CN110001842A - A kind of balance car - Google Patents
A kind of balance car Download PDFInfo
- Publication number
- CN110001842A CN110001842A CN201910403899.4A CN201910403899A CN110001842A CN 110001842 A CN110001842 A CN 110001842A CN 201910403899 A CN201910403899 A CN 201910403899A CN 110001842 A CN110001842 A CN 110001842A
- Authority
- CN
- China
- Prior art keywords
- connecting plate
- support skeleton
- sensor
- right support
- balance car
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
- 210000000988 bone and bone Anatomy 0.000 claims description 2
- 238000000034 method Methods 0.000 description 5
- 238000001514 detection method Methods 0.000 description 3
- 238000010586 diagram Methods 0.000 description 3
- 230000005484 gravity Effects 0.000 description 3
- 238000005299 abrasion Methods 0.000 description 2
- 229920001971 elastomer Polymers 0.000 description 2
- 238000009434 installation Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 239000000806 elastomer Substances 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 210000001699 lower leg Anatomy 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 230000001737 promoting effect Effects 0.000 description 1
Classifications
-
- 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
- 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
- B62K2204/00—Adaptations for driving cycles by electric motor
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Motorcycle And Bicycle Frame (AREA)
Abstract
The invention belongs to balance car technical fields, in particular to a kind of balance car, including car body and two wheels for being separately positioned on car body two sides, battery pack and the control self balancing controller of vehicle body are provided in car body, hub motor is provided in wheel, car body includes left support skeleton and right support skeleton, connecting plate is provided between the left support skeleton and right support skeleton, connecting plate is connect with left support skeleton and right support skeleton respectively, the sensor for detecting the variation of left and right support frame torsion is provided on connecting plate, sensor is electrically connected with the controller, the object of the present invention is to provide a kind of structure is simple, ride the balance car felt.
Description
Technical field
The invention belongs to balance car technical field, in particular to a kind of balance car.
Background technique
With the continuous improvement of people's living standards, people increasingly pay attention to promoting quality of life, body-building, leisure, amusement
Essential a part for people's lives is had become, the body-building recreation instrument of diversified forms emerges one after another, easy to operate balance
The characteristics of vehicle becomes the trend that modern young man rides instead of walk, and balance car is small by its, handsome in appearance, flexible operation wins everybody
Like.Balance car currently on the market mainly has two class of single wheel and two-wheel, and wherein two-wheel balance car safety coefficient is higher, more suitable
Conjunction is ridden instead of walk trip, but there are still shortcomings for two-wheel balance car in the market: the vehicle body of balance car in the market mostly includes two
The car body of group rotation connection influences user in balance car steering procedure and keeps balance, and after being used for a long time, the company of two groups of car bodies
It is easy to wear to meet place, influences the service life of balance car.
Summary of the invention
In order to overcome the defects of the prior art, the purpose of the present invention is to provide a kind of structures simply, rides and has felt flat
Weigh vehicle.
The object of the present invention is achieved like this:
A kind of balance car is provided with battery pack in car body including car body and two wheels for being separately positioned on car body two sides
And the self balancing controller of vehicle body is controlled, it is provided with hub motor in wheel, car body includes left support skeleton and right support bone
Frame, is provided with connecting plate between the left support skeleton and right support skeleton, connecting plate respectively with left support skeleton and right support
Skeleton connects, and the sensor for detecting the variation of left and right support frame torsion, sensor and controller electricity are provided on connecting plate
Connection.
There are two connecting plates, sensor to be set to two connecting plates for setting between the left support skeleton and right support skeleton
Between.
Strain block one end of the sensor is fixedly connected with connecting plate, and the strain block other end is provided with cylindrical sleeve, and circle
Column sleeve is pushed against on connecting plate.
The limited block of relative distance between restricted connecting plate is set between the connecting plate.
The vertical plane and horizontal plane of the L-shaped setting in connecting plate section, the horizontal plane and left and right support rib of L shape connecting plate
Frame connection, the vertical plane of L shape connecting plate and the strain block of sensor push against, and notch is provided on vertical plane.
The sensor is strain gauge transducer.
The present invention is prominent and beneficial compared with prior art to be had the technical effect that
1, be provided with connecting plate between left support skeleton and right support skeleton of the present invention, connecting plate respectively with left support
Skeleton and right support skeleton are detachably connected, and the sensor for detecting torsion variation, sensor and control are provided on connecting plate
Device electrical connection processed, when user controls balance car steering, user controls left support skeleton and right support skeleton by both feet, from
And so that connecting plate is generated deformation, and the strain block of sensor is promoted to generate deformation, sensor detects to obtain signal, controller control
Balance car turns to, by connecting plate that left support skeleton and right support skeleton is relatively fixed in the structure, balance car steering procedure
Middle left support skeleton is not changed significantly with right support skeleton relative position, is conducive to user and is kept balance, and used
Left support skeleton and right support skeleton link position are not in abrasion in journey, are conducive to extend the service life of balance car.
2, there are two connecting plates, sensor to be set to two for setting between left support skeleton and right support skeleton of the present invention
Between a connecting plate, two connecting plates are relatively fixed by left support skeleton and right support skeleton, are conducive to the structure for improving car body
Intensity,.
3, connecting plate of the present invention is at L-shaped, and notch is provided on vertical plane, the horizontal plane of L shape connecting plate and it is left,
The strain block of the connection of right support skeleton, the vertical plane of L shape connecting plate and sensor pushes against, the horizontal plane of L shape connecting plate with it is left and right
Support frame connection, can be such that support frame does not sway forwards and backwards, and vertical plane supports the power on support frame vertical direction, i.e.,
Support to human bady gravitational, the structure are conducive to improve the accuracy of sensor detection, and human bady gravitational influence is avoided to cause to sense
Device detection error is larger, so as to cause the generation of contingency.
4, strain block one end of sensor of the present invention is fixedly connected with connecting plate, and the mounting base other end is provided with cylinder
Set, and cylindrical sleeve is pushed against on connecting plate, and the limited block of relative distance between restricted connecting plate is arranged between the connecting plate,
It avoids causing due to foozle or installation error that there are different stress on the strain block of balance car, influences sensor to torsion
The information collection of variation.
Detailed description of the invention
Fig. 1 is structural schematic diagram of the invention；
Fig. 2 is of the invention to cut open schematic diagram；
Fig. 3 is the structural schematic diagram of connecting plate in the present invention.
Figure label meaning: 1- left support skeleton；2- right support skeleton；3- connecting plate；4- strains block；
5- limited block；6- cylindrical sleeve；7- sensor；31- notch；41- mounting portion.
Specific embodiment
With specific embodiment, the invention will be further described with reference to the accompanying drawing:
As shown in Fig. 1 to Fig. 3, a kind of balance car, including car body and two wheels for being separately positioned on car body two sides, car body
In be provided with battery pack and the control self balancing controller of vehicle body, be provided with hub motor in wheel, car body includes left support
Skeleton 1 and right support skeleton 2, are provided with connecting plate 3 between the left support skeleton 1 and right support skeleton 2, connecting plate 3 is distinguished
It is detachably connected with left support skeleton 1 and right support skeleton 2, the sensor for detecting torsion variation is provided on connecting plate 3
7, sensor 7 is electrically connected with the controller, and when user controls balance car steering, user controls left support skeleton 1 by both feet
With right support skeleton 2, so that connecting plate 3 be made to generate deformation, and the strain block 4 of sensor 7 is promoted to generate deformation, sensor 7 is examined
Signal is measured, controller controls balance car and turns to, and passes through connecting plate 3 in the structure for left support skeleton 1 and right support skeleton 2
Relatively fixed, left support skeleton 1 is not changed significantly with 2 relative position of right support skeleton in balance car steering procedure, favorably
It keeps balancing in user, and left support skeleton 1 and 2 link position of right support skeleton are not in abrasion in use process, are had
Conducive to the service life for extending balance car, sensor 7 described in the present embodiment is strain gauge transducer.
Battery pack is installed on the left support skeleton 1, controller is installed on right support skeleton 2, is equipped with and uses in controller
In the gyroscope of the relative position information of detection balance car right support skeleton 2, controller controls right wheel according to the information of gyroscope
The rotation direction and speed of hub motor, controller control left wheel hub motor according to the torsion direction of sensor 7 and size information
Rotation direction and speed.Certain controller not merely acquires the information of gyroscope and torsion sensor, further includes but is not limited to
Such as the rotary speed information of motor, position of stator information etc., balance car electronic control system solution have many prior arts,
Here it is not just describing.
When user uses balance car, when right crus of diaphragm drives right support skeleton 2 to turn forward, left foot drives left support skeleton 1
Also forward and when torsion is zero between the support frame of left and right, controller control hub motor drives balance car straight forward；Work as the right side
Foot drives right support skeleton 2 to turn forward, and left foot drives the power of left support skeleton 1 backward, controller control right hub motor to
Before, the velocity of rotation of left wheel hub motor is less than the velocity of rotation of right hub motor, and realization is turned to the left；Left and right support frame 2 it
Between torsion it is bigger, left and right wheel hub motor rotation speed size difference it is bigger, be positive if setting the speed that hub motor rotates forward,
The speed to rotate backward is negative, and right wheel hub motor rotation speed size is V right, and left wheel hub motor rotation speed is V left, when the right side V-
When a V left side > V is right, left wheel hub motor rotates backward, and spot turn may be implemented with this；Vice versa.
There are two connecting plates 3, sensor 7 to be set to two companies for setting between the left support skeleton 1 and right support skeleton 2
Between fishplate bar 3, two connecting plates 3 are strong by the relatively fixed structure for being conducive to improve car body of left support skeleton 1 and right support skeleton 2
Degree,.
The strain block 4 of strip is provided between the present invention preferably two connecting plates 3, the setting of sensor 7 is in strain block 4
On, strain 4 one end of block and connecting plate 3 are fixed, and strain 4 other end of block is provided with the mounting portion 41 of cylindrical shape, and mounting portion
Cylindrical sleeve 6 is arranged on 41, the preferably described cylindrical sleeve 6 is usually made of the material of the higher elastomer of hardness such as rubber one kind.
The limited block 5 of relative distance between restricted connecting plate 3 is set between the connecting plate 3, which makes cylindrical sleeve 6
To the abutting power substantially constant of connecting plate 3, avoid causing on the strain block 4 of each balance car due to foozle or installation error
There are different stress, influence the information collection that sensor changes torsion,.
It is preferred that the connecting plate 3 is at L-shaped, and is provided with notch 31 on vertical plane, the horizontal plane of L shape connecting plate 3 and it is left,
The strain block 4 of vertical plane and sensor 7 that right support skeleton 2 connects 2, L shape connecting plate 3 pushes against, the horizontal plane of L shape connecting plate 3
It is connect with left and right support frame 2, left and right support frame can be made not sway forwards and backwards, vertical plane is perpendicular to left and right support frame 2
The upward power support of histogram, i.e., to the support of human bady gravitational, in the present embodiment the preferably setting of sensor 7 in strain 4 side of block, and
It is arranged in notch 31.
The influence of the gravity of people to sensor 7 can be dropped to by above-mentioned measure very low, such as controller controls wheel hub
The rotation of motor is 0.1 grade to 7 value grade of sensor, and influence of the gravity of people to sensor 7 drops to 0.01 grade even
0.001 grade, to allow the controller to the rotation for accurately controlling hub motor according to the size of torsion.
In addition drop to influence of the gravity of people to sensor 7 very low, sensor 7 still is able to detect that numerical value becomes
Change, therefore can detect whether people stands onto balance car according to this numerical value change, therefore this structure can also simplify now
Have and detects people in balance car and whether stand the structure of upper balance car.
Above-described embodiment is only presently preferred embodiments of the present invention, is not limited the scope of the invention according to this, therefore: it is all according to
The equivalence changes that structure of the invention, shape, principle are done, should all be covered by within protection scope of the present invention.
Claims (6)
1. a kind of balance car, including car body and two wheels for being separately positioned on car body two sides, be provided in car body battery pack and
The self balancing controller of vehicle body is controlled, is provided with hub motor in wheel, car body includes left support skeleton (1) and right support bone
Frame (2), it is characterised in that: be provided with connecting plate (3), connecting plate between the left support skeleton (1) and right support skeleton (2)
(3) it is connect respectively with left support skeleton (1) and right support skeleton (2), connecting plate is provided on (3) for detecting left and right support
The sensor (7) that skeleton (1,2) torsion changes, sensor (7) are electrically connected with the controller.
2. a kind of balance car according to claim 1, it is characterised in that: the left support skeleton (1) and right support skeleton
(2) there are two connecting plate (3), sensor (7) to be set between two connecting plates (3) for setting between.
3. a kind of balance car according to claim 2, it is characterised in that: strain block (4) one end of the sensor (7) with
Connecting plate (3) is fixedly connected, and strain block (4) other end is provided with cylindrical sleeve (6), and cylindrical sleeve (6) is pushed against connecting plate (3)
On.
4. a kind of balance car according to claim 2 or 3, it is characterised in that: be arranged between the connecting plate (3) restricted
The limited block (5) of relative distance between connecting plate (3).
5. a kind of balance car according to claim 4, it is characterised in that: the connecting plate (3) includes the perpendicular of L-shaped setting
Face directly and horizontal plane, the horizontal plane of L shape connecting plate (3) connect with left and right support frame (1,2), L shape connecting plate (3) it is vertical
The strain block (4) of face and sensor (7) pushes against, and notch (31) are provided on vertical plane.
6. a kind of balance car described according to claim 1 or 2 or 3 or 5, it is characterised in that: the sensor (7) is strain-type
Sensor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910403899.4A CN110001842B (en) | 2019-05-15 | 2019-05-15 | Balance car |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910403899.4A CN110001842B (en) | 2019-05-15 | 2019-05-15 | Balance car |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN110001842A true CN110001842A (en) | 2019-07-12 |
| CN110001842B CN110001842B (en) | 2023-12-05 |
Family
ID=67177019
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910403899.4A Active CN110001842B (en) | 2019-05-15 | 2019-05-15 | Balance car |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110001842B (en) |
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Also Published As
| Publication number | Publication date |
|---|---|
| CN110001842B (en) | 2023-12-05 |
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| EE01 | Entry into force of recordation of patent licensing contract |
Application publication date: 20190712 Assignee: Yongkang Yunran Tianchen Technology Co.,Ltd. Assignor: Lv Linbao Contract record no.: X2021330000138 Denomination of invention: A balance car License type: Common License Record date: 20210825 |
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| EE01 | Entry into force of recordation of patent licensing contract |
Application publication date: 20190712 Assignee: Yongkang Fudi Trading Co.,Ltd. Assignor: Lv Linbao Contract record no.: X2021330000137 Denomination of invention: A balance car License type: Common License Record date: 20210826 |
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| EE01 | Entry into force of recordation of patent licensing contract |
Application publication date: 20190712 Assignee: Zhejiang Jiuhua import and Export Co.,Ltd. Assignor: Lv Linbao Contract record no.: X2021330000184 Denomination of invention: A balance car License type: Common License Record date: 20210831 Application publication date: 20190712 Assignee: Yongkang Junhao industry and Trade Co.,Ltd. Assignor: Lv Linbao Contract record no.: X2021330000175 Denomination of invention: A balance car License type: Common License Record date: 20210830 |
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Application publication date: 20190712 Assignee: Yongkang mengle Trading Co.,Ltd. Assignor: Lv Linbao Contract record no.: X2021330000275 Denomination of invention: A balance car License type: Common License Record date: 20210908 |
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