CN204527462U - A kind of electronic self-balancing type two-wheel car - Google Patents
A kind of electronic self-balancing type two-wheel car Download PDFInfo
- Publication number
- CN204527462U CN204527462U CN201520153008.1U CN201520153008U CN204527462U CN 204527462 U CN204527462 U CN 204527462U CN 201520153008 U CN201520153008 U CN 201520153008U CN 204527462 U CN204527462 U CN 204527462U
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- wheel
- mount pad
- controller
- pedal
- connection block
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- 230000001939 inductive effect Effects 0.000 claims description 13
- 230000009286 beneficial effect Effects 0.000 abstract description 4
- 230000005484 gravity Effects 0.000 description 7
- 230000001133 acceleration Effects 0.000 description 3
- 238000000034 method Methods 0.000 description 3
- 230000001154 acute effect Effects 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 230000007423 decrease Effects 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 230000005520 electrodynamics Effects 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 230000006641 stabilisation Effects 0.000 description 1
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- 230000000007 visual effect Effects 0.000 description 1
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Abstract
The utility model discloses a kind of electronic self-balancing type two-wheel car, include two wheels, wheel inner circumferential is torque motor, the internal stator side of torque motor is fixedly connected on a mount pad, side away from wheel on mount pad is connected with pedal, mount pad is positioned at pedal rotated down and is connected with Connection Block, connected by electric pushrod between the Connection Block described in two, and electric pushrod two ends and two Connection Blocks all hinged; Be provided with an angular transducer in articulated position between described electric pushrod one end and one of them Connection Block, angular transducer is connected with the signal input part of described controller; The moving velocity that controller tackles wheel mutually according to the angle that angular transducer records limits, and angular transducer detects that the angle of electric pushrod and wheel surface reduces, and described setting speed increases.This two-wheel car is easy to use, and is beneficial to safety when fair speed travels.
Description
Technical field
The utility model belongs to electric automobiles, is specifically related to the two-wheel car field with Self-balancing.
Background technology
Electrodynamic balance car, is again body sense car, thinking car etc.Its operation principles is mainly based upon one and is called as in the groundwork of " dynamic stability " (Dynamic Stabilization), utilize gyroscope and the acceleration pick-up of vehicle body, detect the change of vehicle body attitude, and utilize servo control unit, accurately drive motor adjusts accordingly, with the balance of keeping system.Common are the self-balancing wheelbarrow of single wheel at present, and the two-wheel car that two, left and right wheel is arranged side by side.Wherein self-balancing wheelbarrow is balanced by control system automatically at fore-and-aft direction, left and right directions still will balance by user, produce in the longitudinal direction to prevent single wheel and topple over and cause danger, its moving velocity is limited in reduced levels, and the speed limit of 14 cun of common on the market at present wheelbarrows is 16km/h.Two-wheel car due to by handle controlling party to and speed, and two, left and right wheel, do not need human body to control the balance of left and right, therefore its speed limit can reach 30-40km/h, right current this two-wheel car needs manually to control, not as wheelbarrow controls conveniently by health completely.
Utility model content
Technical problem to be solved in the utility model is: the deficiency existed for prior art, provide a kind of drive simple, speed and be beneficial to health and keep balance, comfortable Self-balancing electronic two-wheel car of riding.
For realizing the object of the utility model, be achieved by the following technical solutions: a kind of electronic self-balancing type two-wheel car, include two wheels, wheel inner circumferential is torque motor, torque motor is electrically connected with the mouth of controller, two torque motors is also separately installed with the sensor be connected with controller signals input end; The internal stator side of torque motor is fixedly connected on a mount pad, side away from wheel on mount pad is connected with pedal, mount pad is positioned at pedal rotated down and is connected with Connection Block, the rotational angle range that Connection Block is mounted opposite seat is 1-10 °, the turning cylinder of mount pad and Connection Block with axletree to parallel; Connected by two electric pushrods of be arrangeding in parallel between Connection Block described in two, and two electric pushrod two ends and two Connection Blocks all hinged; Electric pushrod described at least one and be provided with in articulated position the stepping motor controlling electric pushrod length direction and Connection Block corner dimension between Connection Block, stepping motor, two electric pushrods are electrically connected with the mouth of controller respectively.
Described mount pad is fixedly connected with the housing covering wheel top; Sensor described in two groups is fixed in described housing, and described controller is arranged in housing.
When described pedal launches, its bottom near side, mount pad side to be against on mount pad thus to make pedal be positioned at horizontal direction, described at least one, pedal upper surface is provided with inductive switch, inductive switch is connected with the signal input part of described controller, and described inductive switch is not trampled Time Controller and controlled wheel braking.
Be provided with storage battery in described housing, storage battery is electrically connected with controller.
Described pedal is rotatably connected to a screw mandrel, be provided with a motor in order to drive screw mandrel to rotate in pedal, described screw mandrel is connected by screw-driven with described mount pad; Described motor is electrically connected with a mouth of controller.
The top of two described pedals is separately installed with pressure sensor, and two pressure sensors are electrically connected with the input end of controller respectively.
Compared with prior art, the beneficial effects of the utility model are: two-wheel car of the present utility model automatically can adjust two wheels in left and right and pull open a segment distance in the longitudinal direction when moving velocity is higher, even if a wheel breaks down instantaneously like this, car load can not produce in the longitudinal direction topples over, and ensure that the safety of user; Simultaneously when two-wheel car higher speed travels, the double-legged front and back position that user steps down on two pedals also pulls open a segment distance, is more conducive to like this keep the stable of health.The utility model with by compared with hand-guided two-wheel balance truck, do not need hand to go control, turn up that rear volume is little to be easy to carry; Compared with single wheel balance truck, then there is higher stability and speed faster.
Accompanying drawing explanation
Structural representation when Fig. 1 is the utility model low-speed running state.
Structural representation when Fig. 2 is the utility model high-speed travel state.
Fig. 3 is the structural representation at another visual angle of the utility model.
Fig. 4 is the structural representation of pedal part.
Fig. 5 is the another kind of structural representation of pedal part.
1, wheel; 11, housing; 12, mount pad; 13, Connection Block; 2, pedal; 20, inductive switch; 21, motor; 22, screw mandrel; 23, linear reciprocating motor; 24, adapter shaft; 3, electric pushrod; 4, stepping motor.
Detailed description of the invention
With reference to the accompanying drawings detailed description of the invention of the present utility model is made a detailed explanation below.
embodiment 1
According to Fig. 1, Fig. 2 and Fig. 3, the electronic self-balancing type two-wheel car of one described in the present embodiment, include two wheels 1, wheel inner circumferential is torque motor, torque motor is electrically connected with the mouth of controller, two torque motors is also separately installed with the sensor be connected with controller signals input end; The internal stator side of torque motor is fixedly connected on a mount pad 12, mount pad is connected with pedal 2 away from the side of wheel, mount pad is positioned at pedal rotated down and is connected with Connection Block 13, the rotational angle range that Connection Block is mounted opposite seat is 1-10 °, the turning cylinder of mount pad and Connection Block with axletree to parallel; Connected by two electric pushrods be arranged in parallel 3 between Connection Block described in two, and two electric pushrod two ends and two Connection Blocks all hinged; Electric pushrod described at least one and be provided with in articulated position the stepping motor 4 controlling electric pushrod length direction and Connection Block corner dimension between Connection Block, stepping motor, two electric pushrods are electrically connected with the mouth of controller respectively; When two-wheel car moving velocity is less than 15km/h, controller control step motor action, make two electric pushrod length directions and two Connection Blocks perpendicular; When two-wheel car moving velocity is greater than 15km/h, controller controls electric pushrod and extends, with Time Controller control step motor action, the angle between electric pushrod length direction and a Connection Block is made to become acute angle, and along with the increase of two-wheel car moving velocity, described sharp angle successively decreases, and when two-wheel car moving velocity reaches 40km/h, the angle of acute angle is 45 °; Simultaneously along with the increase of speed, controller controls electric pushrod and extends gradually, and when electric pushrod extends, user also can judge the moving velocity of two-wheel car intuitively.
Described mount pad is fixedly connected with the housing 11 covering wheel top; Sensor described in two groups is fixed in described housing, and described controller is arranged in housing.
When described pedal launches, its bottom near side, mount pad side to be against on mount pad thus to make pedal be positioned at horizontal direction, pedal upper surface described at least one is provided with inductive switch 20, inductive switch is connected with the signal input part of described controller, and described inductive switch is not trampled Time Controller and controlled wheel braking.When emergency situation, user jumps off from pedal like this, and inductive switch loss signal thus controller control wheel reversing immediately and realize braking.Described inductive switch is push type contact switch or switching regulator pressure sensor.
Be provided with storage battery in described housing, form the installation cavity holding storage battery in housing away from the side inwall of mount pad, storage battery is electrically connected with controller.Storage battery can form battery pack by 16 joint 18650 serial battery, two above-mentioned battery pack parallel connections can be used to use in order to increase flying power.
Described mount pad forms the joint pin be rotationally connected with Connection Block, torsion spring or elastic-like part is also installed between Connection Block and joint pin, torsion spring in the raw time, Connection Block and mount pad perpendicular.Such two wheels have certain rotational freedom, are beneficial to the speed that bipod controls two wheels respectively and realize keeping straight on or turning.When a wheel occurs to skid, because Connection Block and mount pad relatively rotate the restriction of angle and the existence of torsion spring, two-wheel car still can continue normal traveling under the driving of another wheel.As shown in Figure 2, on mount pad, the upper position of joint pin forms one in order to limit the retaining wall of Connection Block slewing area.
Often organize described sensor and include gyro sensor and acceleration pick-up, gyro sensor controller is controlled state of equilibrium that wheel fore-and-aft direction is in level, when body gravity deflection front or rear, controller is control torque motor forward or reverse correspondingly, when the amplitude of user's body forward, rear-inclined is larger, the side-play amount that acceleration pick-up detects is larger, then controller correspondingly control torque motor rotating speed increase.
The using method of this two-wheel car is similar to self-balancing wheelbarrow, and the center of gravity relying on user's health to act on wheel carrys out control rate.Before riding, because the inductive switch on pedal does not have signal, two-wheel car is standby, and after on user's both feet step on two pedals respectively, two-wheel car is just in by manipulation state, and then namely the center of gravity of adjustable health drives two-wheel car to move ahead.Two wheels are directly manipulated by bipod respectively, and alerting ability is strong, can realize flipper turn, and the technology that is suitable for good car fan use.
embodiment 2
The present embodiment, compared with embodiment 1, also comprises following characteristics:
Shown in composition graphs 4, described pedal is rotatably connected to a screw mandrel 22, be provided with a motor 21 in order to drive screw mandrel to rotate in pedal, described screw mandrel is connected by screw-driven with described mount pad; Described motor is electrically connected with a mouth of controller, when two-wheel car moving velocity is lower than 10km/h, motor driving screw mandrel rotates forward and pedal is moved to two-wheel car working direction front, when two-wheel car moving velocity is higher than 30km/h, motor driving screw mandrel rotates backward and pedal is moved to the rear of two-wheel car direct of travel.
When needing brake like this in higher speed driving process, because pedal is automatically moved to wheel rear positions, as long as user's health is swung back a little, center of gravity at once moves to wheel rear portion, can realize braking in time and ensure that user's amplitude of leaning back can not be excessive and cause falling down; When comparatively low speed driving, pedal is automatically moved to wheel forward position, and such user health that do not need to lean forward can keep two-wheel car low speed and at the uniform velocity travel, thus reduce shank firmly,
The top of two described pedals is separately installed with pressure sensor, and two pressure sensors are electrically connected with the input end of controller respectively; The difference of pressure recorded when two pressure sensors is less than 100N, two controllers control two wheel constant speed and advance, the difference of pressure recorded when two pressure sensors is greater than 100N, and the force value that two pressure sensors record is when being greater than zero, the wheel velocity of the larger side of controller control presssure is accelerated to realize turning.
The technical characteristic that the relative embodiment 1 of the present embodiment increases, make two-wheel car can conveniently keep keeping straight in ride, need the center of gravity shifting health significantly to drive during turning, applicable new hand or safety performance require that high user uses.
embodiment 3
The present embodiment, compared with embodiment 1, also comprises following characteristics:
Shown in composition graphs 5, described pedal is rotatably connected to an adapter shaft 24, the middle part of adapter shaft is passed mount pad and is fixedly connected on erection column by screw, pedal one end is installed with linear reciprocating motor 23, the output shaft of linear reciprocating motor is coaxially connected with adapter shaft, described linear reciprocating motor is electrically connected with controller, when two-wheel car speed is lower than 10km/h, linear reciprocating motor drives pedal to move to two-wheel car direct of travel front, when two-wheel car speed is higher than 30km/h, linear reciprocating motor drives pedal to move to the rear of two-wheel car direct of travel.
Specifically, described linear reciprocating motor can select publication number linear reciprocating motor disclosed in CN103715858A, is adjusted the relative position of pedal and adapter shaft by linear reciprocating motor, thus the position of the relative car body of adjustment pedal.
When needing brake like this in higher speed driving process, because pedal is automatically moved to wheel rear positions, as long as user's health is swung back a little, center of gravity at once moves to wheel rear portion, can realize braking in time and ensure that user's amplitude of leaning back can not be excessive and cause falling down; When comparatively low speed driving, pedal is automatically moved to wheel forward position, and such user health that do not need to lean forward can keep two-wheel car low speed and at the uniform velocity travel, thus reduce shank firmly,
The top of two described pedals is separately installed with pressure sensor, and two pressure sensors are electrically connected with the input end of controller respectively; The difference of pressure recorded when two pressure sensors is less than 100N, two controllers control two wheel constant speed and advance, the difference of pressure recorded when two pressure sensors is greater than 100N, and the force value that two pressure sensors record is when being greater than zero, the wheel velocity of the larger side of controller control presssure is accelerated to realize turning.
The technical characteristic that the relative embodiment 1 of the present embodiment increases, make two-wheel car can conveniently keep keeping straight in ride, need the center of gravity shifting health significantly to drive during turning, applicable new hand or safety performance require that high user uses.
Claims (6)
1. an electronic self-balancing type two-wheel car, it is characterized in that: include two wheels, wheel inner circumferential is torque motor, and torque motor is electrically connected with the mouth of controller, two torque motors is also separately installed with the sensor be connected with controller signals input end; The internal stator side of torque motor is fixedly connected on a mount pad, side away from wheel on mount pad is connected with pedal, mount pad is positioned at pedal rotated down and is connected with Connection Block, the rotational angle range that Connection Block is mounted opposite seat is 1-10 °, the turning cylinder of mount pad and Connection Block with axletree to parallel; Connected by two electric pushrods of be arrangeding in parallel between Connection Block described in two, and two electric pushrod two ends and two Connection Blocks all hinged; Electric pushrod described at least one and be provided with in articulated position the stepping motor controlling electric pushrod length direction and Connection Block corner dimension between Connection Block, stepping motor, two electric pushrods are electrically connected with the mouth of controller respectively.
2. the electronic self-balancing type two-wheel car of one according to claim 1, is characterized in that: the housing described mount pad being fixedly connected with cover wheel top; Sensor described in two groups is fixed in described housing, and described controller is arranged in housing.
3. the electronic self-balancing type two-wheel car of one according to claim 1, it is characterized in that: when described pedal launches, its bottom near side, mount pad side to be against on mount pad thus to make pedal be positioned at horizontal direction, described at least one, pedal upper surface is provided with inductive switch, inductive switch is connected with the signal input part of described controller, and described inductive switch is not trampled Time Controller and controlled wheel braking.
4. the electronic self-balancing type two-wheel car of one according to claim 2, is characterized in that: be provided with storage battery in described housing, storage battery is electrically connected with controller.
5. the electronic self-balancing type two-wheel car of one according to claim 1 and 2, it is characterized in that: described pedal is rotatably connected to a screw mandrel, be provided with a motor in order to drive screw mandrel to rotate in pedal, described screw mandrel is connected by screw-driven with described mount pad; Described motor is electrically connected with a mouth of controller.
6. the electronic self-balancing type two-wheel car of one according to claim 5, is characterized in that: the top of two described pedals is separately installed with pressure sensor, and two pressure sensors are electrically connected with the input end of controller respectively.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520153008.1U CN204527462U (en) | 2014-12-25 | 2015-03-18 | A kind of electronic self-balancing type two-wheel car |
Applications Claiming Priority (3)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420842584 | 2014-12-25 | ||
| CN2014208425842 | 2014-12-25 | ||
| CN201520153008.1U CN204527462U (en) | 2014-12-25 | 2015-03-18 | A kind of electronic self-balancing type two-wheel car |
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| Publication Number | Publication Date |
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| CN204527462U true CN204527462U (en) | 2015-08-05 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201520153008.1U Expired - Fee Related CN204527462U (en) | 2014-12-25 | 2015-03-18 | A kind of electronic self-balancing type two-wheel car |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105270527A (en) * | 2015-11-04 | 2016-01-27 | 深圳市迪比科电子科技有限公司 | Balancing car based on pressure identification |
| CN106143728A (en) * | 2016-08-01 | 2016-11-23 | 林允杜 | One can easily be accommodated formula two-wheeled balance car |
| CN106335477A (en) * | 2016-08-30 | 2017-01-18 | 夏文明 | Electric automobile and control system thereof |
| GB2551570A (en) * | 2016-06-23 | 2017-12-27 | Uniwheel Ltd | Transportation device |
-
2015
- 2015-03-18 CN CN201520153008.1U patent/CN204527462U/en not_active Expired - Fee Related
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105270527A (en) * | 2015-11-04 | 2016-01-27 | 深圳市迪比科电子科技有限公司 | Balancing car based on pressure identification |
| GB2551570A (en) * | 2016-06-23 | 2017-12-27 | Uniwheel Ltd | Transportation device |
| CN106143728A (en) * | 2016-08-01 | 2016-11-23 | 林允杜 | One can easily be accommodated formula two-wheeled balance car |
| CN106143728B (en) * | 2016-08-01 | 2019-02-19 | 深圳瑞迪泰科电子有限公司 | One kind can easily be accommodated formula two-wheeled balance car |
| CN106335477A (en) * | 2016-08-30 | 2017-01-18 | 夏文明 | Electric automobile and control system thereof |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| C41 | Transfer of patent application or patent right or utility model | ||
| CB03 | Change of inventor or designer information |
Inventor after: Lin Maili Inventor before: Li Chen |
|
| COR | Change of bibliographic data | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20151221 Address after: Bantian street Longgang District of Shenzhen City, Guangdong province 518129 Jihua Road No. 466 new world Huasai Industrial Area No. 1 Building 3 floor 302, 303 Patentee after: SHENZHEN HAGILE SCIENCE AND TECHNOLOGY CO., LTD. Address before: Straight street 312400 Zhejiang city in Shaoxing Province, Shengzhou City, No. 297 building two room 103 Patentee before: Li Chen |
|
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20150805 Termination date: 20200318 |