WO2017063477A1 - 一种电动平衡扭扭车 - Google Patents

一种电动平衡扭扭车 Download PDF

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Publication number
WO2017063477A1
WO2017063477A1 PCT/CN2016/099353 CN2016099353W WO2017063477A1 WO 2017063477 A1 WO2017063477 A1 WO 2017063477A1 CN 2016099353 W CN2016099353 W CN 2016099353W WO 2017063477 A1 WO2017063477 A1 WO 2017063477A1
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WO
WIPO (PCT)
Prior art keywords
support frame
supporting
electric balance
supporting frame
wheel
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PCT/CN2016/099353
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English (en)
French (fr)
Inventor
应佳伟
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杭州骑客智能科技有限公司
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First worldwide family litigation filed litigation Critical https://patents.darts-ip.com/?family=58508486&utm_source=google_patent&utm_medium=platform_link&utm_campaign=public_patent_search&patent=WO2017063477(A1) "Global patent litigation dataset” by Darts-ip is licensed under a Creative Commons Attribution 4.0 International License.
Application filed by 杭州骑客智能科技有限公司 filed Critical 杭州骑客智能科技有限公司
Priority to PL16854859T priority Critical patent/PL3342691T3/pl
Priority to RU2018111520A priority patent/RU2684951C1/ru
Priority to EP16854859.2A priority patent/EP3342691B1/en
Priority to KR1020187009674A priority patent/KR102021112B1/ko
Priority to CA3001427A priority patent/CA3001427C/en
Priority to US15/767,645 priority patent/US10538286B2/en
Priority to MX2018004482A priority patent/MX2018004482A/es
Priority to JP2018537707A priority patent/JP6616010B2/ja
Priority to ES16854859T priority patent/ES2773028T3/es
Publication of WO2017063477A1 publication Critical patent/WO2017063477A1/zh

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62K—CYCLES; CYCLE FRAMES; CYCLE STEERING DEVICES; RIDER-OPERATED TERMINAL CONTROLS SPECIALLY ADAPTED FOR CYCLES; CYCLE AXLE SUSPENSIONS; CYCLE SIDE-CARS, FORECARS, OR THE LIKE
    • B62K11/00—Motorcycles, engine-assisted cycles or motor scooters with one or two wheels
    • B62K11/007—Automatic balancing machines with single main ground engaging wheel or coaxial wheels supporting a rider
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62J—CYCLE SADDLES OR SEATS; AUXILIARY DEVICES OR ACCESSORIES SPECIALLY ADAPTED TO CYCLES AND NOT OTHERWISE PROVIDED FOR, e.g. ARTICLE CARRIERS OR CYCLE PROTECTORS
    • B62J45/00—Electrical equipment arrangements specially adapted for use as accessories on cycles, not otherwise provided for
    • B62J45/40—Sensor arrangements; Mounting thereof
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62J—CYCLE SADDLES OR SEATS; AUXILIARY DEVICES OR ACCESSORIES SPECIALLY ADAPTED TO CYCLES AND NOT OTHERWISE PROVIDED FOR, e.g. ARTICLE CARRIERS OR CYCLE PROTECTORS
    • B62J99/00—Subject matter not provided for in other groups of this subclass
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62K—CYCLES; CYCLE FRAMES; CYCLE STEERING DEVICES; RIDER-OPERATED TERMINAL CONTROLS SPECIALLY ADAPTED FOR CYCLES; CYCLE AXLE SUSPENSIONS; CYCLE SIDE-CARS, FORECARS, OR THE LIKE
    • B62K11/00—Motorcycles, engine-assisted cycles or motor scooters with one or two wheels
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62K—CYCLES; CYCLE FRAMES; CYCLE STEERING DEVICES; RIDER-OPERATED TERMINAL CONTROLS SPECIALLY ADAPTED FOR CYCLES; CYCLE AXLE SUSPENSIONS; CYCLE SIDE-CARS, FORECARS, OR THE LIKE
    • B62K11/00—Motorcycles, engine-assisted cycles or motor scooters with one or two wheels
    • B62K11/02—Frames
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
    • G01D21/00—Measuring or testing not otherwise provided for
    • G01D21/02—Measuring two or more variables by means not covered by a single other subclass
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
    • B60K1/00—Arrangement or mounting of electrical propulsion units
    • B60K1/02—Arrangement or mounting of electrical propulsion units comprising more than one electric motor

Definitions

  • the invention relates to an electric balance twisting vehicle, in particular to an electric balance twisting vehicle with fewer position sensors and simple structure.
  • Electric balance car also known as body car, thinking car
  • its operation principle is mainly based on a basic principle called “dynamic stability", using the gyroscope and acceleration sensor inside the car body to detect the posture of the car body. Change and use the servo control system to accurately drive the motor to adjust accordingly to maintain the balance of the system.
  • the existing electric balance car is generally divided into two types: an operating lever and a non-operating lever.
  • an electric balancing vehicle with an operating lever, the forward, reverse and steering of the electric balancing vehicle are controlled by the operating lever.
  • the electric balance car without the operating lever, the forward and backward of the electric balance car is controlled by the tilt of the entire electric balance car, and the steering is carried by the user on the pedal platform and through the two pedal platforms. Control is achieved by the relative rotation angle difference.
  • the two-wheel electric balance car without the operating rod is mainly represented by the two-wheel self-balancing electric balance car disclosed by the patent CN201320300947.
  • the support skeleton in the balance car includes a symmetrically arranged left support frame and a right support frame, and the left support The skeleton is rotatably connected to the right support skeleton; wherein the left and right support skeletons are respectively provided with a position sensor (acceleration sensor) capable of independently sensing the position information thereof, for sensing position information of the left/right support skeleton, and the control system
  • the left/right support frame position information drives the left/right wheel to rotate.
  • the electric balance vehicle requires more position sensors and a more complicated structure.
  • the present invention is an electric balance twisting vehicle proposed to overcome the prior art.
  • An electric balance twisting vehicle which is an electric balance twisting vehicle, comprising:
  • Supporting a skeleton comprising a first supporting skeleton and a second supporting skeleton which are symmetrically arranged and movable to each other;
  • connecting device extending from the second supporting frame, the connecting device is fixed to the second supporting frame, and cooperates with the first supporting frame and is movably connected;
  • a position sensor disposed in the first support frame for sensing first position information of the first support frame relative to the ground and activity change information of the second support frame relative to the first support frame;
  • the control device is configured to drive the first wheel to rotate or move according to the first position information acquired by the position sensor, and drive the second wheel to rotate or move according to the first position information and the activity change information.
  • the connecting device includes a rotating mechanism that is rotatably coupled to the first supporting frame, and the activity change information is a rotation angle of the second supporting frame relative to the first supporting frame.
  • the position sensor has a position sensing unit and an activity change information sensing unit.
  • the position sensing unit includes a gyroscope and an acceleration sensor.
  • the activity change information sensing unit includes a linear Hall sensor, a rotary encoder, and an ultrasonic angle measurement.
  • the rotating mechanism is a sleeve, and the first supporting frame is provided with a bearing that cooperates with the sleeve.
  • the electric balance twisting vehicle further includes a snap spring attached to the end of the sleeve and simultaneously abutting the bearing.
  • the end of the first support frame facing inward has a cylindrical barrel, and the bearing and the sleeve are mounted in the barrel from the outside to the inside by a snap spring.
  • the electric balance twisting vehicle further includes a limiting shaft, one end of the limiting shaft is connected to the second supporting frame, and the other end extends into the first supporting frame; the first supporting frame is correspondingly opened for The limiting slot of the limiting shaft is matched to ensure the rotation angle of the first supporting frame and the second supporting frame by the clearance of the limiting axis and the limiting slot.
  • the first support frame and the second support frame are respectively provided with a first pedal area and a second pedal area.
  • the first position information of the first support frame is used by the position sensor. It is sensed that when the second pedal area is stepped on, the relative rotation of the second supporting frame relative to the first supporting frame generates a rotation angle, and the control device calculates the first by combining the rotation angle with the first position information.
  • the second position information of the support skeleton drives the second wheel to rotate or move.
  • the electric balance twisting vehicle further includes a power source for driving the driving device, the position sensor and the control device, wherein the control device is configured to control the power source, the driving device and the position sensor, and The driving signal is sent to the driving device according to the position information sensed by the position sensor and the rotation angle, thereby driving the wheel to rotate.
  • the two wheels are parallel to each other and are respectively disposed on opposite sides of the support frame.
  • the electric balance twisting vehicle further includes an upper cover and a lower cover, and the upper cover and the lower cover are wrapped to support the skeleton.
  • an electric balance twisting vehicle includes:
  • Supporting a skeleton comprising a first supporting skeleton and a second supporting skeleton which are symmetrically arranged and movable to each other;
  • a connecting device connecting the first supporting frame and the second supporting frame, and one end of the connecting device is fixed to the first supporting frame or the second supporting frame;
  • the position sensor is disposed in the first support frame or the second support frame for sensing position information of the corresponding first support frame or the second support frame relative to the ground and activity change information between the first support frame and the second support frame ;
  • the control device is configured to drive the first wheel and the second wheel to rotate or move according to the position information and the activity change information acquired by the position sensor.
  • the connecting device extends from the first supporting frame and extends into the second supporting frame.
  • the connecting device is fixed to the first supporting frame, and the position sensing device is disposed in the first supporting frame.
  • an electric balance twisting vehicle includes:
  • Supporting a skeleton comprising a first supporting skeleton and a second supporting skeleton which are symmetrically arranged and movable to each other;
  • connecting device extending from the second supporting frame, the connecting device is fixed to the second supporting frame, and cooperates with the first supporting frame and is movably connected;
  • the position sensor comprising a position sensing unit and an activity change information sensing unit, wherein the position sensing unit is disposed in the first support frame for sensing a first position of the first support frame relative to the ground Information, the activity change information sensing unit is disposed on the connecting device, and is configured to sense activity change information of the second support frame relative to the first support frame;
  • the control device is configured to drive the first wheel to rotate or move according to the first position information acquired by the position sensor, and drive the second wheel to rotate or move according to the first position information and the first position information and the activity change information.
  • the present invention has the following advantages:
  • the electric balance twisting vehicle of the present invention only needs to provide a position sensor on one side of the supporting frame, and the position information of the first supporting frame and the second supporting frame can be obtained simultaneously by optimization of the control mode; and the second support
  • the skeleton is fixed to the rotating mechanism, and no complicated rotating mechanism is required, thereby effectively simplifying the circuit and structure of the electric balance twisting vehicle and saving cost.
  • FIG. 1 is a schematic diagram of an electric balance twisting vehicle according to an embodiment of the present invention.
  • FIG. 2 is a schematic diagram of an electric balance twisting vehicle according to another embodiment of the present invention.
  • the electric balance twisting vehicle 100 provided by the present invention comprises a supporting frame 10, two wheels, a connecting device, a control device 40 for specifically controlling two wheels, and a main power source (figure An electric drive system composed of a drive unit and a position sensor 40 is not shown.
  • the control device 50 is electrically connected to the power source, the driving device and the position sensor 40 respectively, and controls the wheel 30 by the position sensor 40 to sense the information supported by the support frame 10, thereby implementing the electric balance twisting vehicle 100. Advance, retreat or turn.
  • the support frame 10 includes a first support frame 11 and a second support frame 12 that are symmetrically disposed and rotatable with each other.
  • first support frame 11 and the second support frame 12 are only for convenience of description of the present invention and a simplified description. It cannot be understood as two specific parts of the support skeleton 10.
  • the two wheels of the present embodiment are defined as a first wheel 31 and a second wheel 32, respectively, wherein the first wheel 31 is assembled with the first support frame 11, and the second wheel 32 is assembled with the second support frame 12.
  • the two wheels are parallel to each other and are respectively disposed on opposite sides of the support frame 10.
  • the connecting device is applied to the electric balance twisting vehicle 100 for connecting the first supporting frame 11 and the second supporting frame 12 in the supporting frame 10.
  • the connecting device extends from the second supporting frame 12 to the first supporting frame 11 , and the connecting device and the second supporting frame
  • the fixed connection 12 cooperates with the first support frame 11 and is movably connected to advance, retreat and turn the electric balance twisting vehicle 100.
  • the electric balance twisting vehicle 100 of the present embodiment further includes an upper cover (not shown) and a lower cover (not shown), and the upper cover and the lower cover are wrapped to support the skeleton 10 to prevent Dust or liquid enters the support frame 10, thereby ensuring the normal use of the electric balance twisting vehicle.
  • the connecting device includes a rotating mechanism, wherein the rotating mechanism is rotatably coupled to the first supporting frame 11 and is fixedly coupled to the second supporting frame 12. Further, the rotating mechanism is a sleeve 21, and the first supporting frame 11 is provided with a bearing 22 that cooperates with the sleeve 21.
  • the sleeve 21 is an axial hollow structure, so that the electric balance twisting vehicle 100 can directly connect the line for connecting the portions of the first support frame 11 and the second support frame 12 from the assembly process.
  • the hollow portion of the sleeve 21 passes through, so that on the one hand, the circuit is protected, and on the other hand, the overall structure of the electric balance twisting vehicle 100 is also simplified.
  • the rotating mechanism of the embodiment further includes a circlip 23, and the circlip 23 is specifically sleeved at the end of the sleeve 21, and does not give you a bearing 22 at the same time, so as to achieve the limit function of the bearing 22.
  • the inward end of the first support frame 11 has a cylindrical barrel in which the bearing 22 and the sleeve 21 are mounted from the outside to the inside by the retaining spring 23.
  • the electric balance twisting vehicle 100 of the present embodiment can rotate the first supporting frame 11 in the supporting frame 10 relative to the second supporting frame 12.
  • a limiting shaft 24 is further included for limiting the rotation angle between the first supporting frame 11 and the second supporting frame 12.
  • one end of the limiting shaft 24 is connected to the second supporting frame 12, and the other end is extended to the first supporting frame 11.
  • the first supporting frame 11 is correspondingly opened for the matching limit.
  • the limiting slot of the bit shaft 24 (not shown) is engaged with the clearance of the limiting shaft 24 and the limiting slot to limit the rotation angle of the first supporting frame 11 and the second supporting frame 12.
  • the position sensor 40 is applied to the electric balance twisting vehicle 100, which is disposed in the first support frame 11 for sensing first position information of the first support frame 11 relative to the ground and the second support frame 12 relative to the first support Activity change information of the skeleton 11. It can be understood that the activity change information in the embodiment is specifically a rotation angle of the second support frame 12 relative to the first support frame 11.
  • the position sensor 40 specifically includes a position sensing unit 41 and a motion change information sensing unit 42, wherein the position sensing unit 41 is configured to sense first position information of the first support frame 11 relative to the ground.
  • the activity change information sensing unit 42 is configured to sense activity change information of the second support frame 12 relative to the first support frame 11 , that is, to sense the rotation angle of the second support frame 12 relative to the first support frame 11 .
  • the position sensing unit 41 and the activity change information sensing unit 42 in the position sensor 40 can be set as a whole according to the needs of use.
  • the position sensing unit 41 and an activity change information sensing unit 42 may be disposed as separate individuals, wherein the position sensing unit 41 is specifically disposed on the control device 50 of the first support frame 11, and The activity change information sensing unit 42 is mounted on the rotating mechanism. Further, the position sensing unit 41 may be a gyroscope, an acceleration sensor, or a combination of a gyroscope and an acceleration sensor. Of course, other sensors may be used, in the process of using the first support frame. 11 is detected relative to the first position of the ground. It can be understood that the first position of the first support frame 11 relative to the ground sensed by the position sensing unit 41 during actual operation is the inclination of the first support frame 11 relative to the ground.
  • the activity change information sensing unit 42 includes a linear Hall sensor, a rotary encoder, an ultrasonic angle measurement or other sensor, and measures the second support frame 12 relative to the first support frame 11 by sensing manner of the corresponding sensor. The angle of rotation.
  • the control device 50 is applied to the electric balance twisting vehicle 100 for driving the first wheel 31 to rotate or move according to the first position information acquired by the position sensor 40, and according to the first position information and the activity change information.
  • the second wheel 32 is driven to rotate or move.
  • the control device 50 controls the second wheel 32, and can combine the first position information of the first support frame 11 sensed by the position sensing unit 41 in the position sensor 40, and the second The second position information of the second support frame 12 is obtained by reasonable calculation of the rotation angle of the support frame 12 with respect to the first support frame 11, thereby achieving drive control of the second wheel 32.
  • the electric balance twisting vehicle 100 of the present embodiment is provided with a first pedal area in the first supporting frame 11 and the second supporting frame 12, respectively. Not shown) and a second pedal area (not shown), when the first pedal area is stepped on, the first position information of the first support frame 11 is sensed by the position sensor when the second foot area is When being stepped on, the relative rotation of the second supporting frame 12 relative to the first supporting frame 11 generates a rotation angle, and the control device 50 calculates the second of the second supporting frame 12 by combining the rotation angle with the first position information.
  • the position information drives the second wheel 32 to rotate or move.
  • the electric balance twisting vehicle of the present invention only needs to provide a position sensor on one side of the supporting frame, and the position information of the first supporting frame and the second supporting frame can be obtained simultaneously by optimization of the control mode.
  • the second supporting frame is fixed to the rotating mechanism, and does not require a complicated rotating mechanism, thereby effectively simplifying the circuit and structure of the electric balance twisting vehicle and saving cost.

Abstract

一种电动平衡扭扭车，包括支撑骨架（10），支撑骨架（10）包括对称设置且可相互转动的第一支撑骨架（11）和第二支撑骨架（12）；第一、第二车轮（31,32），分别与第一支撑骨架（11）和第二支撑骨架（12）连接；自所述第二支撑骨架（12）延伸出来的连接装置，该连接装置与第二支撑骨架（12）固接，与第一支撑骨架（11）转动连接；位置传感器（40），设置在第一支撑骨架（11）内，用于感测第一支撑骨架（11）相对地面的位置信息及第二支撑骨架（12）相对第一支撑骨架（11）的活动变化信息；控制装置（50），用于根据位置传感器（40）获取到的第一位置信息驱动第一车轮（31）转动或移动，并根据第一位置信息及第二支撑骨架（12）相对第一支撑骨架（11）的转动角度驱动第二车轮（32）转动或移动。该电动平衡扭扭车使用较少的传感器即可实现车体的平衡运动，整体结构较为简单。

Description

一种电动平衡扭扭车 技术领域
本发明涉及一种电动平衡扭扭车，尤其涉及一种位置感测器较少，结构较为简单的电动平衡扭扭车。
背景技术
电动平衡车，又叫体感车、思维车，其运作原理主要是建立在一种被称为“动态稳定”的基本原理上，利用车体内部的陀螺仪和加速度传感器，来检测车体姿态的变化，并利用伺服控制系统，精确地驱动电机进行相应的调整，以保持系统的平衡。
现有的电动平衡车一般分为有操作杆和无操作杆这两类，其中带操作杆的电动平衡车，其电动平衡车的前进、后退及转向均由操作杆来进行具体操作控制。而不带操作杆的电动平衡车，其电动平衡车的前进、后退是由整个电动平衡车的倾斜来控制，转向则由使用者脚踏在脚踏平台上，并通过两个脚踏平台之间相对旋转角度差来进行控制实现。其中，不带操作杆的两轮电动平衡车主要为专利CN201320300947所揭示的两轮自平衡电动平衡车为代表，该平衡车中的支撑骨架包括对称设置的左支撑骨架与右支撑骨架，左支撑骨架相对右支撑骨架转动连接；其中左、右支撑骨架各自设置有一个可独立感测其位置信息的位置感测器(加速度传感器)，用于感测左/右支撑骨架的位置信息，控制系统左/右支撑骨架的位置信息，分别驱动左/右车轮转动。
然而，所述电动平衡车所需要的位置感测器较多，结构也较为复杂。
发明内容
本发明为了克服现有技术而提出的电动平衡扭扭车。
一种电动平衡扭扭车，其一种电动平衡扭扭车，包括：
支撑骨架，所述支撑骨架包括对称设置且可相互活动的第一支撑骨架和第二支撑骨架；
第一车轮，与第一支撑骨架连接；
第二车轮，与第二支撑骨架连接；
自所述第二支撑骨架延伸出来的连接装置，该连接装置与第二支撑骨架固接，与第一支撑骨架相互配合且活动连接；
位置传感器，设置在第一支撑骨架内，用于感测第一支撑骨架相对地面的第一位置信息及第二支撑骨架相对第一支撑骨架的活动变化信息；
控制装置，用于根据位置传感器获取到的第一位置信息驱动第一车轮转动或移动，并根据第一位置信息和活动变化信息驱动第二车轮转动或移动。
所述连接装置包括一转动机构，该转动机构与第一支撑骨架转动连接，所述活动变化信息为所述第二支撑骨架相对第一支撑骨架的转动角度。
所述位置传感器具有一位置感测单元及一活动变化信息感测单元。
所述位置感测单元包括陀螺仪和加速度传感器。
所述活动变化信息感测单元包括线性霍尔传感器，旋转编码器，超声波角度测量。
所述转动机构为一轴套，所述第一支撑骨架设置有与该轴套配合的轴承。
所述电动平衡扭扭车进一步包括一卡簧装在所述轴套的端部并同时抵靠所述轴承。
所述第一支撑骨架朝内的端头具有圆柱形的筒体，轴承和轴套从外至内通过卡簧安装在该筒体内。
所述电动平衡扭扭车进一步包括限位轴，所述限位轴的一端与第二支撑骨架连接上，另一端伸入至第一支撑骨架；所述第一支撑骨架上对应地开设有用于匹配限位轴的限位槽，以通过限位轴与限位槽的间隙配合，实现对第一支撑骨架与第二支撑骨架的转动角度进行限位。
所述第一支撑骨架及第二支撑骨架分别设置有第一脚踏区域及第二脚踏区域，当第一脚踏区域被踩踏时，所述第一支撑骨架的第一位置信息被位置传感器感测到，当第二脚踏区域被踩踏时，所述第二支撑骨架相对第一支撑骨架的相对转动产生一个转动角度，所述控制装置通过结合转动角度与第一位置信息，计算出第二支撑骨架的第二位置信息，从而驱动第二车轮转动或移动。
所述电动平衡扭扭车进一步包括电源、驱动装置，所述电源用于对所述驱动装置、位置传感器及控制装置供电，所述控制装置用于控制所述电源、驱动装置及位置传感器，并根据位置传感器所感测到的位置信息及转动角度向驱动装置发出驱动信号，从而驱动车轮转动。
所述两个车轮相互平行，且分别设置在所述支撑骨架相对的两侧。
所述电动平衡扭扭车进一步包括上盖与下盖，所述上盖及下盖包裹支撑骨架设置。
或者，一种电动平衡扭扭车，包括：
支撑骨架，所述支撑骨架包括对称设置且可相互活动的第一支撑骨架和第二支撑骨架；
第一车轮，与第一支撑骨架连接；
第二车轮，与第二支撑骨架连接；
连接装置，连接第一支撑骨架与第二支撑骨架，且该连接装置的一端与第一支撑骨架或第二支撑骨架固接；
位置传感器，设置第一支撑骨架或第二支撑骨架内，用于感测对应的第一支撑骨架或第二支撑骨架相对地面的位置信息及第一支撑骨架与第二支撑骨架间的活动变化信息；
控制装置，用于根据位置传感器获取到的位置信息及活动变化信息驱动第一车轮及第二车轮转动或移动。
所述连接装置自所述第一支撑骨架延伸出来伸入第二支撑骨架，该连接装置与第一支撑骨架固接，所述位置感测装置设置在第一支撑骨架内。
又或者，一种电动平衡扭扭车，包括：
支撑骨架，所述支撑骨架包括对称设置且可相互活动的第一支撑骨架和第二支撑骨架；
第一车轮，与第一支撑骨架连接；
第二车轮，与第二支撑骨架连接；
自所述第二支撑骨架延伸出来的连接装置，该连接装置与第二支撑骨架固接，与第一支撑骨架相互配合且活动连接；
位置传感器，所述位置传感器包括位置感测单元及一活动变化信息感测单元，其中所述位置感测单元设置在第一支撑骨架内，用于感测第一支撑骨架相对地面的第一位置信息，所述活动变化信息感测单元设置在连接装置上，用于感测第二支撑骨架相对第一支撑骨架的活动变化信息；
控制装置，用于根据位置传感器获取到的第一位置信息驱动第一车轮转动或移动，并根据第一位置信息及第一位置信息和活动变化信息驱动第二车轮转动或移动。
由于上述技术方案的运用，本发明具备以下优点：
本发明的电动平衡扭扭车，仅需要在支撑骨架的其中一侧设置位置传感器，并通过控制方式的优化，即可同时得到第一支撑骨架、第二支撑骨架的位置信息；且第二支撑骨架与转动机构固接，无需复杂的转动机构，从而有效简化了电动平衡扭扭车的电路和结构，节省了成本。
附图说明
图1为本发明一种实施例所提供的电动平衡扭扭车的示意图。
图2为本发明另一种实施例所提供的电动平衡扭扭车的示意图。
具体实施方式
为了使本发明的目的、技术方案及优点更加清楚明白，以下结合附图及实施例，对本发明进行进一步详细说明。应当理解，此处所描述的具体实施例仅用以解释本发明，并不用于限定本发明。
请参阅图1、图2，本发明所提供的电动平衡扭扭车100，包括支撑骨架10、两个车轮，连接装置，对两个车轮进行具体控制的控制装置40，以及主要由电源(图未示)、驱动装置、位置传感器40组成的电力驱动系统。其中所述控制装置50分别与电源、驱动装置及位置传感器40电性连接，并通过位置传感器40对支撑骨架10所感测到的信息来对车轮30进行控制，进而实现该电动平衡扭扭车100的前进、后退或者转弯。
所述支撑骨架10包括对称设置且可相互转动的第一支撑骨架11和第二支撑骨架12，可以理解，第一支撑骨架11及第二支撑骨架12仅是为了便于描述本发明和简化描述，而不能理解为该支撑骨架10中两个特定的部分。同理，本实施例的两个车轮分别定义为第一车轮31和第二车轮32，其中第一车轮31与第一支撑骨架11进行装配，第二车轮32与第二支撑骨架12进行装配。在本实施例中，所述的两个车轮是相互平行，且分别设置在所述支撑骨架10相对的两侧。
可以理解，所述连接装置应用在该电动平衡扭扭车100中，是用于连接支撑骨架10中的第一支撑骨架11和第二支撑骨架12。具体地，所述连接装置自所述第二支撑骨架12延伸至第一支撑骨架11，且该连接装置与第二支撑骨架 12固定连接，与第一支撑骨架11相互配合且活动连接，以使该电动平衡扭扭车100的前进、后退及转弯。
作为本发明的优选方案，本实施例的电动平衡扭扭车100还包括上盖(图未示)与下盖(图未示)，所述上盖及下盖包裹支撑骨架10设置，以防止灰尘或者液体进入至该支撑骨架10内，进而保障了该电动平衡扭扭车的正常使用。
在本实施例中，所述连接装置包括一转动机构，其中该转动机构与第一支撑骨架11转动连接，与第二支撑骨架12固定连接。进一步地，所述转动机构为一轴套21，所述第一支撑骨架11设置有与该轴套21配合的轴承22。可以理解，轴套21为轴向中空结构，这样该电动平衡扭扭车100在装配的过程中，可以将用于连接第一支撑骨架11与第二支撑骨架12中的部分的线路直接从该轴套21的中空部位穿过，这样一方面对线路起到了保护的作用，另一方面也精简了该电动平衡扭扭车100的整体结构。为此，本实施例的转动机构还包括一卡簧23，所述卡簧23具体是套设在轴套21的端部不给你同时抵靠轴承22，以实现对轴承22的限位作用。相应地，所述第一支撑骨架11朝内的端头具有圆柱形的筒体，轴承22和轴套21从外至内通过卡簧23安装在该筒体内。
可以理解，本实施例的电动平衡扭扭车100在使用时，其支撑骨架10中的第一支撑骨架11可相对于第二支撑骨架12进行转动。这样相应地，在本实施例中还包括限位轴24，用于对第一支撑骨架11与第二支撑骨架12之间的转动角度进行限位。具体地，所述限位轴24的一端与第二支撑骨架12相连接，另一端伸入至第一支撑骨架11；于此同时，所述第一支撑骨架11上对应地开设有用于匹配限位轴24的限位槽(图未示)，并通过限位轴24与限位槽的间隙配合，实现对第一支撑骨架11与第二支撑骨架12的转动角度进行限位。
所述位置传感器40应用在该电动平衡扭扭车100是设置在第一支撑骨架11内，用于感测第一支撑骨架11相对地面的第一位置信息及第二支撑骨架12相对第一支撑骨架11的活动变化信息。可以理解，在本实施例中所述活动变化信息具体为为所述第二支撑骨架12相对第一支撑骨架11的转动角度。
其中，所述位置传感器40具体包括位置感测单元41及一活动变化信息感测单元42，其中所述位置感测单元41是用于感测第一支撑骨架11相对地面的第一位置信息，所述活动变化信息感测单元42是用于感测第二支撑骨架12相对第一支撑骨架11的活动变化信息，亦即对第二支撑骨架12相对第一支撑骨架11的转动角度进行感测。可以理解，根据使用的需求，可以将位置传感器40中的位置感测单元41及一活动变化信息感测单元42设置为一个整体，并设 置在转动机构上；也可以将位置感测单元41及一活动变化信息感测单元42设置为单独个体，其中位置感测单元41具体设置在位于第一支撑骨架11的控制装置50上，而活动变化信息感测单元42则装配在转动机构上。进一步地，所述位置感测单元41可为陀螺仪、加速度传感器或者陀螺仪与加速度传感器两者的组合体，当然了也可以为其它的传感器，其在使用的过程中，对第一支撑骨架11相对地面的第一位置进行检测，可以理解，所述位置感测单元41在实际工作时所感测的第一支撑骨架11的相对地面的第一位置即为第一支撑骨架11相对地面的倾斜位置；所述活动变化信息感测单元42包括线性霍尔传感器，旋转编码器，超声波角度测量或者其它传感器，并通过对应传感器的感测方式来测得第二支撑骨架12相对第一支撑骨架11的转动角度。
所述控制装置50应用在该电动平衡扭扭车100中，是用于根据位置传感器40所获取到的第一位置信息驱动第一车轮31转动或移动，并根据第一位置信息和活动变化信息驱动第二车轮32转动或移动。在本实施例中，所述驱动装置50在对第二车轮32的控制，可以结合该位置传感器40中位置感测单元41所感测到的第一支撑骨架11的第一位置信息，以及第二支撑骨架12相对第一支撑骨架11的转动角度，通过合理的计算得出第二支撑骨架12的第二位置信息，从而实现对第二车轮32的驱动控制。
可以理解，为了迎合使用者对电动平衡扭扭车100的使用习惯，本实施例的电动平衡扭扭车100在第一支撑骨架11及第二支撑骨架12分别设置有第一脚踏区域(图未示)及第二脚踏区域(图未示)，当第一脚踏区域被踩踏时，所述第一支撑骨架11的第一位置信息被位置传感器感测到，当第二脚踏区域被踩踏时，所述第二支撑骨架12相对第一支撑骨架11的相对转动产生一个转动角度，所述控制装置50通过结合转动角度与第一位置信息，计算出第二支撑骨架12的第二位置信息，从而驱动第二车轮32转动或移动。
综上所述，本发明的电动平衡扭扭车，仅需要在支撑骨架的其中一侧设置位置传感器，并通过控制方式的优化，即可同时得到第一支撑骨架、第二支撑骨架的位置信息；且第二支撑骨架与转动机构固接，无需复杂的转动机构，从而有效简化了电动平衡扭扭车的电路和结构，节省了成本。
虽然本发明已由较佳实施例揭露如上，然而并非用以限定本发明，任何熟知此技艺者，在不脱离本发明的精神和范围内，可作些许的更动与润饰，因此本发明的保护范围当视权利要求书所要求保护的范围为准。

Claims (16)

  1. 一种电动平衡扭扭车，其特征在于，包括：
    支撑骨架，所述支撑骨架包括对称设置且可相互活动的第一支撑骨架和第二支撑骨架；
    第一车轮，与第一支撑骨架连接；
    第二车轮，与第二支撑骨架连接；
    自所述第二支撑骨架延伸出来的连接装置，该连接装置与第二支撑骨架固接，与第一支撑骨架相互配合且活动连接；
    位置传感器，设置在第一支撑骨架内，用于感测第一支撑骨架相对地面的第一位置信息及第二支撑骨架相对第一支撑骨架的活动变化信息；
    控制装置，用于根据位置传感器获取到的第一位置信息驱动第一车轮转动或移动，并根据第一位置信息和活动变化信息驱动第二车轮转动或移动。
  2. 根据权利要求1所述的电动平衡扭扭车，其特征在于：所述连接装置包括一转动机构，该转动机构与第一支撑骨架转动连接，所述活动变化信息为所述第二支撑骨架相对第一支撑骨架的转动角度。
  3. 根据权利要求2所述的电动平衡扭扭车，其特征在于：所述位置传感器具有一位置感测单元及一活动变化信息感测单元。
  4. 根据权利要求3所述的电动平衡扭扭车，其特征在于：所述位置感测单元包括陀螺仪和加速度传感器。
  5. 根据权利要求3所述的电动平衡扭扭车，其特征在于：所述活动变化信息感测单元包括线性霍尔传感器，旋转编码器，超声波角度测量。
  6. 根据权利要求2所述的电动平衡扭扭车，其特征在于：所述转动机构为一轴套，所述第一支撑骨架设置有与该轴套配合的轴承。
  7. 根据权利要求6所述的电动平衡扭扭车，其特征在于：所述电动平衡扭扭车进一步包括一卡簧装在所述轴套的端部并同时抵靠所述轴承。
  8. 根据权利要求7所述的电动平衡扭扭车，其特征在于：所述第一支撑骨架朝内的端头具有圆柱形的筒体，轴承和轴套从外至内通过卡簧安装在该筒体内。
  9. 根据权利要求2所述的电动平衡扭扭车，其特征在于：所述电动平衡扭扭车进一步包括限位轴，所述限位轴的一端与第二支撑骨架连接上，另一端伸入至第一支撑骨架；所述第一支撑骨架上对应地开设有用于匹配限位轴的限位 槽，以通过限位轴与限位槽的间隙配合，实现对第一支撑骨架与第二支撑骨架的转动角度进行限位。
  10. 根据权利要求2所述的电动平衡扭扭车，其特征在于：所述第一支撑骨架及第二支撑骨架分别设置有第一脚踏区域及第二脚踏区域，当第一脚踏区域被踩踏时，所述第一支撑骨架的第一位置信息被位置传感器感测到，当第二脚踏区域被踩踏时，所述第二支撑骨架相对第一支撑骨架的相对转动产生一个转动角度，所述控制装置通过结合转动角度与第一位置信息，计算出第二支撑骨架的第二位置信息，从而驱动第二车轮转动或移动。
  11. 根据权利要求1所述的电动平衡扭扭车，其特征在于：所述电动平衡扭扭车进一步包括电源、驱动装置，所述电源用于对所述驱动装置、位置传感器及控制装置供电，所述控制装置用于控制所述电源、驱动装置及位置传感器，并根据位置传感器所感测到的位置信息及转动角度向驱动装置发出驱动信号，从而驱动车轮转动。
  12. 根据权利要求1所述的电动平衡扭扭车，其特征在于：所述两个车轮相互平行，且分别设置在所述支撑骨架相对的两侧。
  13. 根据权利要求1所述的电动平衡扭扭车，其特征在于：所述电动平衡扭扭车进一步包括上盖与下盖，所述上盖及下盖包裹支撑骨架设置。
  14. 一种电动平衡扭扭车，其特征在于，包括：
    支撑骨架，所述支撑骨架包括对称设置且可相互活动的第一支撑骨架和第二支撑骨架；
    第一车轮，与第一支撑骨架连接；
    第二车轮，与第二支撑骨架连接；
    连接装置，连接第一支撑骨架与第二支撑骨架，且该连接装置的一端与第一支撑骨架或第二支撑骨架固接；
    位置传感器，设置第一支撑骨架或第二支撑骨架内，用于感测对应的第一支撑骨架或第二支撑骨架相对地面的位置信息及第一支撑骨架与第二支撑骨架间的活动变化信息；
    控制装置，用于根据位置传感器获取到的位置信息及活动变化信息驱动第一车轮及第二车轮转动或移动。
  15. 根据权利要求14所述的电动平衡扭扭车，其特征在于：所述连接装置自所述第一支撑骨架延伸出来伸入第二支撑骨架，该连接装置与第一支撑骨架固接，所述位置感测装置设置在第一支撑骨架内。
  16. 一种电动平衡扭扭车，其特征在于，包括：
    支撑骨架，所述支撑骨架包括对称设置且可相互活动的第一支撑骨架和第二支撑骨架；
    第一车轮，与第一支撑骨架连接；
    第二车轮，与第二支撑骨架连接；
    自所述第二支撑骨架延伸出来的连接装置，该连接装置与第二支撑骨架固接，与第一支撑骨架相互配合且活动连接；
    位置传感器，所述位置传感器包括位置感测单元及一活动变化信息感测单元，其中所述位置感测单元设置在第一支撑骨架内，用于感测第一支撑骨架相对地面的第一位置信息，所述活动变化信息感测单元设置在连接装置上，用于感测第二支撑骨架相对第一支撑骨架的活动变化信息；
    控制装置，用于根据位置传感器获取到的第一位置信息驱动第一车轮转动或移动，并根据第一位置信息及第一位置信息和活动变化信息驱动第二车轮转动或移动。
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JP6616010B2 (ja) 2019-12-04
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