CN206125270U - Two -wheeled self -balancing vehicle - Google Patents
Two -wheeled self -balancing vehicle Download PDFInfo
- Publication number
- CN206125270U CN206125270U CN201620935258.5U CN201620935258U CN206125270U CN 206125270 U CN206125270 U CN 206125270U CN 201620935258 U CN201620935258 U CN 201620935258U CN 206125270 U CN206125270 U CN 206125270U
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- driving wheel
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- central shaft
- wheel
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Abstract
The utility model belongs to the vehicle field, in particular to two -wheeled self -balancing vehicle, including the automobile body, set up in the first drive wheel and the second drive wheel of automobile body both sides respectively, set up in the first pedal portion in the first drive wheel outside and set up in the pedal portion of second in the second drive wheel outside. Be provided with the link gear in the automobile body, connect first drive wheel and second drive wheel for transmit the position change volume to detection mechanism. Detection mechanism passes through well spindle connection with the link gear, obtains position sigual according to the position change volume to transmit position sigual to control mechanism, control mechanism, according to the control command that the position sigual extract phase was answered, control command is used for controlling first drive wheel and the second drive wheel turns to the operation. The utility model provides a two -wheeled self -balancing vehicle controls turning to of self -balancing car through the footboard and the combination of human self action, and stability and smooth degree when turning to are better, operates more in a flexible way, and whole mechanism is comparatively small and exquisite and compact.
Description
Technical field
This utility model belongs to field of vehicles, more particularly, to a kind of double-wheel self-balancing car.
Background technology
Self-Balancing vehicle is widely used as short distance walking-replacing tool, and Self-Balancing vehicle mainly has single wheel Self-Balancing vehicle
With double-wheel self-balancing car, wherein：
Double-wheel self-balancing car, with the inclination of body, can indiscriminately ad. as one wishes control travel speed and direction of advance.Its fortune
It is built upon in the ultimate principle of " dynamic stability " as principle, with appearance of the built-in accurate solid-state gyroscope to judge residing for vehicle body
State state, calculates after appropriate instruction through the central processing unit of accurate and high speed, and drive motor is reaching counterbalance effect.
But, for convenience operator's control direction, is generally provided with the steering of vertical direction in the middle part of Self-Balancing vehicle
Bar, turning-bar is connected with the controller of Self-Balancing vehicle, and control aerial root carries out steering operation according to the rotating signal of turning-bar to wheel.
In other words, operator must pass through the steering of the operational control Self-Balancing vehicle of hand, it is impossible to control self-balancing by footwork
Car is turned to, and operates underaction, and handle and turning-bar cause the integrated model of Self-Balancing vehicle more heavy and complicated.In addition,
Traditional two-wheeled balance car, is stationary state between its axletree and car body, and car body can not be with the inclination of human body during steering
Incline, less stable during turning.
Utility model content
The purpose of this utility model is to provide a kind of double-wheel self-balancing car, to solve double-wheel self-balancing of the prior art
Turning to for car must be by means of turning-bar, overall structure more heaviness and complicated and operation underaction problem.
The utility model discloses a kind of double-wheel self-balancing car, including car body, it is respectively arranged at the of the car body both sides
One driving wheel and the second driving wheel, the first pedal position being arranged on the outside of first driving wheel and be arranged at it is described second drive
The second pedal position on the outside of wheel,
Link gear, testing agency and controlling organization are provided with the car body, wherein：
Link gear connects first driving wheel and second driving wheel, for keeping the first driving wheel and second to drive
Driving wheel is synchronously rolled, and the location variation of first driving wheel and the second driving wheel is transferred to into testing agency；
Testing agency is connected with the link gear by central shaft, and according to the location variation position signalling is obtained,
And the position signalling is transferred to into controlling organization；
Controlling organization is used to extract corresponding control instruction according to the position signalling, and the control instruction is used to control institute
Stating the first driving wheel and second driving wheel carries out steering operation.
Further, first pedal position is provided with the first pressure that pressure signal is produced when pressure variety is received
Sensor, and second pedal position is provided with the second pressure sensor that pressure signal is produced when pressure variety is received, institute
State first pressure sensor and the second pressure sensor is connected with the controlling organization；
When in the first pressure sensor and the second pressure sensor produces pressure signal, the control
Self-Balancing vehicle described in mechanism controls processed stops turning to operation；
When the first pressure sensor and the second pressure sensor produce pressure signal, the controlling organization
Control the Self-Balancing vehicle and advanced, retreated or turned to operation.
Further, the link gear includes rocking arm, the first motor cabinet, the second motor cabinet and slide rail；
First motor cabinet and second motor cabinet are divided into the both sides of the rocking arm, first motor cabinet and institute
The middle part for stating the second motor cabinet offers through hole for installing motor, and first motor cabinet and second motor cabinet exist
It is threaded onto on vertical direction on the slide rail and is slidably connected with the slide rail；The rocking arm near first motor cabinet and
The end of second motor cabinet is hinged respectively by axle sleeve with the bottom of first motor cabinet and second motor cabinet；
Gravity center of human body deviates the center of car body inclines first driving wheel and second driving wheel, connects described the
The motor of one driving wheel and second driving wheel inclines and drives first motor cabinet and second motor cabinet along described
The axis direction relative motion of slide rail, the two ends of the rocking arm are contrary first motor cabinet and second motor cabinet
Rotate around the central shaft under active force.
Further, the link gear includes rocking arm, the first motor cabinet, the second motor cabinet and rotating fixing machine；
First motor cabinet and second motor cabinet are divided into the both sides of the rocking arm, first motor cabinet and institute
The middle part for stating the second motor cabinet offers through hole for installing motor, and the rocking arm is near first motor cabinet and institute
The end for stating the second motor cabinet is hinged respectively by axle sleeve with the bottom of first motor cabinet and second motor cabinet, described
First motor cabinet and second motor cabinet are connected and with the rotating fixing machine as fulcrum by the rotating fixing machine
Swing；
Gravity center of human body deviates the center of car body inclines first driving wheel and second driving wheel, connects described the
The motor of one driving wheel and second driving wheel inclines and drives first motor cabinet and second motor cabinet with described
Rotating fixing machine is spot wobble, and the two ends of the rocking arm are contrary first motor cabinet and second motor cabinet
Rotate around the central shaft under active force.
Further, two rotating fixing machines, two institutes are arranged with parallel on the axis direction of the central shaft
State rotating fixing machine to connect by connecting shaft (12), first motor cabinet and second motor cabinet are with the connecting shaft
(12) it is a spot wobble.
Further, the rotating fixing machine includes：It is horizontally set at first motor cabinet and described second electric
The connecting rod that is hinged between support and with first motor cabinet and second motor cabinet and perpendicular to the connecting rod and with institute
The fixed support being hinged in the middle part of connecting rod is stated, the support bracket fastened lower end offers the axis hole for installing the central shaft.
Further, the testing agency includes angle detection device, central axle bed and return unit；
The central axle bed is arranged at the central shaft lower section for supporting the central shaft；The return unit is arranged at institute
State and abutted between central shaft and the central axle bed and with the central shaft；The angle detection device is arranged at the axis of centres
The one end of seat away from the link gear；
The angle detection device obtains position signalling according to the location variation of the central shaft；
The return unit is in the power state that stores when the central shaft rotates, and suffered external force reduces on the central shaft
Or drive the central shaft to be returned to initial position during revocation.
Further, the angle detection device is set to angular transducer；
And/or；
The return unit is set to back-moving spring.
Further, the controlling organization includes attitude transducer and control circuit；
The attitude transducer, for gathering the gravity center shift amount of the human body, according to the gravity center shift weight is measured
Heart signal, and the center of gravity signal is transferred to into the control circuit；
The control circuit, the pressure for gathering the first pressure sensor and the second pressure sensor is believed
Number, the position signalling of the center of gravity signal of the attitude transducer and the angle detection device, and by the pressure signal, described
Center of gravity signal and the position signalling carry out obtaining control instruction after comprehensive computing.
Further, be additionally provided with safety switch on the car body, the safety switch in a triggered, Self-Balancing vehicle
Stop turning to.With reference to above technical scheme, because this utility model provides a kind of double-wheel self-balancing car, including car body, difference
It is arranged at the first driving wheel of car body both sides and the second driving wheel and is respectively arranged at outside the first driving wheel and the second driving wheel
First pedal position and the second pedal position of side, includes link gear, testing agency and controlling organization in car body.Link gear connects
The first driving wheel and the second driving wheel are connect, for the location variation of Self-Balancing vehicle to be transferred to into testing agency.Testing agency with
Link gear and controlling organization connect, and according to location variation position signalling is obtained, and position signalling is transferred to into controlling organization.
Controlling organization extracts corresponding control instruction according to position signalling, and control instruction is used for the first driving wheel of control and the second driving wheel
Advance, retreat or turn to, specifically：
During the double-wheel self-balancing car provided using this utility model：
When needing to carry out turning to operation to the left or to the right, gravity center of human body to the left or is tilted to the right, correspondingly, first
Pedal position and the second pedal position to the left or are tilted to the right, the first pedal position and the second pedal position to the left or be tilted to the right dynamic
Make to drive the first driving wheel and the second driving wheel to the left or be tilted to the right.Link gear connects the first driving wheel and second and drives
Wheel, testing agency is connected with link gear, and the location variation of the first driving wheel and the second driving wheel (to the left or is tilted to the right
Location variation) testing agency is passed to by link gear, testing agency obtains accordingly according to above-mentioned location variation
Position signalling, and the position signalling is transferred to into controlling organization, controlling organization drives according to above-mentioned position signalling control first
Wheel and/or the second driving wheel to the left or bend to right, the first driving wheel and/or the second driving wheel band motor vehicles bodies to the left or to
Turn right.
The double-wheel self-balancing car that this utility model is provided controls self-balancing by pedal and the auto- combination of human body
The steering of car, the inclination of the first driving wheel and the second driving wheel causes link gear synchronously to roll, and link gear can be with people
The inclination of body and incline, thus the stability and fluency when turning to is more preferably, operates more flexible.
In addition, the double-wheel self-balancing car that this utility model is provided eliminates the setting of turning-bar, link gear, testing agency
Vehicle body is integrated in controlling organization, integrated model is more compact and compact.
Description of the drawings
In order to be illustrated more clearly that this utility model specific embodiment or technical scheme of the prior art, below will be right
The accompanying drawing to be used needed for specific embodiment or description of the prior art is briefly described, it should be apparent that, describe below
In accompanying drawing be some embodiments of the present utility model, for those of ordinary skill in the art, do not paying creativeness
On the premise of work, can be with according to these other accompanying drawings of accompanying drawings acquisition.
The overall structure diagram of the double-wheel self-balancing car that Fig. 1 is provided for this utility model；
Fig. 2 is the overall structure diagram of link gear, testing agency and controlling organization that embodiment 1 is provided；
Fig. 3 is the decomposing schematic representation in Fig. 2；
Fig. 4 is the structural representation under the double-wheel self-balancing car straight line poised state that embodiment 1 is provided；
Fig. 5 is the structural representation under the double-wheel self-balancing car steering state that embodiment 1 is provided；
Fig. 6 is the overall structure diagram of link gear, testing agency and controlling organization that embodiment 2 is provided；
Fig. 7 is the structural representation under the double-wheel self-balancing car steering state that embodiment 2 is provided.
Reference：
1- car bodies；The driving wheels of 2- first；The driving wheels of 3- second；
The pedal positions of 4- first；The pedal positions of 5- second；6- link gears；
7- testing agencies；8- controlling organizations；9- central shafts；
10- axle sleeves；11- safety switches；12- connecting shafts；
61- rocking arms；The motor cabinets of 62- first；The motor cabinets of 63- second；
64- slide rails；65- rotating fixing machines；71- angle detection devices；
72- central authorities axle bed；73- return units；81- attitude transducers；
82- control circuits；651- connecting rods；652- fixed supports.
Specific embodiment
The technical solution of the utility model is clearly and completely described below in conjunction with accompanying drawing, it is clear that described
Embodiment is a part of embodiment of this utility model, rather than the embodiment of whole.Based on the embodiment in this utility model, this
The every other embodiment that field those of ordinary skill is obtained under the premise of creative work is not made, belongs to this practicality
Novel protected scope.
In description of the present utility model, it should be noted that term " " center ", " on ", D score, "left", "right", " perpendicular
Directly ", the orientation or position relationship of the instruction such as " level ", " interior ", " outward " is, based on orientation shown in the drawings or position relationship, to be only
For the ease of describe this utility model and simplify description, rather than indicate or imply indication device or element must have it is specific
Orientation, with specific azimuth configuration and operation, therefore it is not intended that to restriction of the present utility model.Additionally, term " the
One ", " second ", " the 3rd " are only used for describing purpose, and it is not intended that indicating or implying relative importance.
In description of the present utility model, it should be noted that unless otherwise clearly defined and limited, term " peace
Dress ", " connected ", " connection " should be interpreted broadly, for example, it may be fixedly connected, or be detachably connected, or integratedly
Connection；Can be mechanically connected, or electrically connect；Can be joined directly together, it is also possible to be indirectly connected to by intermediary,
It can be the connection of two element internals.For the ordinary skill in the art, above-mentioned art can be understood with concrete condition
Concrete meaning of the language in this utility model.
Embodiment 1
The purpose of this utility model is to provide a kind of double-wheel self-balancing car, and human body stands on the Self-Balancing vehicle, passes through
Adjust itself center of gravity, for example, lean forward, swing back, turn left or turn right, you can realize the advance of Self-Balancing vehicle, retrogressing, to
Turn left and bend to right.
Specifically：
Please with reference to Fig. 1 to Fig. 5, including car body 1, it is respectively arranged at the first driving wheel 2 of the both sides of car body 1 and second and drives
Driving wheel 3,
It is respectively arranged at first driving wheel 2 and the second driving wheel 3 of the both sides of the car body 1, is arranged at first driving
First pedal position 4 in the outside of wheel 2 and the second pedal position 5 being arranged on the outside of second driving wheel 3.Connection is included in car body 1
Motivation structure 6, testing agency 7 and controlling organization 8.Link gear 6 connects the first driving wheel 2 and the second driving wheel 3, for keeping the
One driving wheel 2 and the synchronous inclination of the second driving wheel 3, and the location variation of the driving wheel 3 of first driving wheel 2 and second is passed
It is handed to testing agency；
And the location variation of Self-Balancing vehicle is transferred to into testing agency 7.Testing agency 7 and link gear 6 and control machine
Structure 8 connects, and according to location variation position signalling is obtained, and position signalling is transferred to into controlling organization 8.The basis of controlling organization 8
Position signalling extracts corresponding control instruction, and control instruction is used for the first driving wheel 2 of control and the second driving wheel 3 is turned to.
In the alternative of the present embodiment, first pedal position 4 is provided with when pressure variety is received and produces pressure letter
Number first pressure sensor, and second pedal position 5 be provided with when pressure variety is received produce pressure signal second
Pressure transducer, the first pressure sensor and the second pressure sensor are connected with the controlling organization 8；
When in the first pressure sensor and the second pressure sensor produces pressure signal, the control
Mechanism processed 8 controls the Self-Balancing vehicle and stops turning to operation；
When the first pressure sensor and the second pressure sensor produce pressure signal, the controlling organization
The 8 controls Self-Balancing vehicle is advanced, retreated or is turned to operation.
The reason for arranging above-mentioned control model be：During avoiding operator from getting on the bus because of the steering of Self-Balancing vehicle band
The danger for coming, it is ensured that the both feet of operator are stood on balance car simultaneously when, Self-Balancing vehicle can just carry out steering operation, more
In detail：
For example：When operator needs to get on the bus, its action is necessarily first by foot-operated upper first pedal position 4, then incites somebody to action another
One is ridden upper second pedal position 5, or a foot first sets foot on the second pedal position 5, and another foot sets foot on again the second pedal position 5.
When user sets foot on a foot, due to reasons in structure, car body 1 can necessarily lead to foot-operated direction run-off the straight, car body 1 after inclining
Link gear 6 is caused to produce location variation, testing agency 7 obtains position signalling and by above-mentioned position according to above-mentioned location variation
Signal transmission to controlling organization 8, controlling organization 8 extract control instruction to control the He of the first driving wheel 2 according to above-mentioned position signalling
Second driving wheel 3 carries out steering operation.And go to action now can cause the human safety issues of operator.In order to avoid upper
Problem is stated, the Self-Balancing vehicle that this utility model is provided only just carries out turning when the both feet of operator stand on Self-Balancing vehicle simultaneously
To operation.
In the alternative of the present embodiment, link gear 6 includes rocking arm 61, the first motor cabinet 62, the and of the second motor cabinet 63
Slide rail 64.First motor cabinet 62 and the second motor cabinet 63 are divided into the both sides of rocking arm 61, the first motor cabinet 62 and the second motor cabinet
63 middle part offers the through hole for installing motor, and the first motor cabinet 62 and the in the vertical direction of the second motor cabinet 63 are installed
It is slidably matched on slide rail 64 and with slide rail 64；Rocking arm 61 is passing through near the end of the first motor cabinet 62 and the second motor cabinet 63
Axle sleeve 10 is hinged respectively with the bottom of the first motor cabinet 62 and the second motor cabinet 63；
Gravity center of human body deviates the center of car body 1 inclines the first driving wheel 2 and the second driving wheel 3, connects the first driving wheel 2
Motor run-off the straight with the second driving wheel 3 simultaneously drives the first motor cabinet 62 and the second motor cabinet 63 along the axis direction of slide rail 64
Relative motion, the two ends of rocking arm 61 surround rocking arm 61 under the opposite effect power of the first motor cabinet 62 and the second motor cabinet 63
Axis rotates.
In above-mentioned alternative, below in order to describe simplicity, the first motor cabinet 62 and the second motor cabinet 63 are referred to as motor
Seat.Motor cabinet in the vertical direction offers the through hole through motor cabinet upper surface and lower surface, and the through hole on motor cabinet sets
Two are equipped with, correspondingly, the slide rail 64 of two vertical directions are arranged with motor cabinet.In order to ensure matching somebody with somebody for motor cabinet and slide rail 64
It is right, it is provided with linear bearing in the through hole of the upper end of motor cabinet.Motor cabinet is in the plane being located parallel to two slide rails 64
On be provided with round ring boss, boss is arranged towards driving wheel, and the motor shaft of motor is connected with band through the boss with driving wheel
Dynamic driving wheel action.Motor cabinet bottom is additionally provided with sliding sleeve, and the two ends of sliding sleeve connect two slide rails 64.
In above-mentioned alternative, the two ends of rocking arm 61 are claw structure, and the claw at the two ends of rocking arm 61 is assemblied in respectively first
On the axle sleeve 10 of the lower section of 62 and second motor cabinet of motor cabinet 63.The relative motion of the first motor cabinet 62 and the second motor cabinet 63 drives
The two ends of rocking arm 61 are rotated around central shaft 9.The middle part of rocking arm 61 offers through hole, and central shaft 9 leads to through above-mentioned
Hole coordinates with rocking arm 61, and the rotary motion of rocking arm 61 is transferred to central shaft 9, and location variation is transferred to into central shaft 9.
In the alternative of the present embodiment, testing agency 7 includes angle detection device 71, central axle bed 72 and return unit
73。
Central axle bed 72 is arranged at the lower section of central shaft 9 for supporting central shaft 9；Return unit 73 is arranged at central shaft 9 with
Abut between the axle bed 72 of centre and with central shaft 9；Angle detection device 71 is arranged at the end away from link gear 6 of central axle bed 72
Portion, angle detection device 71 obtains position signalling according to the location variation of central shaft 9.Return unit 73 is when central shaft 9 rotates
Reduce or drive central shaft 9 to be returned to initial position when cancelling in storage power state, and suffered external force on central shaft 9.
In above-mentioned alternative, protective ring is additionally provided with, protective ring includes upper protective ring and lower portion ring, top
Protective ring and lower portion ring are detachably connected.Lower portion ring passes through central axle bed 72, bottom along the axis direction of protective ring
Protective ring is located at the lower section of return unit 73.Upper protective ring is located at the top of central shaft 9.Protective ring be used for protect central shaft 9 with
And return unit 73, it is to avoid central shaft 9 and return unit 73 are mechanically damaged.
In above-mentioned alternative, angle detection device 71 is arranged at the end away from link gear 6 of central axle bed 72, angle
Degree detection means 71 obtains position signalling according to the location variation of central shaft 9.As one of which preferably embodiment, angle
Degree detection means 71 is set to angular transducer, angular transducer detection angles variable quantity, and obtains angle according to angle variable quantity
Degree signal.
In above-mentioned alternative, return unit 73 is set to back-moving spring, and back-moving spring is when central shaft 9 rotates in storage power
State, and drive central shaft 9 to be returned to initial position when central shaft 9 stops the rotation.Back-moving spring causes Self-Balancing vehicle turning
To after the completion of, link gear 6 is returned to initial rest position.
In the alternative of the present embodiment, controlling organization 8 includes attitude transducer 81 and control circuit 82.
Attitude transducer 81, for gathering the gravity center shift amount of human body, according to gravity center shift center of gravity signal is measured, and will
Center of gravity signal is transferred to control circuit 82, so that control circuit 82 extracts corresponding control instruction, above-mentioned control instruction is used to control
Make the first driving wheel 2 and the second driving wheel 3 advances or retreats.
Control circuit 82, for gathering pressure signal, the attitude sensing of first pressure sensor and second pressure sensor
The center of gravity signal of device 81 and the position signalling of angle detection device 71, and pressure signal, center of gravity signal and position signalling are carried out
Control instruction is obtained after comprehensive computing.
In above-mentioned alternative, controlling organization 8 be arranged at testing agency 7 away from one end of link gear 6 and with base plate institute
Plane it is parallel, controlling organization 8 can be folded upward at relative to base plate.
In the alternative of the present embodiment, be additionally provided with safety switch 11 on car body 1, safety switch 11 in a triggered,
Self-Balancing vehicle stops turning to.Arrange safety switch 11 the reason for be：Car body 1 is necessarily caused to incline when operator gets on the bus or gets off
Tiltedly, the controlling organization 8 in car body 1 can produce the control instruction of steering under the inclination conditions of car body 1, operator get on the bus or under
Unexpected rotation during car, be easily caused operator it is injured the problems such as occur, in order to avoid the generation of the problems referred to above, arrange
There is safety switch 11, after safety switch 11 is triggered, Self-Balancing vehicle stops turning to.
Also need to remark additionally be：The control process advanced with regard to Self-Balancing vehicle or retreat is summarized as follows：
When operator's both feet are located on Self-Balancing vehicle, the first sensor under the first pedal position 4 receives pressure variety
Produce first pressure signal and by above-mentioned first pressure signal transmission to controlling organization, the second sensor under the second pedal position 5
Receive pressure variety and produce second pressure signal and by above-mentioned second pressure signal transmission to controlling organization, controlling organization is same
When receive after first pressure signal and second pressure signal enter ready state.When operator's centre of body weight lean forward or after
Face upward, attitude transducer 81 receives corresponding center of gravity signal and above-mentioned center of gravity signal is transferred to into controlling organization, and controlling organization connects
Receive and control after center of gravity signal the first driving wheel 2 and the second driving wheel 3 advances or retreats.
Embodiment 2
The embodiment is another preferred version mutually arranged side by side with embodiment 1, the institute of embodiment 1 outside distinguishing feature
Disclosed technical scheme belongs to the scope disclosed in the present embodiment, the skill disclosed in embodiment 1 outside distinguishing feature
Art scheme is not repeated description, and the present embodiment is with the distinguishing feature of embodiment 1：The structure of link gear 6 is different, tool
For body：
Please with reference to Fig. 6 to Fig. 7, link gear 6 includes rocking arm 61, the first motor cabinet 62, the second motor cabinet 63 and rotation
Turn fixed mechanism 65；
First motor cabinet 62 and the second motor cabinet 63 are divided into the both sides of rocking arm 61, the first motor cabinet 62 and the second motor cabinet
63 middle part offers the through hole for installing motor, and rocking arm 61 is near the end of the first motor cabinet 62 and the second motor cabinet 63
Portion is hinged respectively by axle sleeve 10 with the bottom of the first motor cabinet 62 and the second motor cabinet 63, the first motor cabinet 62 and the second motor
Seat 63 is connected and with rotating fixing machine 65 as a spot wobble by rotating fixing machine 65；
Gravity center of human body deviates the center of car body 1 inclines the first driving wheel 2 and the second driving wheel 3, connects the first driving wheel 2
Motor run-off the straight with the second driving wheel 3 simultaneously drives the first motor cabinet 62 and the second motor cabinet 63 to be with rotating fixing machine 65
Spot wobble is propped up, the two ends of rocking arm 61 are revolved under the opposing force of the first motor cabinet 62 and the second motor cabinet 63 around central shaft 9
Turn.
Two rotating fixing machines 65 are provided with, two rotating fixing machines 65 are connected by connecting shaft 12, the first motor
The motor cabinet 63 of seat 62 and second is with connecting shaft 12 as a spot wobble.
Rotating fixing machine 65 includes：It is horizontally set between the first motor cabinet 62 and the second motor cabinet 63 and electric with first
The connecting rod 651 that the motor cabinet 63 of support 62 and second is hinged, and perpendicular to connecting rod 651 and with consolidating that the middle part of connecting rod 651 is hinged
Fixed rack 652, the lower end of fixed support 652 offers the axis hole for installing central shaft 9.
In above-mentioned alternative, two upper ends of rotating fixing machine 65 are additionally provided with connecting plate, solid to fix two rotations
Determine mechanism 65.
Finally it should be noted that：Various embodiments above is only illustrating the technical solution of the utility model, rather than it is limited
System；Although being described in detail to this utility model with reference to foregoing embodiments, one of ordinary skill in the art should
Understand：It still can modify to the technical scheme described in foregoing embodiments, either to which part or whole
Technical characteristic carries out equivalent；And these are changed or are replaced, the essence for not making appropriate technical solution departs from this practicality newly
The scope of each embodiment technical scheme of type.
Claims (10)
1. a kind of double-wheel self-balancing car, including car body (1), the first driving wheel (2) for being respectively arranged at the car body (1) both sides and
Second driving wheel (3), the first pedal position (4) being arranged on the outside of first driving wheel (2) and be arranged at it is described second drive
The second pedal position on the outside of wheel (3), it is characterised in that
Link gear (6), testing agency (7) and controlling organization (8) are provided with the car body (1), wherein：
Link gear (6) connects first driving wheel (2) and second driving wheel (3), for keeping the first driving wheel (2)
Synchronously roll with the second driving wheel (3), and the location variation of first driving wheel (2) and the second driving wheel (3) is transmitted
To testing agency (7)；
Testing agency (7) is connected with the link gear (6) by central shaft (9), and according to the location variation position is obtained
Signal, and the position signalling is transferred to into controlling organization (8)；
For extracting corresponding control instruction according to the position signalling, the control instruction is used to control institute controlling organization (8)
Stating the first driving wheel (2) and second driving wheel (3) carries out steering operation.
2. double-wheel self-balancing car according to claim 1, it is characterised in that：First pedal position (4) is provided with when acceptance
The first pressure sensor of pressure signal is produced during pressure variety, and second pedal position (5) is provided with to work as and receives pressure change
The second pressure sensor of pressure signal, the first pressure sensor and the second pressure sensor and institute are produced during change amount
State controlling organization (8) connection；
When in the first pressure sensor and the second pressure sensor produces pressure signal, the control machine
Structure (8) controls the Self-Balancing vehicle to be stopped turning to operation；
When the first pressure sensor and the second pressure sensor produce pressure signal, the controlling organization (8)
Control the Self-Balancing vehicle and advanced, retreated or turned to operation.
3. double-wheel self-balancing car according to claim 1, it is characterised in that：The link gear (6) including rocking arm (61),
First motor cabinet (62), the second motor cabinet (63) and slide rail (64)；
First motor cabinet (62) and second motor cabinet (63) are divided into the both sides of the rocking arm (61), and described first is electric
The middle part of support (62) and second motor cabinet (63) offers the through hole for installing motor, first motor cabinet
(62) it is threaded onto on the slide rail (64) and slides with the slide rail (64) with second motor cabinet (63) in the vertical direction
Connection；The rocking arm (61) is passing through axle sleeve near the end of first motor cabinet (62) and second motor cabinet (63)
(10) it is hinged with the bottom of first motor cabinet (62) and second motor cabinet (63) respectively；
Gravity center of human body deviates the center of car body (1) inclines first driving wheel (2) and second driving wheel (3), connection
The motor of first driving wheel (2) and second driving wheel (3) inclines and drives first motor cabinet (62) and described
Second motor cabinet (63) is along the axis direction relative motion of the slide rail (64), and the two ends of the rocking arm (61) are electric described first
Rotate around the central shaft (9) under the opposite effect power of support (62) and second motor cabinet (63).
4. double-wheel self-balancing car according to claim 1, it is characterised in that：The link gear (6) including rocking arm (61),
First motor cabinet (62), the second motor cabinet (63) and rotating fixing machine (65)；
First motor cabinet (62) and second motor cabinet (63) are divided into the both sides of the rocking arm (61), and described first is electric
The middle part of support (62) and second motor cabinet (63) offers the through hole for installing motor, and the rocking arm (61) is being leaned on
The end of nearly first motor cabinet (62) and second motor cabinet (63) pass through axle sleeve (10) respectively with first motor
The bottom of seat (62) and second motor cabinet (63) is hinged, and first motor cabinet (62) and second motor cabinet (63) are logical
Cross the rotating fixing machine (65) connection and with the rotating fixing machine (65) as a spot wobble；
Gravity center of human body deviates the center of car body (1) inclines first driving wheel (2) and second driving wheel (3), connection
The motor of first driving wheel (2) and second driving wheel (3) inclines and drives first motor cabinet (62) and described
Second motor cabinet (63) is with the rotating fixing machine (65) as a spot wobble, and the two ends of the rocking arm (61) are electric described first
Rotate around the central shaft (9) under the opposite effect power of support (62) and second motor cabinet (63).
5. double-wheel self-balancing car according to claim 4, it is characterised in that：On the axis direction of the central shaft (9)
It is arranged with two rotating fixing machines (65) in parallel, two rotating fixing machines (65) are connected by connecting shaft (12), institute
The first motor cabinet (62) and second motor cabinet (63) are stated with the connecting shaft (12) as a spot wobble.
6. double-wheel self-balancing car according to claim 5, it is characterised in that：The rotating fixing machine (65) includes：It is horizontal
To be arranged between first motor cabinet (62) and second motor cabinet (63) and with first motor cabinet (62) and institute
State connecting rod (651) that the second motor cabinet (63) is hinged and perpendicular to the connecting rod (651) and with the connecting rod (651) in
The fixed support (652) that portion is hinged, the lower end of the fixed support (652) offers the axle for installing the central shaft (9)
Hole.
7. double-wheel self-balancing car according to claim 1, it is characterised in that：The testing agency (7) is detected including angle
Device (71), central axle bed (72) and return unit (73)；
The central axle bed (72) is arranged at the central shaft (9) lower section for supporting the central shaft (9)；The return unit
(73) it is arranged between the central shaft (9) and the central axle bed (72) and abuts with the central shaft (9)；The angle inspection
Survey device (71) and be arranged at the one end of the central axle bed (72) away from the link gear (6)；
The angle detection device (71) obtains position signalling according to the location variation of the central shaft (9)；
The return unit (73) is in when the central shaft (9) rotates and stores power state, and suffered on the central shaft (9)
External force reduces or drives the central shaft (9) to be returned to initial position when cancelling.
8. double-wheel self-balancing car according to claim 7, it is characterised in that：
The angle detection device (71) is set to angular transducer；
And/or；
The return unit (73) is set to back-moving spring.
9. double-wheel self-balancing car according to claim 8, it is characterised in that：First pedal position (4) is provided with when acceptance
The first pressure sensor of pressure signal is produced during pressure variety, and second pedal position (5) is provided with to work as and receives pressure change
The second pressure sensor of pressure signal is produced during change amount；
The controlling organization (8) includes attitude transducer (81) and control circuit (82)；
The attitude transducer (81), for gathering the gravity center shift amount of human body, according to the gravity center shift center of gravity letter is measured
Number, and the center of gravity signal is transferred to into the control circuit (82)；
The control circuit (82), the pressure for gathering the first pressure sensor and the second pressure sensor is believed
Number, the position signalling of the center of gravity signal of the attitude transducer (81) and the angle detection device (71), and by the pressure
Signal, the center of gravity signal and the position signalling carry out obtaining control instruction after comprehensive computing.
10. the double-wheel self-balancing car according to any one of claim 1-9, it is characterised in that：Also set up on the car body (1)
There is safety switch (11), in a triggered, Self-Balancing vehicle stops turning to the safety switch (11).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620935258.5U CN206125270U (en) | 2016-08-24 | 2016-08-24 | Two -wheeled self -balancing vehicle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620935258.5U CN206125270U (en) | 2016-08-24 | 2016-08-24 | Two -wheeled self -balancing vehicle |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206125270U true CN206125270U (en) | 2017-04-26 |
Family
ID=58565727
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201620935258.5U Expired - Fee Related CN206125270U (en) | 2016-08-24 | 2016-08-24 | Two -wheeled self -balancing vehicle |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN206125270U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106080893A (en) * | 2016-08-24 | 2016-11-09 | 吴岳 | Double-wheel self-balancing car |
-
2016
- 2016-08-24 CN CN201620935258.5U patent/CN206125270U/en not_active Expired - Fee Related
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106080893A (en) * | 2016-08-24 | 2016-11-09 | 吴岳 | Double-wheel self-balancing car |
| CN106080893B (en) * | 2016-08-24 | 2019-06-04 | 吴岳 | Double-wheel self-balancing vehicle |
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