CN109866857A - A kind of two-wheeled anti-explosion electric balance car - Google Patents
A kind of two-wheeled anti-explosion electric balance car Download PDFInfo
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- CN109866857A CN109866857A CN201910240935.XA CN201910240935A CN109866857A CN 109866857 A CN109866857 A CN 109866857A CN 201910240935 A CN201910240935 A CN 201910240935A CN 109866857 A CN109866857 A CN 109866857A
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- forearm
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- 238000004880 explosion Methods 0.000 title claims abstract description 12
- 210000000245 forearm Anatomy 0.000 claims description 54
- 238000005183 dynamical system Methods 0.000 claims description 6
- 230000005611 electricity Effects 0.000 claims description 2
- 238000010586 diagram Methods 0.000 description 3
- 230000001133 acceleration Effects 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 230000005484 gravity Effects 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 230000008093 supporting effect Effects 0.000 description 1
- 238000005303 weighing Methods 0.000 description 1
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Abstract
It include pedal in vehicle frame, it further includes the auxiliary balance component and traveling mechanism being set on vehicle frame that gyroscope system, which is set on vehicle frame, the invention discloses a kind of two-wheeled anti-explosion electric balance car, including a vehicle frame；Traveling mechanism includes two mechanical elasticity burst-proof tyres for being respectively arranged at pedal two sides, and auxiliary balance component includes four identical auxiliary mechanical arms, and each auxiliary mechanical arm can be carried out multivariant movement；The signal output end of gyroscope system is electrically connected with the control terminal of traveling mechanism and auxiliary balance component respectively, according to the posture of the balance car real time status information control traveling mechanism speed of service of gyroscope system acquisition, direction and four auxiliary mechanical arms, so as to adjust the operating status of entire balance car, guarantee the stable operation of balance car.
Description
Technical field
The present invention relates to a kind of two-wheeled balance cars.
Background technique
Two-wheeled vertical balanced intelligent vehicle is the emerging vehicles occurred in recent years, due to its flexible, environmentally friendly, convenient and fast spy
Property the deep favor by the majority of consumers.Due to its simple to operation and intelligent approval for having obtained numerous consumers, at present
Two-wheeled balance car on the market mostly using inverted pendulum principle, come with attitude transducer (gyroscope, accelerometer) by system
Pitch attitude and status variation rate locating for vehicle body are monitored, after calculating proper data and instruction by High Speed Microcontroller, is driven
Dynamic motor generates the acceleration of forward or backward to achieve the effect that car body anterior-posterior balance.With driver and the vehicle stood onboard
The overall center of gravity longitudinal axis as reference line, when this axis is toward top rake, the built-in electric motor in vehicle body can be generated forward
Strength, on the one hand balance the torque that people and vehicle are toppled over forward, the acceleration for allowing vehicle to advance on the one hand generated, on the contrary, working as
Gyroscope finds the center of gravity of driver toward when hypsokinesis, and the strength that can also generate backward reaches counterbalance effect.
Two-wheeled balance car technical difficulty is high on the market at present, leans forward and is easy to be not steady on one's legs when accelerating；When parking, in the prior art
To the mode that gyro system is unloaded, can vehicle be swung back and forth, will cause in this way driver drive it is uncomfortable, influence using
Experience reduces driving safety coefficient；Balance car is since there are battery, motor, the components such as controller need to occupy larger sky at present
Between；Two-wheeled balance car road pavement requires high simultaneously, can not adapt to complicated road conditions traveling.
Summary of the invention
In order to solve the technical issues of above-mentioned background technique proposes, the invention proposes a kind of two-wheeled anti-explosion electric balances
Vehicle.
In order to achieve the above technical purposes, the technical solution of the present invention is as follows:
A kind of two-wheeled anti-explosion electric balance car, including a vehicle frame, include pedal in vehicle frame, and gyroscope system is set to vehicle frame
On, it further include the auxiliary balance component and traveling mechanism being set on vehicle frame；The traveling mechanism includes two and is respectively arranged at
The mechanical elasticity burst-proof tyre of pedal two sides, the auxiliary balance component include four identical auxiliary mechanical arms, each
Auxiliary mechanical arm can be carried out multivariant movement；The signal output end of gyroscope system is flat with traveling mechanism and auxiliary respectively
The control terminal of weighing apparatus component is electrically connected, according to the balance car real time status information control traveling mechanism operation of gyroscope system acquisition
The posture of speed, direction and four auxiliary mechanical arms guarantees the steady of balance car so as to adjust the operating status of entire balance car
Fixed operation.
Preferred embodiment based on the above-mentioned technical proposal, the auxiliary mechanical arm includes forearm, the first driving motor of forearm, small
The second driving motor of arm, large arm, large arm driving motor, actuating arm, actuating arm motor, chassis revolving wormgear case, pull rod, pull rod electricity
Machine and auxiliary mechanical arm controller；One end of actuating arm and chassis revolving wormgear case are mechanically connected, the other end of actuating arm with
One end of large arm is mechanically connected, and the other end of large arm and one end of forearm are mechanically connected；The signal output end of gyroscope system with
And the first driving motor of forearm, the second driving motor of forearm, large arm driving motor, actuating arm motor, the signal of pull rod motor are defeated
Enter end to be electrically connected with auxiliary mechanical arm controller respectively；Actuating arm motor is set to the company of actuating arm Yu chassis revolving wormgear case
Meet place, the output shaft and actuating arm of actuating arm motor are mechanically connected, and actuating arm motor is according to the control of auxiliary mechanical arm controller
Signal rotates to control actuating arm around chassis revolving wormgear case；The junction of large arm and actuating arm is arranged in large arm driving motor,
The output shaft of large arm driving motor and large arm are mechanically connected, large arm driving motor according to the control signal of auxiliary mechanical control device come
Large arm is controlled to rotate around actuating arm；The connection of forearm and large arm is arranged in the first driving motor of forearm and the second driving motor of forearm
Place, the output shaft of the second driving motor of the first driving motor of forearm and forearm are mechanically connected with forearm respectively, and forearm first drives
Motor controls forearm according to the control signal of auxiliary mechanical arm controller around its axis rotation, the second driving motor of forearm according to
The control signal of auxiliary mechanical arm controller rotates to control forearm around large arm；One end of pull rod and forearm are mechanically connected, pull rod
The other end and the output shaft of pull rod motor be mechanically connected, pull rod motor adjusts according to the control signal of auxiliary mechanical arm controller
Whole draw-bar pull, so that forearm be made to rotate around pull rod.
Preferred embodiment based on the above-mentioned technical proposal, the auxiliary balance component further include support plate, and four auxiliary are mechanical
Arm is separately fixed in support plate, and support plate is fixed on vehicle frame.
Preferred embodiment based on the above-mentioned technical proposal, the traveling mechanism further include two wheel controllers and two wheel hubs
Motor, each hub motor are separately mounted to the center of corresponding mechanical elasticity burst-proof tyre, and the signal of each hub motor is defeated
Enter end and the electric connection of corresponding wheel controller, the output shaft of each hub motor and corresponding mechanical elasticity hoolivan turbine
Tool connection, the signal output end and wheel controller of gyroscope system are electrically connected.
Preferred embodiment based on the above-mentioned technical proposal further includes dynamical system, is arranged below pedal, dynamical system includes
The input terminal of power battery and inverter, the output end of power battery and inverter is electrically connected, the output end of inverter with it is auxiliary
The power end of balanced component and traveling mechanism is helped to be electrically connected.
Preferred embodiment based on the above-mentioned technical proposal, the gyroscope system pass through CAN bus and traveling mechanism and auxiliary
The control terminal of balanced component is electrically connected.
By adopting the above technical scheme bring the utility model has the advantages that
Invention increases auxiliary balance component, cooperate the balance system of original equilibrium vehicle, guarantee balance car in traveling and
Stable equilibrium's property with higher when stopping；Common pneumatic tire is replaced using mechanical elasticity burst-proof tyre, is substantially increased flat
Vehicle weigh to the adaptability of complex road surface, elasticity and supporting effect are good；Using hub motor as driving device, motor is distinguished
It is placed in tire, by reasonable Arrangement space, original position can be used for rationally increasing the devices such as battery, to improve the continuous of balance car
Boat ability substantially increases the space utilization rate of two-wheeled balance car.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of auxiliary balance component in the present invention；
Fig. 2 is the structural schematic diagram of an auxiliary mechanical arm in the present invention；
Fig. 3 is the electric operation control circuit figure of auxiliary balance component in the present invention；
Fig. 4 is the electric operation control circuit figure of traveling mechanism in the present invention；
Fig. 5 is mechanical elasticity burst-proof tyre schematic diagram in the present invention.
Label declaration: 1, pull rod motor；2, pull rod；3, the first driving motor of forearm；4, the second driving motor of forearm；5, small
Arm；6, large arm；7, large arm driving motor；8, chassis revolving wormgear case；9, actuating arm motor；10, actuating arm.
Specific embodiment
Below with reference to attached drawing, technical solution of the present invention is described in detail.
A kind of two-wheeled anti-explosion electric balance car, including a vehicle frame, include pedal in vehicle frame, and gyroscope system is set to vehicle frame
On, it further include the auxiliary balance component and traveling mechanism being set on vehicle frame.The signal output end of gyroscope system respectively with row
The control terminal for sailing mechanism and auxiliary balance component is electrically connected, the balance car real time status information control acquired according to gyroscope system
The posture of the traveling mechanism speed of service processed, direction and auxiliary balance component is protected so as to adjust the operating status of entire balance car
Demonstrate,prove the stable operation of balance car.
As shown in Figure 1, auxiliary balance component includes four identical auxiliary mechanical arms, each equal energy of auxiliary mechanical arm
Multivariant movement is carried out, four auxiliary mechanical arms can be fixed in a support plate, while support plate is fixed on vehicle frame.
As shown in Fig. 2, each auxiliary mechanical arm includes forearm 5, the first driving motor of forearm 3, the second driving motor of forearm
4, large arm 6, large arm driving motor 7, actuating arm 10, actuating arm motor 9, chassis revolving wormgear case 8, pull rod 2, pull rod motor 1 with
And auxiliary mechanical arm controller.One end of actuating arm 10 and chassis revolving wormgear case 8 are mechanically connected, the other end of actuating arm 10 with
One end of large arm 6 is mechanically connected, and the other end of large arm 6 and one end of forearm 5 are mechanically connected.The signal output end of gyroscope system
And the first driving motor of forearm 3, the second driving motor of forearm 4, large arm driving motor 7, actuating arm motor 9, pull rod motor 1
Signal input part is electrically connected with auxiliary mechanical arm controller respectively.Actuating arm motor 9 is set to actuating arm 10 and chassis rotates
The junction of turbine box 8, the output shaft and actuating arm 10 of actuating arm motor 9 are mechanically connected, and actuating arm motor 9 is mechanical according to auxiliary
The control signal of arm controller rotates to control actuating arm 10 around chassis revolving wormgear case 8.Large arm driving motor 7 is arranged in large arm
6 are mechanically connected with the junction of actuating arm 10, the output shaft and large arm 6 of large arm driving motor 7, and large arm driving motor 7 is according to auxiliary
The control signal of mechanical control device is helped to control large arm 6 around actuating arm 10 and rotate.The first driving motor of forearm 3 and forearm second drive
The junction of forearm 5 Yu large arm 6, the output of the first driving motor of forearm 3 and the second driving motor of forearm 4 is arranged in dynamic motor 4
Axis is mechanically connected with forearm 5 respectively, and the first driving motor of forearm 3 controls small according to the control signal of auxiliary mechanical arm controller
Arm 5 around its axis rotation, the second driving motor of forearm 4 controlled according to the control signal of auxiliary mechanical arm controller forearm 5 around
Large arm 6 rotates.One end of pull rod 2 and forearm 5 are mechanically connected, and the other end of pull rod 2 and the output shaft mechanical of pull rod motor 1 connect
It connects, pull rod motor 1 adjusts draw-bar pull according to the control signal of auxiliary mechanical arm controller, so that forearm 5 be made to turn around pull rod
It is dynamic.The control circuit of auxiliary balance component is as shown in Figure 3.
Traveling mechanism includes two mechanical elasticity burst-proof tyres, two wheel controllers and two hub motors, each wheel
Hub motor is separately mounted to the center of corresponding mechanical elasticity burst-proof tyre, the signal input part of each hub motor with it is corresponding
Wheel controller is electrically connected, and the output shaft of each hub motor is mechanically connected with corresponding mechanical elasticity burst-proof tyre, gyro
The signal output end and wheel controller of instrument system are electrically connected.The control circuit of traveling mechanism is as shown in Figure 4.Traditional is filled
Air filled tyre replaces with mechanical elasticity burst-proof tyre as shown in Figure 5, is followed successively by tyre surface, hinge and wheel rim from outside to inside, improves
The wearability of two-wheeled balance car and the adaptedness to complex road surface, hub motor are not necessarily to drive mechanism as power device,
It is directly installed on two sides inside wheel respectively, greatly improves space utilization rate.Corresponding controllers are separately configured in each hub motor,
The purpose of raising system reliability and fault-tolerance may be implemented.
In the present embodiment, dynamical system is set below pedal, and dynamical system includes power battery and inverter, power
The input terminal of the output end of battery and inverter is electrically connected, the output end and auxiliary balance component of inverter and traveling mechanism
Power end is electrically connected, and direct current is converted to alternating current and is powered.
In the present embodiment, gyroscope system transmits data by CAN bus.
Embodiment is merely illustrative of the invention's technical idea, and this does not limit the scope of protection of the present invention, it is all according to
Technical idea proposed by the present invention, any changes made on the basis of the technical scheme are fallen within the scope of the present invention.
Claims (6)
- It include pedal in vehicle frame 1. a kind of two-wheeled anti-explosion electric balance car, including a vehicle frame, gyroscope system is set to vehicle frame On, it is characterised in that: it further include the auxiliary balance component and traveling mechanism being set on vehicle frame；The traveling mechanism includes two It is respectively arranged at the mechanical elasticity burst-proof tyre of pedal two sides, the auxiliary balance component includes four identical auxiliary machines Tool arm, each auxiliary mechanical arm can be carried out multivariant movement；The signal output end of gyroscope system respectively with traveling machine The control terminal of structure and auxiliary balance component is electrically connected, and controls row according to the balance car real time status information of gyroscope system acquisition The posture of the mechanism speed of service, direction and four auxiliary mechanical arms is sailed, so as to adjust the operating status of entire balance car, is guaranteed The stable operation of balance car.
- 2. two-wheeled anti-explosion electric balance car according to claim 1, it is characterised in that: the auxiliary mechanical arm include forearm, The first driving motor of forearm, the second driving motor of forearm, large arm, large arm driving motor, actuating arm, actuating arm motor, chassis rotation Rotating turbine case, pull rod, pull rod motor and auxiliary mechanical arm controller；One end of actuating arm and chassis revolving wormgear punch-out equipment tool connect It connects, the other end of actuating arm and one end of large arm are mechanically connected, and the other end of large arm and one end of forearm are mechanically connected；Gyroscope The first driving motor of signal output end and forearm, the second driving motor of forearm, large arm driving motor, the actuating arm electricity of system Machine, pull rod motor signal input part respectively with auxiliary mechanical arm controller be electrically connected；Actuating arm motor is set to actuating arm With the junction of chassis revolving wormgear case, the output shaft and actuating arm of actuating arm motor are mechanically connected, and actuating arm motor is according to auxiliary The control signal of mechanical arm controller is helped to control actuating arm around chassis revolving wormgear case and rotate；Large arm driving motor is arranged big The junction of arm and actuating arm, the output shaft and large arm of large arm driving motor are mechanically connected, and large arm driving motor is according to auxiliary machine The control signal of tool controller rotates to control large arm around actuating arm；The first driving motor of forearm and the second driving motor of forearm are set Set the junction in forearm and large arm, the output shaft of the second driving motor of the first driving motor of forearm and forearm respectively with forearm machine Tool connection, the first driving motor of forearm control forearm according to the control signal of auxiliary mechanical arm controller around its axis rotation, The second driving motor of forearm controls forearm according to the control signal of auxiliary mechanical arm controller and rotates around large arm；One end of pull rod It is mechanically connected with forearm, the other end of pull rod and the output shaft of pull rod motor are mechanically connected, and pull rod motor is according to auxiliary mechanical arm The control signal of controller adjusts draw-bar pull, so that forearm be made to rotate around pull rod.
- 3. two-wheeled anti-explosion electric balance car according to claim 1 or claim 2, it is characterised in that: the auxiliary balance component also wraps Support plate is included, four auxiliary mechanical arms are separately fixed in support plate, and support plate is fixed on vehicle frame.
- 4. two-wheeled anti-explosion electric balance car according to claim 1, it is characterised in that: the traveling mechanism further includes two vehicles Wheel controller and two hub motors, each hub motor are separately mounted to the center of corresponding mechanical elasticity burst-proof tyre, often The signal input part of a hub motor is electrically connected with corresponding wheel controller, the output shaft of each hub motor with it is corresponding Mechanical elasticity burst-proof tyre mechanical connection, the signal output end and wheel controller of gyroscope system are electrically connected.
- 5. two-wheeled anti-explosion electric balance car according to claim 1, which is characterized in that dynamical system is set below pedal, The dynamical system includes power battery and inverter, and the output end of power battery and the input terminal of inverter are electrically connected, inverse Become the power end electric connection of the output end and auxiliary balance component and traveling mechanism of device.
- 6. two-wheeled anti-explosion electric balance car according to claim 1, it is characterised in that: the gyroscope system is total by CAN The control terminal of line and traveling mechanism and auxiliary balance component is electrically connected.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910240935.XA CN109866857B (en) | 2019-03-28 | 2019-03-28 | Two-wheeled explosion-proof electrodynamic balance car |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910240935.XA CN109866857B (en) | 2019-03-28 | 2019-03-28 | Two-wheeled explosion-proof electrodynamic balance car |
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| Publication Number | Publication Date |
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| CN109866857A true CN109866857A (en) | 2019-06-11 |
| CN109866857B CN109866857B (en) | 2024-07-16 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201910240935.XA Active CN109866857B (en) | 2019-03-28 | 2019-03-28 | Two-wheeled explosion-proof electrodynamic balance car |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN204895700U (en) * | 2015-06-29 | 2015-12-23 | 深圳市宝乐机器人技术有限公司 | Balance car with safety protection |
| CN205087083U (en) * | 2015-09-30 | 2016-03-16 | 江西迪比科股份有限公司 | Two -wheeled electrodynamic balance car |
| CN105539658A (en) * | 2015-12-24 | 2016-05-04 | 鲍炜 | Safe two-wheeled self-balancing vehicle |
| CN108068609A (en) * | 2017-12-22 | 2018-05-25 | 南京航空航天大学 | Catenary suspension type continuous vulcanization mechanical elasticity anti-explosion electric driving wheel |
| CN108454322A (en) * | 2018-03-12 | 2018-08-28 | 南京航空航天大学 | A kind of Wheel-band wheels-stretched wire-spring-damper composite mechanical elastic safety car wheel structure |
| CN208248345U (en) * | 2018-01-11 | 2018-12-18 | 无锡机电高等职业技术学校 | A kind of balance car emergency protective device |
| CN109017138A (en) * | 2018-08-23 | 2018-12-18 | 南京航空航天大学 | Mechanical elastic vehicle wheel with integrated elastic ring skeleton Wheel-band wheel construction |
| CN209921505U (en) * | 2019-03-28 | 2020-01-10 | 南京航空航天大学 | Two-wheeled explosion-proof electrodynamic balance car |
-
2019
- 2019-03-28 CN CN201910240935.XA patent/CN109866857B/en active Active
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN204895700U (en) * | 2015-06-29 | 2015-12-23 | 深圳市宝乐机器人技术有限公司 | Balance car with safety protection |
| CN205087083U (en) * | 2015-09-30 | 2016-03-16 | 江西迪比科股份有限公司 | Two -wheeled electrodynamic balance car |
| CN105539658A (en) * | 2015-12-24 | 2016-05-04 | 鲍炜 | Safe two-wheeled self-balancing vehicle |
| CN108068609A (en) * | 2017-12-22 | 2018-05-25 | 南京航空航天大学 | Catenary suspension type continuous vulcanization mechanical elasticity anti-explosion electric driving wheel |
| CN208248345U (en) * | 2018-01-11 | 2018-12-18 | 无锡机电高等职业技术学校 | A kind of balance car emergency protective device |
| CN108454322A (en) * | 2018-03-12 | 2018-08-28 | 南京航空航天大学 | A kind of Wheel-band wheels-stretched wire-spring-damper composite mechanical elastic safety car wheel structure |
| CN109017138A (en) * | 2018-08-23 | 2018-12-18 | 南京航空航天大学 | Mechanical elastic vehicle wheel with integrated elastic ring skeleton Wheel-band wheel construction |
| CN209921505U (en) * | 2019-03-28 | 2020-01-10 | 南京航空航天大学 | Two-wheeled explosion-proof electrodynamic balance car |
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| CN109866857B (en) | 2024-07-16 |
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