operation is finished, and the resetting of the operation is realized.

Further setting the following steps: the number of the cylinders is two, the auxiliary plate frames fixed on the cylinders are respectively a left auxiliary plate frame and a right auxiliary plate frame, the wheels comprise left wheels and right wheels, and the motors comprise a left motor for driving the left wheels to rotate and a right motor for driving the right wheels to rotate; the balance car also comprises a control system, wherein the control system comprises a left sensor unit for sensing the angle change of the left subframe, a right sensor unit for sensing the angle change of the right subframe, a left driving circuit for receiving a sensing signal of the left sensor unit and controlling the operation of a left wheel of the left sensor unit, and a right driving circuit for receiving a sensing signal of the right sensor unit and controlling the operation of a right wheel of the right sensor unit; the left driving circuit comprises a left main control circuit and a left motor driving circuit, and the left motor driving circuit is respectively connected with the left main control circuit and the left motor so as to drive the left motor to rotate; the right driving circuit comprises a right main control circuit and a right motor driving circuit, and the right motor driving circuit is respectively connected with the right main control circuit and the right motor so as to drive the right motor to rotate.

Adopt above-mentioned technical scheme, the barrel about setting up on the logical axle, the steering spindle comes simultaneous control barrel along leading to axle circumferential direction through the drive division for sensor unit responds to about simultaneously vice grillage, because about vice grillage install lead to epaxially, and be controlled by the steering spindle simultaneously, when guaranteeing the drive like this, can guarantee to control simultaneously when the barrel about the steering spindle drive, thereby guarantee to control sensor unit and can produce the feedback simultaneously, make the control system reaction in time from this, it is accurate.

The method is further provided with the following steps: the number of the cylinders is one, the wheels comprise left wheels and right wheels, and the motors comprise left motors for driving the left wheels to rotate and right motors for driving the right wheels to rotate; the balance car also comprises a control system, wherein the control system comprises a first sensor unit for sensing the angle change of the car body, a second sensor unit for sensing the angle change of the auxiliary plate frame, a left driving circuit for receiving a sensing signal of the first sensor unit and controlling the left wheel to operate, and a right driving circuit for receiving a sensing signal of the second sensor unit and controlling the right wheel to operate; the left driving circuit comprises a left main control circuit and a left motor driving circuit, and the left motor driving circuit is respectively connected with the left main control circuit and the left motor so as to drive the left motor to rotate; the right driving circuit comprises a right main control circuit and a right motor driving circuit, and the right motor driving circuit is respectively connected with the right main control circuit and the right motor so as to drive the right motor to rotate.

By adopting the technical scheme, the barrel is arranged on the through shaft, the steering shaft controls the barrel to rotate along the circumferential direction of the through shaft through the driving part, the effective control of the control system is ensured, the material cost is saved, and the competitiveness is improved.

Drawings

Fig. 1 is a schematic structural view of a balance car according to a first embodiment of the present invention;

fig. 2 is a schematic structural diagram of a balance car according to a first embodiment of the present invention (with an upper cover and wheels removed);

fig. 3 is an exploded view of a balance car according to a first embodiment of the present invention;

fig. 4 is a schematic structural view of a steering shaft, a left support shaft and a right support shaft of the balance car according to the first embodiment of the present invention (the left connecting column and the right connecting column are located between the two cylinder stoppers);

fig. 5 is another schematic structural view of the steering shaft, the left support shaft and the right support shaft of the balance car according to the first embodiment of the present invention (the two cylinder stoppers are located between the left connecting column and the right connecting column);

fig. 6 is an exploded view of a steering shaft, a left support shaft and a right support shaft of a balance car according to a second embodiment of the present invention;

fig. 7 is a schematic structural view of a balance car according to a third embodiment of the present invention (with the control lever, the upper cover, and the wheels removed);

fig. 8 is a schematic structural view of a steering shaft, a left support shaft and a right support shaft according to a third embodiment of the present invention;

fig. 9 is a schematic structural view of the left cylinder, the auxiliary plate frame and the left engaging portion according to the third embodiment of the present invention (the left cylinder is longer than the auxiliary plate frame);

fig. 10 is a schematic structural view of the left barrel, the auxiliary plate frame and the left engaging portion in the third embodiment of the present invention (the left barrel is equal to the auxiliary plate frame in length);

FIG. 11 is a schematic view of the structure of FIG. 10 from another perspective;

fig. 12 is the assembly schematic diagram of the through shaft, the left auxiliary plate frame, the right auxiliary plate frame, the left barrel body and the steering shaft of the balance car of the seventh embodiment of the present invention.

The steering wheel comprises a vehicle body 1, a left cylinder 11, a left sub-plate frame 111, a left connecting column 112, a left meshing part 114, a right cylinder 12, a right sub-plate frame 121, a right connecting column 122, a right meshing part 124, a cylinder limiting block 131, a cylinder limiting groove 132, a steering shaft limiting block 133, a steering shaft limiting groove 134, an elastic part 14, an upper cover 151, a lower cover 152, a control rod 2, a steering shaft 21, a driving clamping piece 22, a left notch 221, a right notch 222, a rubber sleeve 23, a left slot 231, a right slot 232, a helical gear 24, a spur gear 26, a through shaft 27, a sensor unit 25 and wheels 3.

Detailed Description

The technical solution of the present invention will be described clearly and completely with reference to the accompanying drawings, and obviously, the described embodiments are some, but not all embodiments of the present invention. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative work belong to the protection scope of the present invention.

It should be noted that, if directional indications (such as up, down, left, right, front, and back … …) are involved in the embodiment of the present invention, the directional indications are only used to explain the relative positional relationship between the components, the movement situation, and the like in a specific posture (as shown in the drawing), and if the specific posture is changed, the directional indications are changed accordingly.

First embodiment, as shown in fig. 1 to 5, a balance car includes a car body 1, two wheels 3 mounted on two sides of the car body 1, and a control lever 2 disposed on the car body 1, where the car body 1 includes an upper cover 151 and a lower cover 152, a steering shaft 21 capable of rotating along with the swing of the control lever 2 is connected to a lower portion of the control lever 2, the steering shaft 21 is rotatably mounted in the car body 1, the two wheels 3 are respectively provided with a left wheel and a right wheel, a left motor (not shown) for driving is disposed at the left wheel, a right motor (not shown) for driving is disposed at the right wheel, and a control system for controlling the left motor and the right motor is further disposed in the car body 1. Preferably, the steering shaft 21 can rotate along the circumferential direction and is relatively fixed in the circumferential direction, so that the steering shaft 21 is prevented from moving in position during the rotation process, and the influence on the signal induction and transmission is reduced. For example, the mounting of the steering shaft 21 may be as described in patent application No. 202010825418.1. It should be noted that those skilled in the art, without inventive step, can conceive of specific implementations having the same or equivalent technical effects, all of which shall be considered as falling within the scope of the present invention.

The balance car body 1 comprises an upper cover 151 and a lower cover 152, and an installation cavity for placing components is arranged between the upper cover 151 and the lower cover 152. The vehicle body 1 is further provided with a through shaft 27, the through shaft 27 is fixed on the lower cover 152, and two ends of the through shaft 27 are respectively arranged coaxially with the left wheel and the right wheel. Two cylinders are sleeved on the through shaft 27, and the cylinders are in rotating fit with the through shaft 27, namely, the cylinders can rotate relatively on the through shaft 27. The barrel is including being located the left barrel 11 on automobile body 1 left side, and be located the right barrel 12 on automobile body 1 right side, wherein left barrel 11 epirelief is equipped with the left spliced pole 112 that sets up towards steering spindle 21, right barrel 12 epirelief is equipped with the right spliced pole 122 that sets up towards steering spindle 21, the end fixing that is close to logical axle 27 on the steering spindle 21 has a drive card 22, be provided with respectively on the drive card 22 and overlap and locate on left spliced pole 112, and be used for driving left spliced pole 112 around the left breach 221 that left barrel 11 axis was stirred, and overlap and locate on right spliced pole 122, and be used for driving right spliced pole 122 around the right breach 222 that right barrel 12 axis was stirred, the size of breach slightly is greater than the spliced pole, make and leave the space between breach and the spliced pole, thereby make left barrel 11 and right barrel 12 be connected with steering spindle 21 respectively, and stir towards different directions along with steering spindle 21 rotation.

The left auxiliary board frame 111 that the level set up is fixedly mounted on the barrel on a left side, left auxiliary board frame 111 extends the setting forward and backward, right auxiliary board frame 121 that the level set up is fixedly mounted on right back shaft 12, right auxiliary board frame 121 extends the setting forward and backward, is provided with the left auxiliary board on the left auxiliary board frame 111, and right auxiliary board frame 121 is provided with the right auxiliary board. When the steering shaft 21 drives the driving card 22 to rotate, the left cylinder 11 and the right cylinder 12 are respectively shifted towards different directions, and accordingly the left sub-plate frame 111 and the right sub-plate frame 121 on the left cylinder 11 and the right cylinder 12 are inclined greatly, so that the sensitivity of steering signal transmission is improved. Therefore, when the control rod 2 swings leftwards in use, the control rod 2 drives the steering shaft 21 to rotate leftwards, the steering shaft 21 drives the left barrel to toggle forwards 11 through the driving clamping piece 22, the left sub-plate frame 111 tilts forwards, the right barrel 12 toggles backwards, and the right sub-plate frame 121 tilts backwards; when the control rod 2 swings to the right, the control rod 2 drives the steering shaft 21 to rotate to the right, the steering shaft 21 drives the right supporting shaft 12 to shift forwards through the driving clamping piece 22, the right auxiliary plate frame 121 tilts forwards, the left barrel 11 shifts backwards, and the left auxiliary plate frame 111 tilts backwards. The balance car obtains a steering signal by sensing the inclination change of the left sub-frame 111 and the right sub-frame 121, and controls the wheels to steer.

The left sub-board frame 111 and the right sub-board frame 121 are provided with sensor units 25, the sensor units 25 are used for sensing posture changes of the left sub-board frame 111 and the right sub-board frame 121 and comprise gyroscopes and acceleration sensors, meanwhile, a control unit used for driving the wheels 3 to rotate is further arranged in the vehicle body 1, and the control unit receives sensing signals of the sensor units 25 and controls the wheels 3 to rotate so as to achieve steering. A battery module for supplying power to the sensor unit 25 and the control unit is also provided in the vehicle body 1. Therefore, when a user standing on the balance car needs to change the traveling direction of the user, the control rod 2 is rotated by hand to swing to one side of the desired direction, the steering shaft 21 also rotates along with the control rod 2 to the corresponding direction, and the steering shaft 21 drives the left cylinder 11 and the right cylinder 12 to stir respectively in different directions, so that the left sub-plate frame 111 and the right sub-plate frame 121 incline in different directions; at the moment, the sensor unit 25 detects the posture change of the left sub-frame 111 and the right sub-frame 121, and transmits the signal to the control unit, the control unit sends an instruction to the servo motor for controlling the wheels 3 according to the signal, and the servo motor receiving the signal controls the wheels 3 to make corresponding movement, so that the steering adjustment of the balance car is realized. It should be noted that, in addition to the combination disclosed in the present embodiment, the left sub frame 111 and the right sub frame 121 are produced by integrally molding with the left barrel 11 and the right barrel 12, respectively. In addition, the left barrel 11 and the right barrel 12 may not be provided with the left subframe 111 and the right subframe 121, and as for how the sensor unit 25 accurately senses the rotation of the left barrel 11 and the right barrel 12, the sensor unit 25 is respectively provided on the left barrel 11 and the right barrel 12, and is configured to directly detect a forward or backward posture change or a rotation change of the left barrel 11 and the right barrel 12, and transmit the change signal to the control unit.

In order to make the left sub-board frame 111 and the right sub-board frame 121 drive the left barrel 11 and the right barrel 12 to restore the initial horizontal position, two elastic members 14 for restoring the initial state are arranged at the front side and the rear side of the left sub-board frame 111, one end of each elastic member 14 abuts against the bottom surface of the left sub-board frame 111, and the other end abuts against the surface of the lower cover 152; two elastic members 14 for restoring the right sub-panel frame 121 to its original state are also provided on the front and rear sides of the right sub-panel frame 121, and one end of each elastic member 14 abuts against the bottom surface of the right sub-panel frame 121 and the other end abuts against the bottom surface of the vehicle body 1. After the balance car finishes turning, the control rod 2 is released by hand, the elastic part 14 drives the left auxiliary plate frame 111 and the right auxiliary plate frame 121 to restore to the initial positions, so that the left barrel 11 and the right barrel 12 also restore to the initial states, and the balance car finishes turning. Here, the elastic member 14 may be replaced with an elastic metal piece, an elastic rubber, or the like, instead of the return spring, as long as the left sub-frame 111 and the right sub-frame 121 can automatically return to the original angle after being turned over. For the present embodiment, the use of the elastic member 14 is an unnecessary element. Because through control system's intelligent judgement, as long as control system accurate record before time point and the subplate frame angle or the position of time point later, then data contrastive analysis just can know that the subplate frame is present whether to take place to rotate to and pivoted angle problem. The surface of the cylinder body is convexly provided with a cylinder body limiting block 131, the lower cover 152 is provided with a cylinder body limiting groove 132 matched with the shape of the cylinder body limiting block, and the cylinder body limiting groove 132 is used for limiting the cylinder body to rotate along the circumferential direction and to be relatively static in the axial direction. In addition, a shaft seat for placing the steering shaft 21 is arranged at the lower cover 152, a steering shaft limiting block 133 is convexly arranged on the steering shaft 21, a steering shaft limiting groove 134 matched with the steering shaft limiting block 133 in shape is formed at the lower cover 152, and the steering shaft limiting groove 134 is used for limiting the steering shaft 21 to rotate along the circumferential direction of the steering shaft and is relatively static in the axial direction.

In this embodiment, the control system includes a left sensor unit for sensing the angle change of the left sub-plate frame 111, a right sensor unit for sensing the angle change of the right sub-plate frame 121, a left driving circuit for receiving the sensing signal of the left sensor unit and controlling the operation of the left wheel thereof, and a right driving circuit for receiving the sensing signal of the right sensor unit and controlling the operation of the right wheel thereof. The left driving circuit comprises a left main control circuit and a left motor driving circuit, and the left motor driving circuit is respectively connected with the left main control circuit and the left motor so as to drive the left motor to rotate; the right driving circuit comprises a right main control circuit and a right motor driving circuit, and the right motor driving circuit is respectively connected with the right main control circuit and the right motor so as to drive the right motor to rotate. Since it is obvious to those skilled in the art that the configuration of the control logic and the selection of the sensor unit are conventional technologies, for example, the chinese patent application No. 201921540015.1 provides a dual driving circuit for a swing car, and therefore, the detailed description thereof is omitted.

The second embodiment is different from the first embodiment in the manner of fitting the left and right cylinders 11 and 12 to the steering shaft 21, that is, the structure of the driving part, as shown in fig. 6. The end portion of the steering shaft 21 close to the through shaft 27 is fixed with a rubber sleeve 23, the rubber sleeve 23 comprises a left slot 231 which is arranged on the left side of the rubber sleeve 23 and used for inserting the left connecting column 112, and a right slot 232 which is arranged on the right side of the rubber sleeve 23 and used for inserting the right connecting column 122, due to the elasticity of the rubber sleeve 23, the left connecting column 112 and the right connecting column 122 are driven to deflect respectively when the rubber sleeve 23 rotates, and the left barrel 11 and the right barrel 12 are driven to stir towards different directions along with the rotation of the steering shaft 21. The rubber boot 23 can improve the sealing with the left and right connection columns 112 and 122, and can improve the sensitivity of the steering signal transmission.

The third embodiment is different from the first embodiment in the manner of fitting the left and right cylinders 11 and 12 to the steering shaft 21, that is, the structure of the driving part, as shown in fig. 7 to 11. A driving part is fixed on the end part of the steering shaft 21 close to the through shaft 27, the driving part is a bevel gear 24, a left gear tooth part 114 meshed with the bevel gear 24 is fixed on the left cylinder 11, and a right gear tooth part 124 meshed with the bevel gear 24 is fixed on the right cylinder 12. When the helical gear 24 rotates with the steering shaft 21, the left wheel tooth 114 and the right wheel tooth 124 are driven to rotate, so that the left cylinder 11 and the right cylinder 12 are respectively shifted to different directions. Fig. 9 and 10 differ in the length of the left cylinder 11.

Specifically, the left-hand cog portion 114 is shown to be merely a plurality of helical cog structures that match the cogs on the helical cog 24. The same applies below.

In the fourth embodiment, different from the third embodiment in the matching manner between the through shaft 27 and the steering shaft 21, a driving part is fixed to the end portion of the steering shaft 21 close to the through shaft 27, the driving part is a spur gear 26, a left gear tooth portion 114 meshed with the spur gear 26 is fixed to the left barrel 11, and a right gear tooth portion 124 meshed with the spur gear 26 is fixed to the right barrel 12. When the spur gear 26 rotates with the steering shaft 21, the left gear tooth 114 and the right gear tooth 124 are driven to rotate, respectively, so that the left barrel 11 and the right barrel 12 are respectively shifted to different directions.

It is specifically noted that the left cog portion 114 is merely a plurality of spur cog configurations that match the spur cogs on the spur cogs 26. The same applies below.

In the fifth embodiment, the difference from the first embodiment is that only the left cylinder 11 on the through shaft is convexly provided with the left connecting column 112 arranged toward the steering shaft 21, the right cylinder 12 is not provided with the right connecting column (even the right cylinder is not needed), the end portion of the steering shaft 21 close to the through shaft 27 is fixed with a driving card 22, the driving card 22 is only provided with the left notch 221 which is sleeved on the left connecting column 112 and is used for driving the left connecting column 112 to toggle around the axis of the left cylinder 11, the size of the left notch 221 is slightly larger than that of the left connecting column 112, so that a gap is left between the left notch 221 and the left connecting column 112, and the left cylinder 11 is connected with the steering shaft 21 and toggles towards different directions along with the rotation of the steering shaft 21.

A horizontally arranged left auxiliary plate frame 111 is fixedly arranged on the left barrel body 11, and the left auxiliary plate frame 111 extends forwards and backwards to form a flat plate structure; the left sub-plate frame 111 is fixedly provided with a left sub-plate. When the steering shaft 21 drives the driving card 22 to rotate, the left supporting shaft 11 is shifted by the left notch 221, and accordingly the left sub-plate frame 111 on the left barrel 11 is greatly inclined, so that the sensitivity of steering signal transmission is improved. Therefore, when the control rod 2 swings leftwards in use, the control rod 2 drives the steering shaft 21 to rotate leftwards, the steering shaft 21 drives the left cylinder 11 to be shifted forwards through the driving clamping piece 22, and the left auxiliary plate frame 111 inclines forwards; when the control rod 2 swings rightwards, the control rod 2 drives the steering shaft 21 to rotate rightwards, the steering shaft 21 drives the left supporting shaft 11 to be shifted reversely through the driving clamping piece 22, the left barrel 11 inclines backwards, and then the left sub-plate frame 111 inclines backwards. The balance car obtains a steering signal by sensing the inclination change of the left sub-frame 111, and controls the wheels to steer. The left connecting column 112 on the left barrel 11 can be replaced on the right barrel 12, and the replacement belongs to the equivalent technology, which is not described herein. The same applies to the embodiments described later.

In this embodiment, the control system includes a first sensor unit for sensing a change in the inclination of the vehicle body 1, a second sensor unit for sensing a change in the inclination of the left sub-frame 111, a left drive circuit for receiving a sensing signal from the first sensor unit and controlling the operation of the left wheel thereof, and a right drive circuit for receiving a sensing signal from the second sensor unit and controlling the operation of the right wheel. The left driving circuit comprises a left main control circuit and a left motor driving circuit, and the left motor driving circuit is respectively connected with the left main control circuit and the left motor so as to drive the left motor to rotate. The right driving circuit comprises a right main control circuit and a right motor driving circuit, and the right motor driving circuit is respectively connected with the right main control circuit and the right motor so as to drive the right motor to rotate. According to different combinations of the angle inclination changes of the vehicle body 1 and the auxiliary plate frame, the control of the wheels of the two-wheeled vehicle for advancing, retreating, turning left and turning right is further realized. In addition, different logic algorithms can be set in the embodiment, so that different control over the two wheels is realized, and the two-wheel vehicle can be guaranteed to complete corresponding motion states according to the motion of the steering shaft. Since it is obvious to those skilled in the art that the setting of such control logic and the selection of the sensor unit are all conventional technologies, they are not described in detail in this application.

The sixth embodiment is different from the fifth embodiment in that the driving clip on the steering shaft 21 is replaced by a rubber sleeve 23, a left slot 231 for inserting the left connecting column 112 is formed in the rubber sleeve 23, and due to the elasticity of the rubber sleeve 23, the rubber sleeve 23 drives the left connecting column 112 to deflect when rotating, so that the left cylinder is stirred along with the rotation of the steering shaft 21. The rubber boot 23 can improve the sealing with the left connecting column 112 and can improve the sensitivity of the steering signal transmission.

The seventh embodiment is different from the third embodiment in that a driving part is fixed to the end of the steering shaft 21 near the through shaft, the driving part is a bevel gear 24, only the left cylinder 11 on the through shaft is fixed with a left gear tooth 114 engaged with the bevel gear 24, and the right cylinder is not provided, as shown in fig. 12. When the helical gear 24 rotates with the steering shaft 21, the left gear tooth portion 114 is driven to rotate, so that the left cylinder body 11 is dialed.

Eighth embodiment differs from the seventh embodiment in that the helical gear of the driving part is replaced by a spur gear 26, and a left gear tooth part 114 engaged with the spur gear 26 is fixedly provided on the left barrel 11. When the spur gear 26 rotates with the steering shaft 21, the left gear tooth portion 114 is driven to rotate, so that the left barrel is dialed.

In the above embodiments, the helical gears 24 and the spur gears 26 are respectively engaged with the left gear tooth portion 114 and the right gear tooth portion 124, and are mainly used for shifting the left gear tooth portion 114 and the right gear tooth portion 124 to slightly swing around the circumferential direction without performing a large-angle rotation, so that the engagement is mainly achieved by mutual contact between the gear teeth (generally, two or three gear teeth are mutually staggered), and the left gear tooth portion 114 and the right gear tooth portion 124 are subjected to clockwise or counterclockwise torsion by the contact, so as to trigger the control unit, and the control unit receives the sensing signal of the sensor unit 25 and controls the wheel 3 to operate, thereby achieving steering. Therefore, the helical gear 24 and the spur gear 26 actually function in the above embodiment, and are gear teeth portions of the helical gear 24 and the spur gear 26 that contact with the left gear tooth portion 114 and the right gear tooth portion 124. In summary, the protection structure of the present application also includes embodiments that do not use the complete helical gear 24 and spur gear 26, and even if only use the partial gear tooth structure on the helical gear 24 and spur gear 26, which also belongs to the protection scope of the present application, refer to the spur gear 26 structure shown in fig. 8.

Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.

Claims (10)

1. A balance car comprises a car body, an operating rod, wheels and a motor for driving the wheels, wherein a steering shaft capable of swinging along with the operating rod to rotate is arranged at the lower part of the operating rod and can be rotatably arranged in the car body;

the end part of the steering shaft, which is close to the through shaft, is provided with a driving part, and the driving part is provided with a driving structure which is matched with the barrel and is used for driving the barrel to rotate along the circumferential direction of the through shaft.

2. The balance car of claim 1, wherein the cylinder is provided with a connecting column protruding towards the steering shaft, the driving part is a driving card, and the driving structure is a notch formed in the driving card and used for inserting the connecting column.

3. The balance car of claim 1, wherein the cylinder is provided with a connecting column protruding towards the steering shaft, the driving part is a rubber sleeve, and the driving structure is a slot provided in the rubber sleeve and used for inserting the connecting column.

4. The balance car of claim 1, wherein a gear tooth part is arranged on the cylinder body at a position corresponding to the steering shaft, and the gear tooth part is helical teeth; the driving part is a helical gear, and the driving structure is a helical gear structure which is positioned on the helical gear and is engaged with the gear teeth.

5. The balance car of claim 1, wherein gear teeth are arranged at positions of the cylinder body corresponding to the steering shaft, and the gear teeth are straight teeth; the driving part is a straight gear, and the driving structure is a straight gear structure which is positioned on the straight gear and is meshed and matched with the gear tooth part.

6. The balance car according to claim 1, wherein the car body comprises an upper cover and a lower cover, a mounting cavity for placing a steering shaft and a through shaft is arranged between the upper cover and the lower cover, the through shaft is fixed on the lower cover, a cylinder limiting block is convexly arranged on the surface of the cylinder, a cylinder limiting groove matched with the limiting block in shape is arranged at the lower cover and/or the upper cover, and the cylinder limiting groove is used for limiting the cylinder to circumferentially rotate along the through shaft and is axially and relatively static; and/or the presence of a gas in the gas,

the steering mechanism is characterized in that a shaft seat for placing a steering shaft is arranged at the lower cover, a steering shaft limiting block is arranged on the steering shaft in a protruding mode, a steering shaft limiting groove matched with the steering shaft limiting block in shape is formed in the lower cover and/or the upper cover, and the steering shaft limiting groove is used for limiting the steering shaft to rotate along the circumferential direction of the steering shaft and is relatively static in the axial direction.

7. The balance car according to claim 1 or 6, wherein the auxiliary frame extends forwards and/or backwards in a direction perpendicular to the through shaft, and the bottom of the auxiliary frame is provided with an elastic member for restoring the auxiliary frame to the initial state, one end of the elastic member abuts against the bottom surface of the auxiliary frame, and the other end of the elastic member abuts against the surface of the lower cover.

8. The balance car of claim 7, wherein the cylinder and the subframe are of an integrally formed structure; or the cylinder, the auxiliary plate frame and the driving part are integrally formed.

9. The balance car of claim 8, wherein the number of the cylinders is two, the subplate frames fixed on each cylinder are respectively a left subplate frame and a right subplate frame, the wheels comprise a left wheel and a right wheel, and the motors comprise a left motor for driving the left wheel to operate and a right motor for driving the right wheel to operate;

the balance car also comprises a control system, wherein the control system comprises a left sensor unit for sensing the angle change of the left subframe, a right sensor unit for sensing the angle change of the right subframe, a left driving circuit for receiving a sensing signal of the left sensor unit and controlling the operation of a left wheel of the left sensor unit, and a right driving circuit for receiving a sensing signal of the right sensor unit and controlling the operation of a right wheel of the right sensor unit;

the left driving circuit comprises a left main control circuit and a left motor driving circuit, and the left motor driving circuit is respectively connected with the left main control circuit and the left motor so as to drive the left motor to rotate;

the right driving circuit comprises a right main control circuit and a right motor driving circuit, and the right motor driving circuit is respectively connected with the right main control circuit and the right motor so as to drive the right motor to rotate.

10. The balance car of claim 1, wherein the number of the cylinders is one, the wheels comprise a left wheel and a right wheel, and the motors comprise a left motor for driving the left wheel to operate and a right motor for driving the right wheel to operate;

the balance car also comprises a control system, wherein the control system comprises a first sensor unit for sensing the angle change of the car body, a second sensor unit for sensing the angle change of the auxiliary plate frame, a left driving circuit for receiving a sensing signal of the first sensor unit and controlling the left wheel to operate, and a right driving circuit for receiving a sensing signal of the second sensor unit and controlling the right wheel to operate;

the left driving circuit comprises a left main control circuit and a left motor driving circuit, and the left motor driving circuit is respectively connected with the left main control circuit and the left motor so as to drive the left motor to rotate;

the right driving circuit comprises a right main control circuit and a right motor driving circuit, and the right motor driving circuit is respectively connected with the right main control circuit and the right motor so as to drive the right motor to rotate.

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