CN105109600B - Electrodynamic balance swing car - Google Patents
Electrodynamic balance swing car Download PDFInfo
- Publication number
- CN105109600B CN105109600B CN201510607506.3A CN201510607506A CN105109600B CN 105109600 B CN105109600 B CN 105109600B CN 201510607506 A CN201510607506 A CN 201510607506A CN 105109600 B CN105109600 B CN 105109600B
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- inner cap
- top cover
- swing car
- electrodynamic balance
- left inside
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- 230000005520 electrodynamics Effects 0.000 title claims abstract description 20
- 230000007246 mechanism Effects 0.000 claims abstract description 40
- 230000001133 acceleration Effects 0.000 claims description 8
- 230000000694 effects Effects 0.000 description 5
- 238000000034 method Methods 0.000 description 5
- 230000008859 change Effects 0.000 description 3
- 230000009471 action Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000008901 benefit Effects 0.000 description 1
- 239000004744 fabric Substances 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 230000008520 organization Effects 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 238000005303 weighing Methods 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
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Motorcycle And Bicycle Frame (AREA)
- Handcart (AREA)
Abstract
The invention discloses a kind of electrodynamic balance swing car, including inner cap, wheel, rotating mechanism；Inner cap includes in a symmetrical arrangement and the left inside lid that can mutually rotate and right inner cap；The intermediate lateral position of inner cap is fixed with rotating mechanism；The left and right sides edge position of inner cap is fixed with longitudinally disposed wheel；The rotating mechanism includes an axle sleeve, and the both ends of axle sleeve penetrate in the left inside lid and the right inner cap from the inner of the left inside lid and the right inner cap and are rotatablely connected with the left inside lid and the right inner cap.The present invention can solve how to allow user only by the technical problem that can be controlled using foot to the running status of balance car.
Description
The application is Chinese patent (denomination of invention：Electrodynamic balance swing car, application number：2014102621088, the applying date
Phase：Divisional application 2014-06-13).
Technical field
The present invention relates to a kind of electrodynamic balance two wheeler, and it carries two platforms of people and can mutually twist and then drive row
Walk.
Background technology
Electrodynamic balance car, is called body-sensing car, thinking car, and its operation principles is mainly built upon one kind and is referred to as " dynamically surely
In general principle calmly ", using the gyroscope and acceleration transducer of vehicle body, to detect the change of vehicle body attitude, and profit
With servo-control system, accurately motor is adjusted correspondingly, to keep the balance of system.
Current electrodynamic balance car typically all has an action bars；User station is on the foot platform of balance car to behaviour
Operated as bar, so as to advance, retreat and stop, such control is also referred to as " manual control ".The foot platform one of balance car at present
As be one piece of tabular flat board, it is to maintain horizontality all the time in use, can not relatively rotate, so can not allow makes
User can be controlled only by using foot to balance car.
The content of the invention
It is an object of the invention to provide a kind of electrodynamic balance swing car, how solution allows user only by utilizing foot
The technical problem that the running status of balance car can be controlled.
Electrodynamic balance swing car, including top cover, bottom, inner cap, wheel, rotating mechanism；The top cover is included into symmetrical cloth
The left top cover and right top cover put and can mutually rotated, the bottom include in a symmetrical arrangement and the left bottom that can mutually rotate and the right side
Bottom, inner cap are between top cover and bottom and are combined together with both；Inner cap includes in a symmetrical arrangement and can mutually turned
Dynamic left inside lid and right inner cap；The intermediate lateral position of inner cap is fixed with rotating mechanism；The left and right sides edge position of inner cap is consolidated
Surely there is longitudinally disposed wheel hub motor；The rotating mechanism includes an axle sleeve, and the both ends of axle sleeve are from the left inside lid and described
The inner of right inner cap penetrates in the left inside lid and the right inner cap and is rotatablely connected with the left inside lid and the right inner cap；It is left
The part of top cover and right top cover inwardly is connected to form X-shaped, and it is convex that the part of left top cover and right top cover outwardly is respectively provided with an arc
Rise, the arc convex is in above wheel hub motor.
Further, the rotating mechanism also includes two bearings, and two bearings are separately fixed at the left inside lid and institute
The inner of right inner cap is stated, the both ends of axle sleeve are fixedly connected through two bearings and with two bearings.
Further, the rotating mechanism also includes two jump rings, and two jump rings are mounted in the both ends of axle sleeve, and axle sleeve leads to
Cross two jump rings and be fixed on interior cover.
Further, the left inside lid and the termination of right inner cap inwardly have a cylinder of cylinder, and bearing and axle sleeve are from outer
It is arranged on to interior by jump ring in the cylinder, and jump ring supports corresponding cylinder.
Further, a limit shaft is provided between the left inside lid and right inner cap termination inwardly, at the limit shaft
To be longer than the length in left inside lid in the length in right inner cap.
Further, the left top cover and right top cover centre position have the first dead slot；Left and right inner cap with the first dead slot
Opposite position has the second dead slot, and the first dead slot and the second dead slot combine to form the pedal cavity for placing pedal.
Further, the upper surface of the pedal has the fricting strip for the increase frictional force being spaced.
Further, the part of left top cover and right top cover inwardly is connected to form X-shaped, the portion of left top cover and right top cover outwardly
Point it is respectively provided with an arc convex, the arc convex be in wheel hub motor top.
Further, the electrodynamic balance swing car also includes balance control mechanism, and the balance control mechanism is fixed on
On bottom and and motor connection；The balance control mechanism includes power supply, controller, In-wheel motor driving circuit, acceleration
Spend sensor, gyroscope, infrared photoelectric sensor；Power supply is connected with controller, controller respectively with In-wheel motor driving
Circuit, acceleration transducer, gyroscope, infrared photoelectric sensor connection.
The beneficial effects of the invention are as follows：
1st, due to using rotating mechanism, balance control mechanism and top cover, inner cap, bottom be by two it is in a symmetrical arrangement and
The part that can mutually rotate is formed, and so it is turned round together using the power driving side of foot or top cover, inner cap, the bottom of both sides
Turn, so and then sensor is signaled to balance control mechanism, control program driving of the balance control mechanism according to inside
Wheel hub motor operates, and then allows user forward or move backwards, is achieved in that " foot control ", it has obvious area with " manual control "
Not, it is a kind of special type of drive.
2nd, the part in left top cover and right top cover outwardly, which has, sets an arc convex, and arc convex is exactly in wheel hub
The surface of motor, and wheel hub motor is in the left and right sides edge position of inner cap, and the wheel hub of large-size so can be used
Motor, with respect to that balance car that motor is arranged on bottom bottom, its movement travel and speed advantage are obvious.
3rd, combined by the first dead slot and the second dead slot and place pedal, the so overall own vol for reducing whole equipment.
4th, the spacing one end activity in limit shaft one end, the motion of the rotating mechanism provide support.
Brief description of the drawings
Fig. 1 is the sectional view for balancing swing car；
Fig. 2 is the exploded perspective view for balancing swing car；
1. top covers, 11. left top covers, 12. right top covers, 13. notice boards, 14. transparent housings, 15. arc convex, 16. in figure
First dead slot, 2. inner caps, 21. left inside lids, 22. right inner caps, 23. second dead slots, 24. cylinders, 3. bottoms, 31. left bottoms, 32.
Right bottom, 33. ornament lamps, 4. motors, 5. pedals, 51. fricting strips, 61. bearings, 62. axle sleeves, 63. jump rings, 7. limit shafts, 81.
Power supply, 82. controllers, 83. gyroscopes, 9. gyroscope pedals.
Embodiment
It refer to Fig. 1 to Fig. 2, the electrodynamic balance swing car in figure, including a bottom of inner cap 2, one of top cover 1, one
3rd, two wheel hub motors, 4, rotating mechanisms, a balance control mechanism, the common phase interworking of above-mentioned top cover 1, inner cap 2, bottom 3
Close the agent structure for forming balance car, the longitudinal direction of wheel hub motor 4 it is installed in the both sides of the agent structure and peaceful in rotating mechanism
Drive the agent structure to advance, retreat in the presence of weighing apparatus controlling organization or turn.
Top cover 1 is in top, and it includes a left top cover 11 and a right top cover 12；Above-mentioned left top cover 11 and right top cover
12 shape is essentially identical and relative turn can occur in the presence of rotating mechanism into symmetrical left and right arrangement, the two top covers
It is dynamic；The left part of top cover 11 and right top cover 12 inwardly is connected to form X-shaped, and has two notice boards in the position of inner terminal
13, above-mentioned notice board 13 is connected with balance control mechanism, and one of them is the notice board 13 of display power supply capacity, and another is aobvious
Show the notice board 13 whether to work, a transparent housing 14 is respectively provided with above-mentioned each notice board 13.Installation suggestion plate 13
Effect is mainly the concrete condition for allowing user to understand balance car in real time.Left top cover 11 and 12 remaining part of right top cover are i.e. outwardly
Part be respectively provided with an arc convex 15, the arc convex 15 is exactly in the top of wheel hub motor 4, its equivalent to one motor
Cover.
Inner cap 2 is in an intermediate position, and it mainly balances the part of car and wheel hub motor 4 provides support, its same bag
Include a left inside lid 21 and a right inner cap 22；The shape of above-mentioned left inside lid 21 and a right inner cap 22 is essentially identical and into symmetrical
Left and right arrangement, left inside lid 21, right inner cap 22 can relatively rotate in the presence of rotating mechanism；The interposition of the inner cap 2
Rotating mechanism can be installed by putting, and longitudinally mounted wheel hub motor 4 is then fixed in edge position in the left and right sides.
In order to prevent pedal 5 and reduce the overall volume of balance car, especially in left top cover 11 and the centre position of right top cover 12
Design the first dead slot 16；Left and right inner cap is designing the second dead slot 23, the He of the first dead slot 16 with the opposite position of the first dead slot 16
Second dead slot 23 is bound to each other to form the pedal cavity for placing pedal 5, and pedal 5 is just placed in pedal cavity, stepped on to strengthen
The frictional force of plate 5, can be in the fricting strip 51 for the increase frictional force that the design of the upper surface of pedal 5 is spaced.
Bottom 3 is in bottommost, and it includes a left bottom 31 and a right bottom 32；Above-mentioned left bottom 31 and right bottom
32 shape is essentially identical and relative turn can occur in the presence of rotating mechanism into symmetrical left and right arrangement, the two bottoms
It is dynamic；The left part of bottom 31 and right bottom 32 inwardly be connected to form X-shaped and inner terminal lateral surface have two it is transparent
Ornament lamp 33.
Rotating mechanism includes two 62, two, axle sleeve jump rings 63 of oiliness bearing 61, one；Two bearings 61 are separately fixed at
The inner of the left and right inner cap of inner cap 2, axle sleeve 62 are fixed in two bearings 61 and are fixed on by jump ring 63 on inner cap 2, so
The inner cap of left and right two of inner cap 2 can rotate under the cooperation of rotating mechanism.In order to install above-mentioned rotating mechanism, just in left inside lid
21 and right inner cap 22 inwardly termination design cylinder cylinder 24, bearing 61 and axle sleeve 62 are installed by jump ring 63 from outside to inside
In the cylinder 24.In order to prevent the skew of rotating mechanism, also designed between the termination of left inside lid 21 and right inner cap 22 inwardly
There is a limit shaft 7, the length that the limit shaft 7 is in right inner cap 22 will be longer than the length in left inside lid 21, and such one
Spacing effect is played at end, and the other end plays the effect of activity.
Balance control mechanism belongs to prior art for the part in use to balance car common at present, its internal processes
Also it is prior art, specifically refers to current disclosed balance car control method and each balance car manufacturing enterprise uses
Balance control mechanism, such as China Patent No. 201320050547.3, patent name be intelligent balance car balance control device and
Intelligent balance car, this control device are the balance control mechanism in the present embodiment, or such as China Patent No.
201220367045.9, patent name is to be controlled using CPLD described in the circuit control device of balancing bicycle motor；Certainly, exist
In practical application, other control devices and control method also can be selected, such as China Patent No. 201310516158.X, patent name
For the control method described in double-wheel self-balancing car control method.The present embodiment is simply attached it on bottom 3 and to motor 4
It is controlled.The balance control mechanism mainly includes power supply 81, controller 82, In-wheel motor driving circuit, acceleration and passed
Sensor, gyroscope 83, infrared photoelectric sensor；Power supply 81 is connected with controller 82 provides power supply, controller to controller
82 with the connection of In-wheel motor driving circuit be to allow its corresponding part of driving to be operated, acceleration transducer, gyroscope 83, red
Outer photoelectric sensor is whether to have user in the acceleration change, angle change and car body for detect car body successively, and these are all
Those skilled in the art is perfectly clear the technology of understanding, so no longer this excessive is described.In order to install gyroscope 83, especially exist
The lower section of gyroscope 83 is provided with the gyroscope pedal 9 of a " u "-shaped and the gyroscope pedal 9 is arranged on bottom 3.
Claims (8)
1. electrodynamic balance swing car, it is characterised in that：Including top cover, bottom, inner cap, wheel, rotating mechanism；The top cover includes
In a symmetrical arrangement and the left top cover that can mutually rotate and right top cover, the bottom include a left side that is in a symmetrical arrangement and can mutually rotating
Bottom and right bottom, inner cap are between top cover and bottom and are combined together with both；Inner cap include it is in a symmetrical arrangement and
The left inside lid and right inner cap that can mutually rotate；The intermediate lateral position of inner cap is fixed with rotating mechanism；The left and right sides of inner cap
Edge position is fixed with longitudinally disposed wheel hub motor；The rotating mechanism includes an axle sleeve, and the both ends of axle sleeve are from described left inside
The inner of lid and the right inner cap penetrates in the left inside lid and the right inner cap and turned with the left inside lid and the right inner cap
Dynamic connection；The part of left top cover and right top cover inwardly is connected to form X-shaped, and the part of left top cover and right top cover outwardly is respectively provided with one
Individual arc convex, the arc convex are in above wheel hub motor.
2. according to the electrodynamic balance swing car described in claim 1, it is characterised in that：The rotating mechanism also includes two axles
Hold, two bearings are separately fixed at the inner of the left inside lid and the right inner cap, the both ends of axle sleeve through two bearings and with
Two bearings are fixedly connected.
3. according to the electrodynamic balance swing car described in claim 2, it is characterised in that：The rotating mechanism also includes two cards
Spring, two jump rings are mounted in the both ends of axle sleeve, and axle sleeve is fixed on interior cover by two jump rings.
4. according to the electrodynamic balance swing car described in claim 3, it is characterised in that：The left inside lid and right inner cap are inwardly
Termination has the cylinder of cylinder, and bearing and axle sleeve are arranged in the cylinder by jump ring from outside to inside, and jump ring is supported pair
The cylinder answered.
5. according to the electrodynamic balance swing car described in claim 1, it is characterised in that：The left inside lid and right inner cap are inwardly
A limit shaft is provided between termination, the length that the limit shaft is in right inner cap will be longer than the length in left inside lid.
6. according to the electrodynamic balance swing car described in claim 1, it is characterised in that：The left top cover and right top cover interposition
Putting has the first dead slot；Left and right inner cap has the second dead slot, the first dead slot and the second dead slot with the first dead slot opposite position
Combine to form the pedal cavity for placing pedal.
7. according to the electrodynamic balance swing car described in claim 6, it is characterised in that：The upper surface of the pedal has to each other
Every increase frictional force fricting strip.
8. according to the electrodynamic balance swing car described in claim 1, it is characterised in that：The electrodynamic balance swing car also includes
Balance control mechanism, the balance control mechanism is fixed on bottom and and motor connection；The balance control mechanism includes supplying
Power supply, controller, In-wheel motor driving circuit, acceleration transducer, gyroscope, infrared photoelectric sensor；Power supply with
Controller connects, and controller connects with In-wheel motor driving circuit, acceleration transducer, gyroscope, infrared photoelectric sensor respectively
Connect.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510607506.3A CN105109600B (en) | 2014-06-13 | 2014-06-13 | Electrodynamic balance swing car |
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510607506.3A CN105109600B (en) | 2014-06-13 | 2014-06-13 | Electrodynamic balance swing car |
| CN201410262108.8A CN104029769B (en) | 2014-06-13 | 2014-06-13 | Electric balance twister |
Related Parent Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201410262108.8A Division CN104029769B (en) | 2014-06-13 | 2014-06-13 | Electric balance twister |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN105109600A CN105109600A (en) | 2015-12-02 |
| CN105109600B true CN105109600B (en) | 2017-12-01 |
Family
ID=51460823
Family Applications (4)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510607506.3A Active CN105109600B (en) | 2014-06-13 | 2014-06-13 | Electrodynamic balance swing car |
| CN201410262108.8A Active CN104029769B (en) | 2014-06-13 | 2014-06-13 | Electric balance twister |
| CN201510607209.9A Active CN105109599B (en) | 2014-06-13 | 2014-06-13 | Electrodynamic balance swing car |
| CN201510607441.2A Active CN105151181B (en) | 2014-06-13 | 2014-06-13 | Electrodynamic balance swing car |
Family Applications After (3)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201410262108.8A Active CN104029769B (en) | 2014-06-13 | 2014-06-13 | Electric balance twister |
| CN201510607209.9A Active CN105109599B (en) | 2014-06-13 | 2014-06-13 | Electrodynamic balance swing car |
| CN201510607441.2A Active CN105151181B (en) | 2014-06-13 | 2014-06-13 | Electrodynamic balance swing car |
Country Status (1)
| Country | Link |
|---|---|
| CN (4) | CN105109600B (en) |
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| CN105109599B (en) | 2017-12-01 |
| CN105109599A (en) | 2015-12-02 |
| CN105109600A (en) | 2015-12-02 |
| CN105151181B (en) | 2017-12-19 |
| CN104029769B (en) | 2015-11-25 |
| CN105151181A (en) | 2015-12-16 |
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Effective date of registration: 20240819 Address after: 321000 west side of 3 / F, 1 plant, No. 468, Xinji Road, qiubin street, Wucheng District, Jinhua City, Zhejiang Province (self declaration) Patentee after: Zhejiang Qike Robot Technology Co.,Ltd. Country or region after: China Address before: 310000 9 buildings of Qixian bridge village, Liangzhu street, Yuhang District, Hangzhou, Zhejiang (1 stories, 3 storeys and 3-4 storeys of the North Tower). Patentee before: HANGZHOU CHIC INTELLIGENT TECHNOLOGY Co.,Ltd. Country or region before: China |