CN104309740A - Swinging type electric balance monocycle - Google Patents
Swinging type electric balance monocycle Download PDFInfo
- Publication number
- CN104309740A CN104309740A CN201410535605.0A CN201410535605A CN104309740A CN 104309740 A CN104309740 A CN 104309740A CN 201410535605 A CN201410535605 A CN 201410535605A CN 104309740 A CN104309740 A CN 104309740A
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- hinged
- balance
- connecting rod
- remote controller
- wheelbarrow
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Abstract
The invention provides a swinging type electric balance monocycle, which comprises a monocycle body, a remote controller, a positioning communication module, a left balance module and a right balance module, wherein a balance block realizes the balance of the monocycle through the control by a swinging mechanism, the angle and the distance of an emitter arranged on the remote controller can be determined through signals received by a receiver arranged on the monocycle, the position of the remote controller is positioned, the automatic tracking running and/or remote control running of a two-wheel automatic balance electric vehicle can be realized, the manual carrying is not needed, the control is simple, and the use is convenient.
Description
Technical field
The present invention relates to vehicle technology field, particularly a kind of swinging type electric balance wheelbarrow.
Background technology
Current self-equalizing electric unicycle is generally that driver stands in and car carries out driving walking, and when driver does not stand onboard, car just can not be walked, and does not therefore have nobody Function for Automatic Pilot.After driver drives stretch journey, think walking, at this moment also needing to carry self-equalizing electric unicycle and walk, also having when finding electricity deficiency after travelling a period of time, at this moment driver also needs to carry self-equalizing electric unicycle and takes back, very inconvenient.Therefore, a kind of swinging type electric balance wheelbarrow that this patent provides travels and/or remote controlled travelling with automatically following the tracks of, and this swinging type electric balance wheelbarrow can realize unpiloted auto-steering, uprightly follow the tracks of traveling, also can carry out remote controlled travelling.
Summary of the invention
The technical problem to be solved in the present invention overcomes existing self-equalizing electric unicycle can not travel and/or remote control by intelligent-tracking
The problem travelled, provides a kind of with the swinging type electric balance wheelbarrow from motion tracking and/or remote controlled travelling function.
In order to solve the problem, the technical solution used in the present invention one is: provide a kind of swinging type electric to balance wheelbarrow, comprise wheelbarrow car body, it is characterized in that: also comprise remote controller 1.1, orientation and communication module, left balance module, right balance module, described remote controller is with 1 wireless launcher, described orientation and communication module is for being at least two wireless receivers, described left balance module comprises actuating device, rocking equipment and balance block, described right balance module comprises actuating device, rocking equipment and balance block, wireless launcher on described remote controller 1.1 is electrically connected with the microprocessor in remote controller, the wireless receiver of described orientation and communication module is electrically connected with the microprocessor in wheelbarrow car body, described two balance modules are arranged on shell 1.10 both sides of wheelbarrow car body, described left balance mould is identical with the rocking equipment structure of right balance module to be made up of hinged 3.4, connecting rod 3.5, slide block 3.6, connecting rod 3.7 and hinged 3.8, connecting rod 3.5 is with hinged 3.4 hinged, connecting rod 3.5 one end and slide block 3.6 hinged, slide block 3.6 is arranged on connecting rod 3.7, connecting rod 3.7 is articulated with hinged 3.8, corresponding balance block is equipped with in connecting rod 3.7 one end, described balance module is fixed on the shell 1.10 of wheelbarrow car body by hinged 3.1 and hinged 3.2, installs battery and/or clump weight in described balance block, described remote controller is also with wireless receiver, screen, starting key, shutdown button, upright button, from motion tracking button, forward key, Reverse keys, left-hand rotation button, quick key, right-hand rotation button and/or button at a slow speed, described button is mechanical type, touch and/or touch-screen, the wireless signal of described wireless receiver and wireless launcher is infrared, super sonic, bluetooth and/or radio frequency, described left balance mould is identical with the rocking equipment structure of right balance module also can by hinged 4.2, screw mandrel 4.3, slide block 4.4, connecting rod 4.5, connecting rod 4.7 and hinged 4.8 compositions, screw mandrel 4.3 and hinged 4.2 and hinged 4.8 hinged, slide block 4.4 screw mandrel 4.3 is equipped with, slide block 4.4 is hinged with connecting rod 4.5, connecting rod 4.5 one end and connecting rod 4.7 hinged with hinge 4.6, connecting rod 4.7 is with hinged 4.8 hinged, corresponding balance block is equipped with in connecting rod 4.7 one end, described balance module is fixed on the shell 1.10 of wheelbarrow car body by hinged 4.2 and hinged 4.8, in described balance block, battery and/or clump weight are installed.
In order to solve the problem, the technical solution used in the present invention two is: provide a kind of swinging type electric to balance wheelbarrow, comprise wheelbarrow car body, it is characterized in that: also comprise remote controller 2.1, orientation and communication module, left balance module, right balance module, described remote controller is with 1 wireless launcher and 1 wireless receiver, described orientation and communication module is 1 wireless receiver and at least 2 wireless launchers, described left balance module comprises actuating device, rocking equipment and balance block, described right balance module comprises actuating device, rocking equipment and balance block, wireless receiver and the wireless launcher of described orientation and communication module are electrically connected with the microprocessor in wheelbarrow car body, wireless launcher on described remote controller 2.1 and wireless launcher are electrically connected with the microprocessor in remote controller, described two balance modules are arranged on shell 2.12 both sides of wheelbarrow car body, described left balance mould is identical with the rocking equipment structure of right balance module to be made up of hinged 3.4, connecting rod 3.5, slide block 3.6, connecting rod 3.7 and hinged 3.8, connecting rod 3.5 is with hinged 3.4 hinged, connecting rod 3.5 one end and slide block 3.6 hinged, slide block 3.6 is arranged on connecting rod 3.7, connecting rod 3.7 is articulated with hinged 3.8, corresponding balance block is equipped with in connecting rod 3.7 one end, described balance module is fixed on the shell 2.12 of wheelbarrow car body by hinged 3.1 and hinged 3.2, installs battery and/or clump weight in described balance block, described remote controller is also with wireless receiver, screen, starting key, shutdown button, upright button, from motion tracking button, forward key, Reverse keys, left-hand rotation button, quick key, right-hand rotation button and/or button at a slow speed, described button is mechanical type, touch and/or touch-screen, the wireless signal of described wireless receiver and wireless launcher is infrared, super sonic, bluetooth and/or radio frequency, described left balance mould is identical with the rocking equipment structure of right balance module also can by hinged 4.2, screw mandrel 4.3, slide block 4.4, connecting rod 4.5, connecting rod 4.7 and hinged 4.8 compositions, screw mandrel 4.3 and hinged 4.2 and hinged 4.8 hinged, slide block 4.4 screw mandrel 4.3 is equipped with, slide block 4.4 is hinged with connecting rod 4.5, connecting rod 4.5 one end and connecting rod 4.7 hinged with hinge 4.6, connecting rod 4.7 is with hinged 4.8 hinged, corresponding balance block is equipped with in connecting rod 4.7 one end, described balance module is fixed on the shell 2.12 of wheelbarrow car body by hinged 4.2 and hinged 4.8, in described balance block, battery and/or clump weight are installed.
The beneficial effect that the present invention has is: the present invention can realize the unpiloted auto-steering of wheelbarrow by arranging of balance module, upright tracking driving functions, the signal received by receptor on wheelbarrow can determine the angle and distance of projector on remote controller, orient the position of remote controller, achieve two-wheeled auto balancing electric vehicle and automatically follow the tracks of traveling and/or remote controlled travelling, and also with screen on remote controller, starting key, shutdown button, upright button, from motion tracking button, forward key, Reverse keys, left-hand rotation button, right-hand rotation button, quick key and/or at a slow speed button control convenient.
Accompanying drawing explanation
Fig. 1 is a kind of swinging type electric balance of the present invention wheelbarrow scheme one structural representation.
Fig. 2 is a kind of swinging type electric balance of the present invention wheelbarrow scheme two structural representation.
Fig. 3 is a kind of swinging type electric balance wheelbarrow actuating device of the present invention and rocking equipment structural representation.
Detailed description of the invention
Be illustrated in figure 1 swinging type electric balance wheelbarrow embodiment one, this intelligent self-balancing electric unicycle, comprise remote controller 1.1 and wheelbarrow car body 1.4, remote controller 1.1 comprises wireless launcher 1.2, and wireless launcher 1.2 is electrically connected with the microprocessor 1.3 in remote controller 1.1, the actuating device 1.8 of balance module is electrically connected with the microprocessor in wheelbarrow car 1.4 body, the rocking equipment 1.9 of balance module is electrically connected with the microprocessor in wheelbarrow car body 1.4, left balance block 1.6 and right balance block 1.7 are arranged on the both sides of the shell 1.10 of wheelbarrow car body by rocking equipment 1.8, battery and/or clump weight is installed as in balance block 1.6 and balance block 1.7, in time being installed as battery in balance block 1.6 and balance block 1.7, wire can be electrically connected with microprocessor in wheelbarrow car body 1.4 by the connecting rod with oil passage of rocking equipment 1.9, wireless receiver 1.5 can be arranged on wheelbarrow carbody shell or balance block.
Press the automatic track button on remote controller 1.1, remote control microprocessor 1.3 sends instruction, signal is sent through wireless launcher 1.2, when the wireless signal that the wireless module projector 1.2 that the wireless module receptor 1.5 on wheelbarrow car body 1.4 detects on remote controller 1.1 is launched, two wireless receivers 1.5 in wheelbarrow car body 1.4 can determine the angle and distance of projector 1.2 according to the signal received, orient the position of remote controller 1.1, then information is passed to the microprocessor in wheelbarrow car body 1.4.Conventional single wheel balance truck generally all carries gyroscope and accelerometer, microcontroller acquires gyroscope in wheelbarrow and accelerometer signal, output command after process, the actuating device 1.8 of driven equilibrium module and rocking equipment 1.9, by the swing of left balance block 1.6 and right balance block 1.7, the center of gravity of adjustment wheelbarrow car keeps the upright of wheelbarrow and turns to, thus realizes radio tracking traveling.
Action during wheelbarrow remote controlled travelling is controlled by remote controller 1.1, wireless launcher 1.2 sends operating instruction, wireless receiver 1.5 Received signal strength on wheelbarrow 1.4, microprocessor in wheelbarrow car body 1.4, output command after process, the actuating device 1.8 of driven equilibrium module and rocking equipment 1.9, by the swing of left balance block 1.6 and right balance block 1.7, the center of gravity of adjustment wheelbarrow keeps the upright of wheelbarrow and turns to, thus realizes wireless remote control traveling.
Be illustrated in figure 2 the another kind of embodiment of intelligent self-balancing electric unicycle, this intelligent self-balancing electric unicycle, comprise remote controller 2.1 and wheelbarrow car body 2.5, remote controller 2.1 comprises wireless launcher 2.2 and wireless receiver 2.3, and wireless launcher 2.2 and wireless receiver 2.3 are electrically connected with the microprocessor 2.4 in remote controller 2.1; Wireless receiver 2.7 is electrically connected with microprocessor device in wheelbarrow car body 2.5 with wireless launcher 2.6, the actuating device 2.8 of balance module is electrically connected with the microprocessor in wheelbarrow car 2.5 body, the rocking equipment 2.11 of balance module is electrically connected with the microprocessor in wheelbarrow car body 2.5, and left balance block 2.9 and right balance block 2.10 are arranged on the both sides of the shell 2.12 of wheelbarrow car body 2.5 respectively; Balance block 2.9 and balance block 2.10 are battery and/or clump weight, when balance block 2.9 and balance block 2.10 are battery time, wire can be electrically connected with microprocessor in wheelbarrow car body 2.5 by the connecting rod with oil passage of retractor device, and wireless receiver and wireless launcher can be arranged on wheelbarrow carbody shell or balance block.
Press the automatic track button on remote controller 2.1, remote control microprocessor 2.4 sends instruction, wireless signal is sent through wireless launcher 2.2, when the wireless receiver 2.7 on wheelbarrow 2.5 receives wireless signal, pass to microprocessor in wheelbarrow car body 2.5, in wheelbarrow car body 2.5 microprocessor processes after output command, wireless signal is launched through wireless launcher 2.6, when the wireless signal that two wireless launchers 2.6 that the wireless receiver 2.3 on remote controller 2.1 detects on wheelbarrow car body 2.5 emit, wireless receiver 2.3 on remote controller 2.1 can according to the angle and distance of the signal determination receptor 2.3 of two wireless launchers 2.9 received on wheelbarrow car body 2.5, orient the relative position of receptor on remote controller 2.1 2.3 and wheelbarrow car body 2.5, then location information is passed to the microprocessor on single wheel car body car body 2.5, output command after process, the actuating device 2.8 of driven equilibrium module and rocking equipment 2.11, flexible by left balance block 2.9 and right balance block 2.10, the center of gravity of adjustment single wheel keeps the upright of single wheel and turns to, thus realize radio tracking traveling.
Action during wheelbarrow remote controlled travelling is controlled by remote controller 2.1, wireless launcher 2.2 sends operating instruction, wireless receiver 2.7 Received signal strength on wheelbarrow car body 2.5, microprocessor in wheelbarrow car body 2.5, output command after process, the actuating device 2.8 of driven equilibrium module and rocking equipment 2.11, by the swing of left balance block 2.9 and right balance block 2.10, the center of gravity of adjustment wheelbarrow keeps the upright of wheelbarrow and turns to, thus realizes wireless remote control traveling.
The actuating device of balance module of the present invention as shown in Figure 3, in Fig. 3, a is the first structure, be made up of motor 3.1, gear 3.2, connecting rod 3.3, connecting rod 3.3 and connecting rod 3.5 are fixedly connected on hinged 3.4, connecting rod 3.3 other end is fixedly connected with gear 3.2, and motor 3.1 rotating band shakes pendulum device motion.The second: if b in Fig. 3 is the second structure, be made up of motor 4.1, screw mandrel 4.3 and coupler 4.10, motor 4.1 is connected by coupler 4.10 with screw mandrel 4.3, and motor 4.1 drives screw mandrel 4.3 to rotate, thus slide block 4.4 moves up and down, rocking equipment is driven to move by connecting rod 4.5.The actuating device of balance module of the present invention is not limited to this two kinds of structures, and similar structures is all at protection domain.
Claims (4)
1. wave a balance type electric wheelbarrow, comprise wheelbarrow car body, it is characterized in that: also comprise remote controller 1.1, orientation and communication module, left balance module, right balance module; Described remote controller is with 1 wireless launcher; Described orientation and communication module is for being at least two wireless receivers; Described left balance module comprises actuating device, rocking equipment and balance block; Described right balance module comprises actuating device, rocking equipment and balance block; Wireless launcher on described remote controller 1.1 is electrically connected with the microprocessor in remote controller; The wireless receiver of described orientation and communication module is electrically connected with the microprocessor in wheelbarrow car body; Described two balance modules are arranged on shell 1.10 both sides of wheelbarrow car body; Described left balance mould is identical with the rocking equipment structure of right balance module to be made up of hinged 3.4, connecting rod 3.5, slide block 3.6, connecting rod 3.7 and hinged 3.8, connecting rod 3.5 is with hinged 3.4 hinged, connecting rod 3.5 one end and slide block 3.6 hinged, slide block 3.6 is arranged on connecting rod 3.7, connecting rod 3.7 is articulated with hinged 3.8, corresponding balance block is equipped with in connecting rod 3.7 one end, described balance module is fixed on the shell 1.10 of wheelbarrow car body by hinged 3.1 and hinged 3.2, installs battery and/or clump weight in described balance block; Described remote controller is also with wireless receiver, screen, starting key, shutdown button, upright button, from motion tracking button, forward key, Reverse keys, left-hand rotation button, quick key, right-hand rotation button and/or button at a slow speed, described button is mechanical type, touch and/or touch-screen; The wireless signal of described wireless receiver and wireless launcher is infrared, super sonic, bluetooth and/or radio frequency.
2. one according to claim 1 waves balance type electric wheelbarrow, it is characterized in that: described left balance mould is identical with the rocking equipment structure of right balance module also can by hinged 4.2, screw mandrel 4.3, slide block 4.4, connecting rod 4.5, connecting rod 4.7 and hinged 4.8 compositions, screw mandrel 4.3 and hinged 4.2 and hinged 4.8 hinged, slide block 4.4 screw mandrel 4.3 is equipped with, slide block 4.4 is hinged with connecting rod 4.5, connecting rod 4.5 one end and connecting rod 4.7 hinged with hinge 4.6, connecting rod 4.7 is with hinged 4.8 hinged, corresponding balance block is equipped with in connecting rod 4.7 one end, described balance module is fixed on the shell 1.10 of wheelbarrow car body by hinged 4.2 and hinged 4.8, in described balance block, battery and/or clump weight are installed.
3. an intelligent self-balancing electric unicycle, comprises wheelbarrow car body, it is characterized in that: also comprise remote controller 2.1, orientation and communication module, left balance module, right balance module; Described remote controller is with 1 wireless launcher and 1 wireless receiver; Described orientation and communication module is 1 wireless receiver and at least 2 wireless launchers; Described left balance module comprises actuating device, rocking equipment and balance block; Described right balance module comprises actuating device, rocking equipment and balance block; Wireless receiver and the wireless launcher of described orientation and communication module are electrically connected with the microprocessor in wheelbarrow car body; Wireless launcher on described remote controller 2.1 and wireless launcher are electrically connected with the microprocessor in remote controller; Described two balance modules are arranged on shell 2.12 both sides of wheelbarrow car body; Described left balance mould is identical with the rocking equipment structure of right balance module to be made up of hinged 3.4, connecting rod 3.5, slide block 3.6, connecting rod 3.7 and hinged 3.8, connecting rod 3.5 is with hinged 3.4 hinged, connecting rod 3.5 one end and slide block 3.6 hinged, slide block 3.6 is arranged on connecting rod 3.7, connecting rod 3.7 is articulated with hinged 3.8, corresponding balance block is equipped with in connecting rod 3.7 one end, described balance module is fixed on the shell 2.12 of wheelbarrow car body by hinged 3.1 and hinged 3.2, installs battery and/or clump weight in described balance block; Described remote controller is also with wireless receiver, screen, starting key, shutdown button, upright button, from motion tracking button, forward key, Reverse keys, left-hand rotation button, quick key, right-hand rotation button and/or button at a slow speed, described button is mechanical type, touch and/or touch-screen; The wireless signal of described wireless receiver and wireless launcher is infrared, super sonic, bluetooth and/or radio frequency.
4. a kind of intelligent self-balancing electric unicycle according to claim 3, it is characterized in that: described left balance mould is identical with the rocking equipment structure of right balance module also can by hinged 4.2, screw mandrel 4.3, slide block 4.4, connecting rod 4.5, connecting rod 4.7 and hinged 4.8 compositions, screw mandrel 4.3 and hinged 4.2 and hinged 4.8 hinged, slide block 4.4 screw mandrel 4.3 is equipped with, slide block 4.4 is hinged with connecting rod 4.5, connecting rod 4.5 one end and connecting rod 4.7 hinged with hinge 4.6, connecting rod 4.7 is with hinged 4.8 hinged, corresponding balance block is equipped with in connecting rod 4.7 one end, described balance module is fixed on the shell 2.12 of wheelbarrow car body by hinged 4.2 and hinged 4.8, in described balance block, battery and/or clump weight are installed.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410535605.0A CN104309740A (en) | 2014-09-26 | 2014-09-26 | Swinging type electric balance monocycle |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410535605.0A CN104309740A (en) | 2014-09-26 | 2014-09-26 | Swinging type electric balance monocycle |
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| CN104309740A true CN104309740A (en) | 2015-01-28 |
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| CN201410535605.0A Pending CN104309740A (en) | 2014-09-26 | 2014-09-26 | Swinging type electric balance monocycle |
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Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106023557A (en) * | 2016-06-24 | 2016-10-12 | 钦州学院 | Intelligent two-wheel self-balancing electric vehicle |
| CN106054892A (en) * | 2016-07-03 | 2016-10-26 | 柳州惠林科技有限责任公司 | Electrical-monocycle-based leg-balancing type balancing puppet |
| CN106094824A (en) * | 2016-07-03 | 2016-11-09 | 柳州惠林科技有限责任公司 | A kind of swing arm based on electric unicycle balance puppet |
| CN106094825A (en) * | 2016-07-03 | 2016-11-09 | 柳州惠林科技有限责任公司 | A kind of leg swinging based on electric unicycle balance puppet |
| CN106125726A (en) * | 2016-07-03 | 2016-11-16 | 柳州惠林科技有限责任公司 | A kind of sliding and swaying formula based on electric unicycle balance puppet |
| CN106200634A (en) * | 2016-07-03 | 2016-12-07 | 柳州惠林科技有限责任公司 | A kind of arm balanced type based on electric unicycle balance puppet |
| CN106200635A (en) * | 2016-07-03 | 2016-12-07 | 柳州惠林科技有限责任公司 | A kind of formula balance puppet that sways one's hips based on electric unicycle |
| WO2017210855A1 (en) * | 2016-06-07 | 2017-12-14 | 罗春晖 | Balancing transportation means |
| CN107472419A (en) * | 2016-06-07 | 2017-12-15 | 韩莹光 | A kind of method for adjusting gravity center of balance car |
| CN109693747A (en) * | 2017-10-20 | 2019-04-30 | 深圳市亮点智控科技有限公司 | A kind of swing type balanced robot and balanced robot's control method |
| CN111636757A (en) * | 2020-05-07 | 2020-09-08 | 安徽商贸职业技术学院 | Landscape area railing device |
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Cited By (15)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN107472419A (en) * | 2016-06-07 | 2017-12-15 | 韩莹光 | A kind of method for adjusting gravity center of balance car |
| WO2017210855A1 (en) * | 2016-06-07 | 2017-12-14 | 罗春晖 | Balancing transportation means |
| CN106023557A (en) * | 2016-06-24 | 2016-10-12 | 钦州学院 | Intelligent two-wheel self-balancing electric vehicle |
| CN106200635A (en) * | 2016-07-03 | 2016-12-07 | 柳州惠林科技有限责任公司 | A kind of formula balance puppet that sways one's hips based on electric unicycle |
| CN106125726A (en) * | 2016-07-03 | 2016-11-16 | 柳州惠林科技有限责任公司 | A kind of sliding and swaying formula based on electric unicycle balance puppet |
| CN106200634A (en) * | 2016-07-03 | 2016-12-07 | 柳州惠林科技有限责任公司 | A kind of arm balanced type based on electric unicycle balance puppet |
| CN106094825A (en) * | 2016-07-03 | 2016-11-09 | 柳州惠林科技有限责任公司 | A kind of leg swinging based on electric unicycle balance puppet |
| CN106094824A (en) * | 2016-07-03 | 2016-11-09 | 柳州惠林科技有限责任公司 | A kind of swing arm based on electric unicycle balance puppet |
| CN106054892A (en) * | 2016-07-03 | 2016-10-26 | 柳州惠林科技有限责任公司 | Electrical-monocycle-based leg-balancing type balancing puppet |
| CN106094825B (en) * | 2016-07-03 | 2018-10-09 | 柳州惠林科技有限责任公司 | A kind of leg swinging balance puppet based on electric unicycle |
| CN106200635B (en) * | 2016-07-03 | 2018-10-09 | 柳州惠林科技有限责任公司 | A kind of formula balance puppet that sways one's hips based on electric unicycle |
| CN106200634B (en) * | 2016-07-03 | 2018-10-09 | 柳州惠林科技有限责任公司 | A kind of arm balanced type balance puppet based on electric unicycle |
| CN106054892B (en) * | 2016-07-03 | 2018-10-23 | 柳州惠林科技有限责任公司 | A kind of leg balanced type balance puppet based on electric unicycle |
| CN109693747A (en) * | 2017-10-20 | 2019-04-30 | 深圳市亮点智控科技有限公司 | A kind of swing type balanced robot and balanced robot's control method |
| CN111636757A (en) * | 2020-05-07 | 2020-09-08 | 安徽商贸职业技术学院 | Landscape area railing device |
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Application publication date: 20150128 |
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