CN218949379U - Balance car and robot - Google Patents

Abstract

The embodiment of the application discloses balance car and robot, wherein the balance car has included wheelset and intermediate junction subassembly, and the wheelset includes: motor, action wheel, internal fixation board, swing arm motor connecting plate, lower swing arm connecting rod, last swing arm connecting rod, intermediate junction subassembly includes: the carbon plate and the first aluminum pipe hang the sleeve plate and the second aluminum pipe hangs the sleeve plate, the balance car that this application embodiment provided realizes intermediate junction subassembly and wheelset's connection through the carbon plate, realized that first aluminum pipe hangs sleeve plate and second aluminum pipe and hangs the sleeve plate and be connected in lower swing arm connecting rod through the carbon plate, first aluminum pipe hangs sleeve plate and second aluminum pipe and hang the sleeve plate and be connected in last swing arm connecting rod through the carbon plate, based on this application provides a balance car with the carbon plate as the main part, can reduce the probability that the motor damaged, and is modular structure, easy maintenance.

Description

Balance car and robot

Technical Field

The embodiment of the application relates to the technical field of balance cars, in particular to a balance car and a robot.

Background

In the present age, two-wheeled balance robots have been used in many applications, such as two-wheeled riding instead of walking balance wheels, and can be controlled by adjusting the center of gravity, so that the operation is simpler, and the life of people is improved. The two-wheeled balance robot has many applications in exhibitions, shops and scenic spots, occupies small area, is flexible, has no noise, stably runs in a low-custom state and brings convenience to people.

In supermarkets, markets, exhibitions and hotels, the development of balanced robots has become the focus of large robot companies due to the advantages of small volume, light weight, suitability for running in narrow spaces and the like. At present, the two-wheel balancing robot adopts a hanging mode with CNC parts as main materials or is directly connected to an output shaft of a motor, and compared with the front two-wheel balancing robot, the two-wheel balancing robot also adopts a connecting rod type jumping gear train. The motor is directly connected with the motor output shaft, the structure is simple, but great pressure can be brought to the motor, if accidents, steps and other factors are encountered, or the motor is overturned, the motor is irreversibly influenced, and the motor is high in cost and difficult to maintain. Such a direct-drive method cannot buffer the impact force transmitted from the uneven road surface to the robot body, and cannot attenuate the vibration caused thereby, resulting in that the balance robot cannot smoothly travel. The connecting rod type wheel system brings great challenges for writing an embedded program, the program is difficult to write, the CNC part is hung by a main material, the CNC part is simple to install and firm in structure, but the connecting rod type wheel system is quite expensive, if the connecting rod type wheel system is difficult to find in time, the connecting rod type wheel system is damaged at important moment, the embarrassing situation of key matters is delayed, and the CNC part needs to be regularly overhauled, maintained and replaced. The CNC piece can accumulate with the live time and slightly deform, can also produce fatigue, and these are that we can't see, replace with little carbon board, because the carbon board is the sheet form, have certain toughness, but once damage then be plastic deformation, as long as the problem will damage, will be found, but the board of renewing can solve, can make a large amount of boards that replace, because the size is not big, the thickness is not so high the price is also very much more than CNC, once damage just can find, and change conveniently, along with changing and use, this is the advantage that the carbon board is as the main part.

Disclosure of Invention

The present utility model aims to solve at least one of the technical problems existing in the prior art or related art.

To this end, a first aspect of the utility model provides a balance car.

A second aspect of the utility model provides a robot.

In view of this, a balance car is proposed according to a first aspect of an embodiment of the present application, including: the wheel sets are arranged at two ends of the middle connecting assembly;

the wheel set comprises: the automatic swing arm connecting device comprises a motor, a driving wheel, an inner fixing plate, a swing arm motor connecting plate, a lower swing arm connecting rod and an upper swing arm connecting rod, wherein the output end of the motor is connected with the driving wheel, the motor is connected with the inner fixing plate, the swing arm motor connecting plate is inserted into the inner fixing plate, and the lower swing arm connecting rod and the upper swing arm connecting rod are connected with the swing arm motor connecting plate

The intermediate connection assembly includes: carbon plate and first aluminum pipe hang the sleeve plate and second aluminum pipe hang the sleeve plate, the carbon plate sets up down the swing arm connecting rod with go up on the swing arm connecting rod, first aluminum pipe hang the sleeve plate with the second aluminum pipe hang the sleeve plate pass through the carbon plate is connected in down the swing arm connecting rod, first aluminum pipe hang the sleeve plate with the second aluminum pipe hang the sleeve plate pass through the carbon plate is connected in last swing arm connecting rod.

In one possible embodiment, the lower swing arm connecting rod is two or more, the upper swing arm connecting rod is two or more, and the wheel set further comprises:

the lower swing arm reinforcing plate is arranged between two adjacent lower swing arm connecting rods;

the upper swing arm reinforcing plate is arranged between two adjacent upper swing arm connecting rods;

the ABS isolation column is arranged between two adjacent lower swing arm connecting rods.

In a possible embodiment, the wheel set further comprises:

the output end of the motor is connected with the motor flange, and the motor flange is connected with the driving wheel;

the motor outer fixing plate is connected to the inner fixing plate, and an aluminum column is arranged between the outer fixing plate and the inner fixing plate.

In a possible embodiment, the wheel set further comprises:

the motor speed regulator is connected to the motor;

a swing arm connector rear plate disposed outside the outer fixing plate;

the deep groove ball is arranged on the swing arm connector rear plate, and the output end of the motor penetrates through the deep groove ball;

and the bearing retainer ring is used for limiting the deep groove ball.

In a possible embodiment, the wheel set further comprises:

the thrust ball is arranged on the lower swing arm connecting rod and the upper swing arm connecting rod, the lower swing arm connecting rod is connected with the first aluminum pipe hanging sleeve plate through the thrust ball, and the upper swing arm connecting rod is connected with the second aluminum pipe hanging sleeve plate through the thrust ball;

the deep groove ball flange is embedded on the first aluminum pipe hanging sleeve plate;

the negative pressure damping springs are arranged between two adjacent first aluminum pipe hanging sleeve plates and two adjacent second aluminum pipe hanging sleeve plates.

In a possible embodiment, the wheel set further comprises:

the tyre is sleeved on the driving wheel;

and the tire baffle is arranged on one side of the tire.

According to a second aspect of embodiments of the present application, there is provided a robot comprising:

the balance car according to any one of the above technical solutions;

the balance car comprises a frame and a connecting piece, wherein the frame is connected to the balance car through the connecting piece.

Compared with the prior art, the utility model at least comprises the following beneficial effects:

the balance car that this application embodiment provided has included wheelset and intermediate junction subassembly, and the wheelset includes: motor, action wheel, internal fixation board, swing arm motor connecting plate, lower swing arm connecting rod, last swing arm connecting rod, intermediate junction subassembly includes: the balance car that carbon plate and first aluminum pipe hung the sleeve board and second aluminum pipe hung the sleeve board, the connection of intermediate junction subassembly and wheelset was realized through the carbon plate, realized that first aluminum pipe hung sleeve board and second aluminum pipe hung the sleeve board and be connected in lower swing arm connecting rod through the carbon plate, first aluminum pipe hung sleeve board and second aluminum pipe hung the sleeve board and be connected in last swing arm connecting rod through the carbon plate, based on this application, the balance car with carbon plate as the main part is provided, because the carbon plate is the panel form, there is certain toughness, but once damage then is plastic deformation, will be found as long as the problem will damage, but the board that changes new just can solve, can make a large amount of boards of replacement, because the size is not big, so the price is also much than the affordable, compare the CNC spare that can slowly deform along with the number of times accumulation of use, this hangs the structure spare and can discover in case damage, and it is convenient to change along with using, this is the advantage that the carbon plate is as the main part. The motor driving shaft load balancing robot solves the problems that the motor is irreversibly affected by accidents, steps and the like or overturns caused by the fact that the motor driving shaft load balancing robot is directly taken, and reduces damage to the motor which is high in cost and difficult to maintain. Compared with a connecting rod type two-wheel balancing robot with a difficult-to-adjust program and a difficult-to-design structure, the connecting rod type two-wheel balancing robot is easier to control and design. The utility model also belongs to a modularized structure, is easy to maintain, novel in modeling and control modes, and has high expansibility. Finally, the robot has the common beneficial effects of the two-wheel balance robot, namely, the advantages of small volume, light weight and suitability for running in a narrow space, and the robot is driven by pure electric power, has zero emission, and is environment-friendly and pollution-free. The robot moving platform is flexible and mobile, and is an ideal robot moving platform. The balance car practice provided by the embodiment of the application is applied to a narrow and crowded environment, is flexible and mobile, is a convenient manned tool, and is a very ideal robot moving platform.

Drawings

Various other advantages and benefits will become apparent to those of ordinary skill in the art upon reading the following detailed description of the preferred embodiments. The drawings are only for purposes of illustrating the preferred embodiments and are not to be construed as limiting the application. Also, like reference numerals are used to designate like parts throughout the figures. In the drawings:

FIG. 1 is a schematic block diagram of a balance car according to one embodiment provided herein;

FIG. 2 is a schematic block diagram of a first angle of a wheel set of a balance car according to one embodiment provided herein;

FIG. 3 is a schematic block diagram of a second angle of a wheel set of a balance car according to one embodiment provided herein;

FIG. 4 is a schematic block diagram of a third angle of a wheel set of a balance car according to one embodiment provided herein;

FIG. 5 is a schematic block diagram of a fourth angle of a wheel set of a balance car according to one embodiment provided herein;

FIG. 6 is a schematic block diagram of a fifth angle of a wheelset of a balance car according to one embodiment provided herein;

FIG. 7 is a schematic block diagram of a sixth angle of a wheelset of a balance car according to one embodiment provided herein;

FIG. 8 is a schematic block diagram of a first angle of an intermediate connection assembly of a balance car according to one embodiment provided herein;

FIG. 9 is a schematic block diagram of a second angle of an intermediate connection assembly of a balance car according to one embodiment provided herein;

fig. 10 is a schematic structural view of a robot according to an embodiment provided herein.

The correspondence between the reference numerals and the component names in fig. 1 to 10 is:

a 100 wheel group and 200 middle connecting assembly;

the device comprises a motor 1, an inner fixed plate 2, a lower swing arm reinforcing plate 3, a lower swing arm connecting rod 4, a driving wheel 5, a motor flange plate 6, an outer fixed plate 7, a swing arm motor connecting plate 8, a negative pressure damping spring 9, a motor speed regulator 10, an upper swing arm connecting rod 11, an upper swing arm reinforcing plate 12, a 13-M3 bolt, a 14-M4 bolt, a 15 swing arm connector rear plate, a 16 deep groove ball, a 17 bearing retainer ring, a 18 thrust ball, a 19 deep groove ball flange, a 20-M5 gasket, a 21-M5 bolt, a 22-M5 nut, a 23ABS isolation column, a 24 first aluminum pipe hanging sleeve plate, a 25 second small aluminum pipe hanging sleeve plate, a 26 tire baffle plate and a 27 frame.

Detailed Description

In order to better understand the technical solutions described above, the technical solutions of the embodiments of the present application are described in detail below through the accompanying drawings and the specific embodiments, and it should be understood that the embodiments of the present application and the specific features in the embodiments are detailed descriptions of the technical solutions of the embodiments of the present application, and not limit the technical solutions of the present application, and the embodiments of the present application and the technical features in the embodiments of the present application may be combined with each other without conflict.

As shown in fig. 1 to 9, according to a first aspect of an embodiment of the present application, a balance car is provided, including: the wheel set 100 and the middle connecting assembly 200, wherein the wheel set 100 is arranged at two ends of the middle connecting assembly 200; the wheel set 100 includes: the device comprises a motor 1, a driving wheel 5, an inner fixing plate 2, a swing arm motor connecting plate 8, a lower swing arm connecting rod 4 and an upper swing arm connecting rod 11, wherein the output end of the motor 1 is connected to the driving wheel 5, the motor 1 is connected to the inner fixing plate 2, the swing arm motor connecting plate 8 is inserted into the inner fixing plate 2, and the lower swing arm connecting rod 4 and the upper swing arm connecting rod 11 are connected to the swing arm motor connecting plate 8; the intermediate connection assembly 200 includes: the carbon plate and the first aluminum tube suspension sleeve plate 24 and the second aluminum tube suspension sleeve plate 25 are arranged on the lower swing arm connecting rod 4 and the upper swing arm connecting rod 11, the first aluminum tube suspension sleeve plate 24 and the second aluminum tube suspension sleeve plate 25 are connected to the lower swing arm connecting rod 4 through the carbon plate, and the first aluminum tube suspension sleeve plate 24 and the second aluminum tube suspension sleeve plate 25 are connected to the upper swing arm connecting rod 11 through the carbon plate.

The balance car that this application embodiment provided has included wheelset 100 and intermediate junction assembly 200, and wheelset 100 includes: motor 1, action wheel 5, internal fixation board 2, swing arm motor connecting plate 8, lower swing arm connecting rod 4, go up swing arm connecting rod 11, intermediate junction assembly 200 includes: the balance car that carbon plate and first aluminum pipe hung the sleeve board 24 and second aluminum pipe hung the sleeve board 25, the utility model provides a balance car, realize through the carbon plate that intermediate junction subassembly 200 and wheelset 100 are connected, realized that first aluminum pipe hung the sleeve board 24 and second aluminum pipe hung the sleeve board 25 and be connected in swing arm connecting rod 4 down through the carbon plate, first aluminum pipe hung the sleeve board 24 and second aluminum pipe hung the sleeve board 25 and be connected in swing arm connecting rod 11 on through the carbon plate, based on this application, the balance car with carbon plate as the main part is provided, because the carbon plate is the panel form, there is certain toughness, but once damage then is plastic deformation, as long as the problem will damage, will be found, but renew the board just can solve, can make a large amount of alternate boards, because the size is not big, so the price is also very much than CNC practicality, compare and the damage CNC spare can be slowly found in case of damage is damaged in the accumulation of the number of times, this suspension structure spare, and it is convenient to change with following, this is the advantage that the carbon plate is as the main part. The problem that factors such as accidents, steps and the like or rollover of a balancing robot with load of a transmission shaft of the motor 1 are directly solved, irreversible influence is caused on the motor 1, and damage to the motor 1 which is high in cost and difficult to maintain is reduced. Compared with a connecting rod type two-wheel balancing robot with a difficult-to-adjust program and a difficult-to-design structure, the connecting rod type two-wheel balancing robot is easier to control and design. The utility model also belongs to a modularized structure, is easy to maintain, novel in modeling and control modes, and has high expansibility. Finally, the robot has the common beneficial effects of the two-wheel balance robot, namely, the advantages of small volume, light weight and suitability for running in a narrow space, and the robot is driven by pure electric power, has zero emission, and is environment-friendly and pollution-free. The robot moving platform is flexible and mobile, and is an ideal robot moving platform. The balance car practice provided by the embodiment of the application is applied to a narrow and crowded environment, is flexible and mobile, is a convenient manned tool, and is a very ideal robot moving platform.

As shown in fig. 1 to 9, in one possible embodiment, the lower swing arm links 4 are two or more, the upper swing arm links 11 are two or more, and the wheelset 100 further includes: the lower swing arm reinforcing plate 3 is arranged between two adjacent lower swing arm connecting rods 4; an upper swing arm reinforcing plate 12, the upper swing arm reinforcing plate 12 being disposed between two adjacent upper swing arm links 11; the ABS isolating post 23 is provided between the adjacent two lower swing arm links 4.

In this technical scheme, through the setting of a plurality of lower swing arm connecting rods 4 and last swing arm connecting rod 11 for the suspension effect of balance car is better, through the setting of lower swing arm reinforcing plate 3, last swing arm reinforcing plate 12 and ABS spacer 23, can improve the intensity of balance car.

As shown in fig. 1 to 9, in one possible embodiment, the wheel set 100 further comprises: the output end of the motor 1 is connected with the motor flange 6, and the motor flange 6 is connected with the driving wheel 5; the outer fixed plate 7, motor 1 outer fixed plate 7 is connected in interior fixed plate 2, is provided with the aluminium post between outer fixed plate 7 and the interior fixed plate 2.

In this solution, the wheel set 100 may further comprise a motor flange 6 and an external fixing plate 7, so arranged as to facilitate the rotation of the driving wheel 5 driven by the motor 1.

As shown in fig. 1 to 9, in one possible embodiment, the wheel set 100 further comprises: a motor speed regulator 10, the motor speed regulator 10 being connected to the motor 1; a swing arm connector rear plate 15, the swing arm connector rear plate 15 being provided outside the outer fixing plate 7; a deep groove ball 16, the deep groove ball 16 being arranged on the swing arm connector rear plate 15, the output end of the motor 1 passing through the deep groove ball 16; and the bearing retainer 17, wherein the bearing retainer 17 is used for limiting the deep groove ball 16.

As shown in fig. 1 to 9, in one possible embodiment, the wheel set 100 further comprises: the thrust ball 18, the thrust ball 18 is arranged on the lower swing arm connecting rod 4 and the upper swing arm connecting rod 11, the lower swing arm connecting rod 4 is connected with the first aluminum pipe hanging sleeve plate 24 through the thrust ball 18, and the upper swing arm connecting rod 11 is connected with the second aluminum pipe hanging sleeve plate 25 through the thrust ball 18; the deep groove ball flange 19, the deep groove ball flange 19 is embedded on the first aluminum pipe hanging sleeve plate 24; the negative pressure damping springs 9 are disposed between two adjacent first aluminum pipe suspension sleeve plates 24 and two adjacent second aluminum pipe suspension sleeve plates 25.

As shown in fig. 1 to 9, in one possible embodiment, the wheel set 100 further comprises: the tyre is sleeved on the driving wheel 5; tire barrier 26, tire barrier 26 is provided on one side of the tire.

As shown in fig. 1 to 9, the balance car provided by the utility model comprises: the motor comprises a motor 1, an inner fixing plate 2, a lower swing arm reinforcing plate 3, a lower swing arm connecting rod 4, a driving wheel 5, a motor flange 6, an outer fixing plate 7, a swing arm motor connecting plate 8, a negative pressure damping spring 9, a motor speed regulator 10, an upper swing arm connecting rod 11, an upper swing arm reinforcing plate 12, an M3 bolt, an M4 bolt, a swing arm connector rear plate 15, a deep groove ball 16, a bearing retainer ring 17, a thrust ball 18, a deep groove ball flange 19, an M5 gasket, an M5 bolt, an M5 nut, an ABS isolation column 23, a first aluminum pipe hanging sleeve plate 24, a second aluminum pipe hanging sleeve plate 25 and a tire baffle 26.

As shown in fig. 1, the wheel set 100 is mainly divided into an upper part and a lower part by taking the motor 1 as a boundary, and in order to make the front view see more things, the balance car is turned upside down. The swing arm motor connecting plate 8 is arranged in the middle of the upper part and the lower part, the swing arm motor connecting plate 8 is spliced and inserted with the inner fixing plate 2, the two plates are inserted together, the other side of the swing arm motor connecting plate 8 is spliced and inserted with the outer fixing plate 7, 4 aluminum posts are clamped between the outer fixing plate 7 and the inner fixing plate 2, and the three plates are fixed by the M3 bolts 13, so that the splicing and inserting structure of the three plates is stable. The motor 1 is screwed on the outer fixing plate 7 through screw holes on the motor 1. And the inner fixing plate 2 is also provided with a round hole with the diameter of 42.5mm, so that the motor 1 can be sleeved inside. These make the fixed frame 27 of the motor 1.

As shown in fig. 2, the motor 1 is provided with a D-shaped shaft, and the D-shaped shaft is also provided with a screw hole of M3, and the motor flange 6 can be fixed on the transmission shaft of the motor 1 through the D-shaped structure and the screw hole of M3. The round holes on the flange plate can be connected with the driving wheel 5 by M5 bolts, so that the connection between the motor 1 and the load is formed.

As shown in fig. 3-5, a rear swing arm connector plate 15 is mounted on the outer side of the outer fixing plate 7, and the rear swing arm connector plate 15 is connected to the outer fixing plate 7 by M4 bolts 14, and is also penetrated by four screws penetrating the outer fixing plate 7, and is further connected to the outer fixing plate 7 by the outer side 4 and M3 screws to improve stability. The maximum effect of this plate of the rear plate 15 of the rocker arm connector is to make a hole in the middle, in which the deep groove ball 16 can be put down, in which the deep groove ball 16 is embedded, which bearing has a small friction coefficient and a high limit rotational speed, where it is mainly subjected to axial loads. And this bearing is restrained from moving axially rearward by a bearing retainer 17. The bearing also has an elongated front swing arm connector plate at the front which is not as large as the rear swing arm connector plate 15 but has a central opening which limits axial forward movement of the bearing. The bearing retainer 17 is fixed. The motor 1 and the load are also fixed.

As shown in fig. 5. Two holes are respectively formed in the swing arm motor connecting plate 8. For connecting the upper and lower swing arm links 4. The upper end of the swing arm motor connecting plate 8 is provided with a hole of 5.2mm, an M5 gasket 20 is placed on the outer side, an M5 bolt 21 is penetrated in the middle, a thrust ball 18 is arranged on the inner side to play a role of isolation and rotation, the other side of a thrust ball 18 bearing is provided with a swing arm connecting rod 11, the other side of the upper swing arm connecting rod 11 is provided with a deep groove ball flange 19, the flanged deep groove ball 16 is very convenient to install, and the other side of the deep groove ball flange 19 is clamped with the M5 bolt by an M5 nut 22, so that the two upper swing arm connecting rods 11 are assembled. An upper swing arm reinforcing plate 12 is spliced between the two upper swing arm connecting rods 11 to complement the strength of the upper swing arm, and meanwhile, the motor speed regulator 10 can be assembled. A deep groove ball flange 19 is arranged in the lower surface of the swing arm motor connecting plate 8, a thrust ball 18 is arranged on the outer side of the deep groove ball flange and then connected with the lower swing arm connecting rod 4, an ABS isolation column 23 is clamped between the lower swing arm connecting rod 4, another lower swing arm connecting rod 4 is arranged on the other side of the ABS isolation column, and an M5 gasket is arranged on the opposite side of the ABS isolation column. These are connected by an M5 bolt and an M5 nut. The distance between the parallelogram and the end point is related, the middle part can be shaped, and the lower swing arm is designed into a special shape for avoiding. A lower swing arm reinforcing plate 3 is added between the inner side lower swing arm connecting rods 4 to supplement the strength. A negative pressure damping spring 9 is also arranged between the lower swing arms. The core-most wheelset 100 is now partially assembled.

As shown in fig. 6-8, six carbon plates with M5 shims are attached in the middle after two wheelsets 100 are assembled. Holes 2 x 30.2mm may pass through aluminum tubes 20 x 30 mm. The four outer sides of the six carbon plates are first aluminum pipe hanging sleeve plates 24, and the two inner sides are second aluminum pipe hanging sleeve plates.

As shown in fig. 9, the two sides of the lower swing arm connecting rod 4 are respectively provided with a thrust ball 1818 for isolating and rotating, and then are connected with the first aluminum pipe hanging sleeve plate 24, and a deep groove ball flange 19 is embedded in the first aluminum pipe hanging sleeve plate 24, so that the deep groove ball flange and the first aluminum pipe hanging sleeve plate are fastened together through screws. The negative pressure damping spring 9 is mounted in the middle of the 2 first aluminum tube suspension sleeve plates 24. Because the negative pressure damping spring 9 is provided with a bearing, a shaft system for isolating rotation is not required. The upper swing arm connecting rod 11 is also arranged on the second aluminum pipe hanging registering through a thrust ball 18 and a deep groove ball flange 19. The whole two-wheeled balance robot cross arm without CNC piece is hung up.

According to a second aspect of embodiments of the present application, there is provided a robot comprising: the balance car according to any one of the above technical schemes; frame 27 and connecting piece, frame 27 is connected to the balance car through the connecting piece.

It can be appreciated that the robot provided in the embodiment of the application includes the balance car according to any one of the above technical schemes, so that the robot has all the beneficial effects of the balance car according to the above technical scheme.

As shown in fig. 10, two aluminum tubes are added on the balance car, holes are punched on the side surfaces of the aluminum tubes, and the aluminum tubes can be assembled on the two-wheeled balance robot main body by splicing and inserting, so that a complete chassis is formed. Fig. 10 is just one example of an application of this suspension. The bridge suspension with the carbon plate instead of the expensive CNC piece can provide a new reference concept for the two-wheeled balancing robot.

In the present utility model, the terms "first," "second," "third," and the like are used for descriptive purposes only and are not to be construed as indicating or implying relative importance; the term "plurality" means two or more, unless expressly defined otherwise. The terms "mounted," "connected," "secured," and the like are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected; "coupled" may be directly coupled or indirectly coupled through intermediaries. The specific meaning of the above terms in the present utility model can be understood by those of ordinary skill in the art according to the specific circumstances.

In the description of the present utility model, it should be understood that the directions or positional relationships indicated by the terms "upper", "lower", "left", "right", "front", "rear", etc. are based on the directions or positional relationships shown in the drawings, are merely for convenience of describing the present utility model and simplifying the description, and do not indicate or imply that the devices or units referred to must have a specific direction, be constructed and operated in a specific direction, and thus should not be construed as limiting the present utility model.

In the description of the present specification, the terms "one embodiment," "some embodiments," "particular embodiments," and the like, mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the present utility model. In this specification, schematic representations of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.

The above is only a preferred embodiment of the present utility model, and is not intended to limit the present utility model, but various modifications and variations can be made to the present utility model by those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present utility model should be included in the protection scope of the present utility model.

Claims (7)

1. A balance car, comprising: the wheel sets are arranged at two ends of the middle connecting assembly;

the wheel set comprises: the device comprises a motor, a driving wheel, an inner fixing plate, a swing arm motor connecting plate, a lower swing arm connecting rod and an upper swing arm connecting rod, wherein the output end of the motor is connected with the driving wheel, the motor is connected with the inner fixing plate, the swing arm motor connecting plate is inserted into the inner fixing plate, and the lower swing arm connecting rod and the upper swing arm connecting rod are connected with the swing arm motor connecting plate;

the intermediate connection assembly includes: carbon plate and first aluminum pipe hang the sleeve plate and second aluminum pipe hang the sleeve plate, the carbon plate sets up down the swing arm connecting rod with go up on the swing arm connecting rod, first aluminum pipe hang the sleeve plate with the second aluminum pipe hang the sleeve plate pass through the carbon plate is connected in down the swing arm connecting rod, first aluminum pipe hang the sleeve plate with the second aluminum pipe hang the sleeve plate pass through the carbon plate is connected in last swing arm connecting rod.

2. The balance car of claim 1, wherein the lower swing arm links are two or more, the upper swing arm links are two or more, the wheelset further comprises:

the lower swing arm reinforcing plate is arranged between two adjacent lower swing arm connecting rods;

the upper swing arm reinforcing plate is arranged between two adjacent upper swing arm connecting rods;

the ABS isolation column is arranged between two adjacent lower swing arm connecting rods.

3. The balance car of claim 2, wherein the wheel set further comprises:

the output end of the motor is connected with the motor flange, and the motor flange is connected with the driving wheel;

the motor outer fixing plate is connected to the inner fixing plate, and an aluminum column is arranged between the outer fixing plate and the inner fixing plate.

4. The balance car of claim 3, wherein the wheelset further comprises:

the motor speed regulator is connected to the motor;

a swing arm connector rear plate disposed outside the outer fixing plate;

the deep groove ball is arranged on the swing arm connector rear plate, and the output end of the motor penetrates through the deep groove ball;

and the bearing retainer ring is used for limiting the deep groove ball.

5. The balance car of claim 4, wherein the wheel set further comprises:

the thrust ball is arranged on the lower swing arm connecting rod and the upper swing arm connecting rod, the lower swing arm connecting rod is connected with the first aluminum pipe hanging sleeve plate through the thrust ball, and the upper swing arm connecting rod is connected with the second aluminum pipe hanging sleeve plate through the thrust ball;

the deep groove ball flange is embedded on the first aluminum pipe hanging sleeve plate;

the negative pressure damping springs are arranged between two adjacent first aluminum pipe hanging sleeve plates and two adjacent second aluminum pipe hanging sleeve plates.

6. The balance car of claim 5, wherein the wheel set further comprises:

the tyre is sleeved on the driving wheel;

and the tire baffle is arranged on one side of the tire.

7. A robot, comprising:

the balance car according to any one of claims 1 to 6;

the balance car comprises a frame and a connecting piece, wherein the frame is connected to the balance car through the connecting piece.

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