CN206644918U - Human-computer interaction body-sensing car - Google Patents

Abstract

A kind of human-computer interaction body-sensing car provided by the utility model, it includes car body and two wheels on car body, the wheel can rotate around car body in radial directions；The car body further comprises a support frame, two foot pedal apparatus being arranged on the support frame, to sense the first position sensor by force information of the relatively described support frame of described two foot pedal apparatus, to drive the drive device of the wheel and the control device to be controlled the drive device to drive the wheel movement or rotation by force information described in basis, the support frame is integral structure and is connected with vehicle wheel rotation, the support frame is provided with the guide rail of depression, it is inserted with that the foot pedal apparatus fixed support for holding the foot pedal apparatus is installed on the guide rail.In this way, it is simple in construction, it is easy to assemble.

Description

Human-computer interaction body-sensing car

Technical field

It the utility model is related to a kind of balance car, and in particular to a kind of human-computer interaction body-sensing car.

Background technology

Human-computer interaction body-sensing car, is called electrodynamic balance car, thinking car, and its operation principles is mainly built upon one kind and is referred to as In the general principle of " dynamic stability ", using the gyroscope and acceleration transducer of vehicle body, to detect the change of vehicle body attitude Change, and utilize servo-control system, accurately motor is adjusted correspondingly, to keep the balance of system.

Existing human-computer interaction body-sensing car has been generally divided into action bars and without this two class of action bars, wherein the people with action bars Machine interaction body-sensing car, advance, retrogressing and the steering of its human-computer interaction body-sensing car carry out concrete operations control by action bars.And Without the human-computer interaction body-sensing car of action bars, advance, the retrogressing of its human-computer interaction body-sensing car are by whole human-computer interaction body-sensing car Inclination control, steering is then ridden on foot platform by user, and passes through relative rotation angle between two foot platforms Degree difference is realized to be controlled.Wherein, the two-wheeled human-computer interaction body-sensing car without action bars is mainly patent Double-wheel self-balancing human-computer interaction body-sensing Che Wei disclosed in CN201410262108.8 is represented, and the inner cap in the balance car includes pair Claim the left inside lid of setting and right inner cap, and the relatively right inner cap rotation connection of left inside lid.

So, the balance car, which has been used for the inner cap that support frame acts on, need to include left inside lid and right inner cap, and structure is relatively multiple It is miscellaneous.

Utility model content

The utility model is a kind of human-computer interaction body-sensing car simple for structure in order to overcome prior art and propose.

To achieve these goals, the utility model provides a kind of human-computer interaction body-sensing car, and it includes car body and located at car Two wheels on body, the wheel can rotate around car body in radial directions；The car body further comprise a support frame, Two foot pedal apparatus being arranged on the support frame, to sense the relatively described support frame of described two foot pedal apparatus by The first position sensor of force information, to drive the drive device of the wheel and to according to described in controlled by force information The drive device drives the control device that the wheel is mobile or rotates, and the support frame is integral structure and and wheel Rotation connection, the support frame are provided with the guide rail of depression, are inserted with to install the fixing foot-operated dress on the guide rail The foot pedal apparatus fixed support put.

As further improvement of the utility model, the guide rail extends in left-right direction, and before support frame Side and/or rear side.

As further improvement of the utility model, the guide rail left and right ends be inserted with to respectively with the pin of left and right two Step on the foot pedal apparatus fixed support that device mutually installs fixing.

As further improvement of the utility model, it is described to plug left and right two support bracket fastened one side of foot pedal apparatus Guide rail is integrated extension or separate.

As further improvement of the utility model, the track cross-section is T fonts.

As further improvement of the utility model, the foot pedal apparatus fixed support includes described to be laterally inserted in Plugging portion and extending outward the guide rail in guide rail holds the installation portion of the foot pedal apparatus to install.

As further improvement of the utility model, the installation portion is provided with to hold the holding hole of foot pedal apparatus.

As further improvement of the utility model, the installation portion and being provided with up and/or down between portion is plugged Fit the support alar part of extension with support frame.

As further improvement of the utility model, the support frame be along the axially extending circular tube shaped of wheel, it is described Guide rail and foot pedal apparatus fixed support are respectively positioned on the top half of the support frame.

As further improvement of the utility model, the cross section that plugs is T fonts.

As further improvement of the utility model, chi of the support frame before and after car body and/or on above-below direction It is very little to be less than wheel diameter.

It is to be fixedly connected as further improvement of the utility model, between the foot pedal apparatus and support frame.

As further improvement of the utility model, the first position sensor is pressure sensor.

As further improvement of the utility model, the first position sensor is sensing the foot pedal apparatus pressure Change information.

As further improvement of the utility model, the control device is to according to the stress between two foot pedal apparatus Information gap drives the wheel mobile or rotated.

As further improvement of the utility model, the same foot pedal apparatus is provided with different to sense same sole Two first position sensors of pressure information, the control device is to the pressure according to described two first position sensors Difference drives the wheel mobile or rotated.

As further improvement of the utility model, whether the first position sensor has to sense on foot pedal apparatus User, to control the start and stop of wheel.

As further improvement of the utility model, the human-computer interaction body-sensing car further comprises power supply, the power supply To the drive device, first position sensor and control device power, the control device to control the power supply, Drive device and first position sensor, and sent according to what first position sensor was sensed by force information to drive device Drive signal, so as to which driving moment rotates.

As further improvement of the utility model, the drive device is arranged in support frame or in wheel.

As further improvement of the utility model, the foot pedal apparatus includes pedal bottom plate and on pedal bottom plate The foot pad of side, the first position sensor are arranged at below the foot platform.

As further improvement of the utility model, the human-computer interaction body-sensing car further comprises sensing support rib The second place sensor of the inclination information of frame relative wheel.

As further improvement of the utility model, the second place sensor includes gyroscope, acceleration transducer And/or photoelectric sensor.

Due to the utilization of above-mentioned technical proposal, the utility model possesses advantages below：

Human-computer interaction body-sensing bassinet structure of the present utility model is succinct, and the support frame is provided with the guide rail of depression, institute State and be inserted with that the foot pedal apparatus fixed support for holding the foot pedal apparatus is installed on guide rail.It is arranged such, it is simple in construction, just In assembling, and the support frame can assemble with the foot pedal apparatus fixed support after separately manufacturing, be easy to according to both Particular requirement selection carries out different manufacturing process flows.

Brief description of the drawings

Fig. 1 is the three-dimensional combination figure of the utility model human-computer interaction body-sensing car.

Fig. 2 is the three-dimensional combination figure of another angle of the utility model human-computer interaction body-sensing car.

Fig. 3 is the three-dimensional combination figure of the another angle of the utility model human-computer interaction body-sensing car.

Fig. 4 is along the sectional view of line A-A in Fig. 3.

Fig. 5 is the part isometric exploded view of the utility model human-computer interaction body-sensing car wheel.

Fig. 6 is the three-dimensional combination figure of wheel relevant portion in Fig. 5.

Fig. 7 is the three-dimensional combination figure of car body relevant portion in Fig. 5.

Fig. 8 is the three-dimensional exploded view of the utility model human-computer interaction body-sensing car.

Fig. 9 is the three-dimensional exploded view of another angle of the utility model human-computer interaction body-sensing car.

Figure 10 is the support bracket fastened three-dimensional structure diagram of foot pedal apparatus of the utility model human-computer interaction body-sensing car.

Figure 11 is the structure decomposition figure of foot pedal apparatus in Fig. 8.

Figure 12 is the structure decomposition figure of another angle of foot pedal apparatus in Figure 11.

Figure 13 is the structure decomposition figure of wheel relevant portion in Fig. 8.

Figure 14 is the structure decomposition figure of another angle of wheel relevant portion in Figure 13.

Figure 15 is the structure decomposition figure of car body relevant portion in Fig. 8.

Figure 16 is the structure decomposition figure of another angle of car body relevant portion in Figure 15.

Embodiment

In order that the purpose of this utility model, technical scheme and advantage are more clearly understood, below in conjunction with accompanying drawing and implementation Example, the utility model is further elaborated.It should be appreciated that specific embodiment described herein is only explaining this Utility model, not limiting the utility model.

Refer to shown in Fig. 1 to Figure 16, be the structural representation of the utility model human-computer interaction body-sensing car 100, it includes Car body 10 and two wheels 20 on car body 10, the wheel 20 can rotate around car body 10 in radial directions；The car Body 10 further comprises a support frame 11, is arranged on the support frame 11 two foot pedal apparatus 12, first position sensing Device 13, control device 15 and to drive the drive device (not shown) of the wheel 20, the support frame 11 is one whole Body structure and it is rotatablely connected with wheel 20, the first position sensor 13 is sensing described two foot pedal apparatus 12 with respect to institute That states support frame 11, by force information, is controlled the drive device driving institute by force information, the control device 15 according to described Wheel 20 is stated to move or rotate, the support frame 11 is provided with the guide rail 112 of depression, be inserted with the guide rail 112 to Installation holds the foot pedal apparatus fixed support 18 of the foot pedal apparatus 12.It is arranged such, it is simple in construction, it is easy to assemble, and it is described Support frame 11 can assemble with the foot pedal apparatus fixed support 18 after separately manufacturing, be easy to the particular requirement choosing according to both Select and carry out different manufacturing process flow, such as in some embodiments, the support frame 11 is tubulose, split system Making can be in order to which the support frame 11 be manufactured.The overall structure refers to relative to setting can be mutual in the prior art For the left inside lid and right inner cap that rotate, the support frame 11 is the structure of globality, in different embodiments, described whole Body structure can be that separable assembled is formed or is integrally formed.In addition, from the point of view of shape of cross section, the tubulose can include pipe The tubulose of shape, multiangular tubular or other random cross-sectional shapes；From the point of view of the extension mode on left and right directions, the tubulose is not Be limited to the tubulose of equal proportion extension, can also be the various tubuloses irregularly extended, for example, partial enlargement, part reduce, rotate, Displacement etc..

The guide rail 112 extends in left-right direction, and located at the front side of support frame 11 and/or rear side.Herein, institute Left and right directions is stated i.e. along the axial direction of wheel 20.It is arranged such, the foot pedal apparatus fixed support 18 can be inserted in left-right direction It is connected on the support frame 11, the foot pedal apparatus fixed support 18 can be made to be held power by preferable in the vertical direction, Beneficial to the support to foot pedal apparatus 12 upwards.

The left and right ends of guide rail 112 are inserted with to foot-operated with the phase of the foot pedal apparatus 12 installation fixing of left and right two respectively Device fixed support 18.It is arranged such, two foot pedal apparatus 12 in the left and right are immobilizated in the foot pedal apparatus fixed support 18 On.In the present embodiment, it is described to prolong to plug the unilateral guide rail 112 of the two foot pedal apparatus fixed supports 18 in left and right and be integrated Stretch.It is described it is unilateral be front side or rear side, for example, the same guide rail 112 of the front side can grafting simultaneously holding two respectively The foot pedal apparatus fixed support 18 of foot pedal apparatus 12, centre are not interrupted, in this way, it is simple in construction, manufacture and easy to assembly.At other In embodiment, the unilateral guide rail 112 or independently of each other setting.

The cross section of guide rail 112 is T fonts.It is arranged such, the foot pedal apparatus fixed support 18 can be inserted in described Prevent from outwards departing from guide rail 112.Certainly, in other embodiments, the cross section of guide rail 112 may be configured as other shapes Shape, such as triangle, circle etc., the bore of the opening of the guide rail need to be only caused to be less than the size of guide rail interior bore so that institute It is difficult for drop-off to state foot pedal apparatus fixed support 18.

The foot pedal apparatus fixed support 18 include to laterally be inserted in the guide rail 112 plug portion 181 and Extend outward the guide rail 112 and hold the installation portion 183 of the foot pedal apparatus 12 to install.It is arranged such, it is described foot-operated Device fixed support 18 can be immobilizated on support frame 11 to hold the foot pedal apparatus 12.

The installation portion 183 is provided with to hold the holding hole 101 of foot pedal apparatus 12.It is arranged such, the holding hole Can be held on 101 wear the retaining pieces such as nut realize and foot pedal apparatus 12 between firm connection.

The installation portion 183 and plug and be provided with the extension that fitted up and/or down with support frame 11 between portion 181 Support alar part 182.It is arranged such, the support alar part 182 can be held on the support frame 11 in the vertical direction, be carried The intensity of the high foot pedal apparatus fixed support 18 is stable so as to improve the fixing between foot pedal apparatus 12 and support frame 11 Property.

In the present embodiment, the support frame 11 be along the axially extending circular tube shaped of wheel 20, the guide rail 112 and Foot pedal apparatus fixed support 18 is respectively positioned on the top half of the support frame 11.It is arranged such, the support frame 11 can be to On provide preferable holding power to the foot pedal apparatus fixed support 18.Certainly, the guide rail 112 and foot pedal apparatus fixed support 18 top halfs for being arranged at the support frame 11 are preferential embodiment, but described setting is not that this practicality is new The limitation that type is created.In other embodiments, the guide rail 112 and foot pedal apparatus fixed support 18 may be alternatively located at the support The middle part or the latter half of skeleton 11.

The cross section of portion 181 that plugs is T fonts.It is arranged such, the portion 181 that plugs can be tight between guide rail 112 Coordinate, improve fixing stability.In other embodiments, the corresponding cross section of guide rail 112 in the plug division 118 can be set It is set to circle, triangle etc..

The human-computer interaction body-sensing car 100 further comprises power supply 16, and the power supply 16 is to the drive device, One position sensor 13 and control device 15 are powered, and the control device 15 is controlling the power supply 16, drive device and One position sensor 13, and the stress sensed according to first position sensor 13 sends drive signal to drive device, from And driving moment 20 rotates.

Axletree 21 is provided between the wheel 20 and car body 10, the wheel 20 is rotatablely connected by the axletree 21 In on the car body 10.

Preferably, the center of gravity of car body 10 is less than the axletree 21.It is arranged such, in the human-computer interaction body-sensing car 100 in operation or non-operating state, and center of gravity can be overhang the axletree 21 by the car body 10 all the time as an entirety Following position, car body 10 can be kept to keep original state not to be flipped up；Car body 10 is flipped up even by external force, Because the effect of gravity still can make car body 10 being returned to original position, so as to be very easy to the use of user. In other embodiment, the center of gravity of the car body 10 may be alternatively provided as being not below the axletree 21, the body gravity The reasons why limiting the utility model can not be turned into by setting.

The wheel 20 is rotationally connected with the car body 10 by the axletree 21 and can be regarded as various ways, is such as existed In one embodiment, wheel 20 can be immobilizated on axletree 21, axletree 21 is rotationally connected with car body 10；Or at it Can also be that axletree 21 is fixed on car body 10 in his embodiment, and wheel 20 rotates along axletree 21.

In the present embodiment, described one end of axletree 21 is connected with wheel 20, and the other end is connected with axletree and fixed Plate 23, the wheel axis fixing plate 23 are held with the phase of car body 10.In this way, the wheel 20 can be with the wheel axis fixing plate 23 are connected is assembled into support frame 11 up again afterwards, consequently facilitating the modularization group between support frame 11 and wheel 20 Dress.

The axletree 21 is fixed on the first half of wheel axis fixing plate 23.It is arranged such, when the wheel axis fixing plate After 23 are installed to support frame 11 up, it can preferably realize that the center of gravity of the car body 10 is located at axletree below 21.

The side of support frame 11 is provided with the motor fixing seat 3 being used for the secure fit of wheel axis fixing plate 23, The rear center of gravity of the motor fixing seat 3, which is assembled, with wheel axis fixing plate 23 is less than the axletree 21.It is arranged such, can be further Ensure that the center of gravity of car body 10 is less than the axletree 21.Specifically, the larger metal of quality can be used in the motor fixing seat 3 Etc. material, ensure that the center of gravity of car body 10 is located at axletree below 21 and keeps higher stability.

Gasket seal (not shown) is provided between the wheel axis fixing plate 23 and motor fixing seat 3.In this way, it can make described There is preferable dustproof and waterproof and other effects between car body 10 and wheel 20.

The support frame 11 is provided with the host cavity 110 for coordinating the motor fixing seat 3 to grafting, and the motor is fixed Seat 3 includes the inserted terminal 32 being positioned to grafting in host cavity 110 and connection inserted terminal 32 to be closed in host cavity 110 The cap 31 in outside.In this way, the motor fixing seat 3 can be fixed by the inserted terminal 32 and the installation of support frame 11, it is described Lid is closed in the outside of support frame 11 and plays preferable sealing effect.

Be provided with the power supply 16 in the host cavity 110, the motor fixing seat 3 is provided with laterally protruding out to collecting The locating dowel 312 of the power supply 16 is supported in chamber 110.In this way, the motor fixing seat 3 can prevent the power supply 16 or so from shaking It is dynamic, improve the structural stability inside car body 10.

The top of wheel 20 is provided with wheel cover 123, and the cap 31 of motor fixing seat 3 has upwardly extended to be consolidated to grafting The grafting installation foot 311 of the fixed wheel cover 123.In this way, the wheel cover 123, which can be stablized, is immobilizated in the motor fixing seat On 3, it is easy to assemble.In his embodiment, the wheel cover 123 can also be immobilizated on car body 10 by other means.

Left and right extension and phase interworking are provided between the host cavity 110 of car body 10 and the inserted terminal 32 of motor fixing seat 3 The stopper protrusion 111 of conjunction and spacing recess 321.It is arranged such, the motor fixing seat 3 on the one hand can be prevented in host cavity 110 Interior rotation；And can prevent two parts are counter to fill when assembling, fool proof positioning action is played, the stopper protrusion 111, which can also play, to be added Strengthening tendons acts on, and increases the intensity of support frame 11, improves the structural stability of car body 10.In other embodiments, the limit Position convex portion 111 can also be arranged on inserted terminal 3, and the spacing recess 321 is arranged in host cavity 110.

The wheel axis fixing plate 23 is perpendicular to the line direction of axletree 21.It is arranged such, the wheel axis fixing plate 23 exists Deflection is not susceptible to during by the active force of the fore-and-aft direction of car body 10 and/or above-below direction, improves the wheel axis fixing plate 23 Fixing stability between car body 10.In his embodiment, the wheel axis fixing plate 23 can also be not orthogonal to wheel The line direction of axle 21.

The drive device is provided with the cable for connecting the drive device in the wheel 20 in the axletree 21 211, the cable 211 extends the wheel axis fixing plate 23 to be connected with control device 15 and/or power supply 16.So Set, the drive device in the wheel 20 can be filled by the cable 211 through the wheel axis fixing plate 23 and the control Put 15 and/or power supply 16 be connected.The drive device is motor, and in other embodiments, the drive device can also It is arranged in car body 20.

What the motor fixing seat 3 was provided with depression holds the accepting groove 33 of the wheel axis fixing plate 23 to house.Such as This is set, and the wheel axis fixing plate 23, which can house, to be positioned in the accepting groove 33, so as to improve the external table of car body 10 The planarization in face.In his embodiment, the motor fixing seat 3 can also with a part or whole part of support frame 11 one into Type.

The wheel axis fixing plate 23 is rectangle, and the accepting groove 33 is the square corresponding with the wheel axis fixing plate 23 Shape.In other embodiments, or other shapes.It is arranged such, the pluggable positioning axletree of accepting groove 33 Fixed plate 23, the wheel axis fixing plate 23 is prevented to be moved or rotate.

Pedal bottom plate 121 of the foot pedal apparatus 12 including being located at the top of first position sensor 13, described first Position sensor 13 includes former and later two sensing element regions 1313, being provided between former and later two described sensing element regions 1313 To the middle part forced section 1312 directly or indirectly supported with support frame 11, described two sensing element regions 1313 it is front and rear The outside forced section 1311 that both sides are provided with to offset with the pedal bottom plate 121.In this way, the pedal bottom plate ought be stepped on downwards When 121, the outside forced sections 1311 of the front and rear sides by top-down power, and middle middle part forced section 1312 due to By resist force from bottom to top, make first position sensor 13 that the similar arch deformation arched upward upwards be presented, the deformation can To be interpreted as macroscopic deformation or microdeformation.So that the sensing element region 1313 of the rear and front end senses deflection. Described directly support refers to miscellaneous part is not present and directly contacts realization and supports between the two, and described support indirectly refers to both Between realized and support by the transmission of the power of miscellaneous part, such as in the present embodiment, the middle part forced section 1312 and branch Sensor fixed seat 125 is additionally provided with supporting between support bone frame 11.It please specifically join shown in Fig. 4, the pedal bottom plate 121 and Gap 5 is provided between one position sensor 13.The gap 5 can provide the sky to be arched upward upwards among first position sensor 13 Between.

Specifically, in the present embodiment, the gap 5 located at the middle part forced section 1312 and pedal bottom plate 121 it Between.In other embodiments, the gap 5 can be also located between whole first position sensor 13 and pedal bottom plate 121.

The first position sensor 13 includes the connection of former and later two ends 131 and the described two ends 131 of connection Portion 132, it is described to include the middle part forced section 1312, the outside forced section 1311 per one end 131 and positioned at described Sensing element region 1313 between middle part forced section 1312 and outside forced section 1311.It is arranged such, former and later two described ends Portion 131 can the difference of sole be had an effect and senses different pressure informations before and after respectively.For from another statement, described two Individual sensing element region 1313 is it can be appreciated that two different position sensors are sent out to test the different of front and rear sole respectively Power.

It is respectively equipped with two middle part forced section 1312 to consolidate with what the support frame 11 was directly or indirectly held Hole 101 is held, the holding hole 101 to be held with the phase of pedal bottom plate 121 is respectively equipped with two outside forced section 1311.So Set, the retaining pieces such as screw can be worn in the holding hole 101, be easy to assembling to fix.

In the present embodiment, the first position sensor 13 is I-shaped, in the lateral direction the connecting portion 132 Width be less than the end 131 width.It is arranged such, the connecting portion 132 can fix front and rear two middle part forced section 1312, strengthen the intensity of first position sensor 13, and the narrower connecting portion 132 can reduce first position sensor 13 Weight, on the other hand, also can the first position sensor 13 have preferably elasticity to improve sensing sensitiveness play necessarily Effect.

The foot pedal apparatus 12 is included directly to be held with the middle part phase of forced section 1312 described in first position sensor 13 Sensor fixed seat 125, the sensor fixed seat 125 with the support frame 11 directly or indirectly holding.So Setting, the first position sensor 13 is installed on support frame 11 again after being immobilizated in the sensor fixed seat 125, The first position sensor 13 can be protected in installation process again.

The foot pedal apparatus 12 also includes the lower casing 126 between the sensor fixed seat 125 and car body 10.Such as This, can improve the outboard structure planarization of car body 10, play preferably protection and beauty function.

The top of pedal bottom plate 121 is provided with foot pad 122, and the foot pad 122 is closed with the phase of lower casing 126 and connected.Pin Pad 122 can be soft rubber material or other, in this way, the wearability and frictional force of foot pad 122 can be increased, can also improve user Comfort, also play preferable water proof and dust proof effect.

It please join shown in Fig. 3, the foot pedal apparatus 12 is ellipticity.In this way, user's safety in utilization can be improved, and it is more beautiful See.In other embodiments, the foot pedal apparatus 12 can also be other shapes.

The support frame 11 is the foot pedal apparatus on the fore-and-aft direction of car body 10 along the axially extending tubulose of wheel 20 12 are wider than the width of the support frame 11.The lower section of foot pedal apparatus 12 is recessed to support described in partial receipt from bottom to top Skeleton 11.It is arranged such, the overall structural stability of the car body 10 can be improved.

The side of pedal bottom plate 121 is provided with to be covered in the wheel cover 123 of the top of wheel 20, the wheel cover 123 With the split settings of foot pedal apparatus 12.In this way, it is easy to implement both respective manufacturing process, in other embodiments, the pin Step on device 12 and can also integrally extend with the wheel cover 123 and form.In other embodiments, the wheel cover 123 and pin Stepping on the section components of device 12 can also be integrally formed.

The same foot pedal apparatus 12 is provided with to sense two of the same sole pressure information sensing element areas Domain 1313, the control device 15 according to the pressure differential in described two sensing element regions 1313 driving the wheel 20 to move Dynamic or rotation.

The control device 15 includes the master board 150 being horizontally set in tubular support skeleton 11.The tubulose is not It is limited to pipe, or the long cavate that cross section is other shapes.It is arranged such, the master board 150 can be utilized preferably The space of lengthwise host cavity 110 in the tubular support skeleton 11, improve space availability ratio.In his embodiment, the master Control panel 150 can be otherwise placed in support frame 11.

Power supply 16 is provided with the support frame 11, the master board 150 is provided with to electrical with the power supply 16 The battery mating interface 152 of docking.The power supply 16 is provided with to the relative battery interface connect with the battery mating interface 152 177.It is arranged such, is achieved a butt joint, can avoided more by modular interface between the power supply 16 and master board 150 Cable 211 shuttle, the generation for the problems such as avoiding 211 aging of cable, improve security.

The battery mating interface 152 is located at the middle part of the master board 150 in the lateral direction.In this way, it can improve The degree of balance of master control borad in itself, improve Assembly stability.In other embodiments, other positions be may also placed in.

The left and right ends of master board 150 are provided with the outside mating interface mutually electrically to be docked with both sides drive device 151.It can facilitate the outside mating interface 151 can be outwards relative with the interface of drive device and/or first position sensor 13 Connect, beneficial to realizing preferable modularization assembling.

It is provided between the support frame 11 and wheel 20 and is electrically connected with the drive device and to described in electrical dock The connector 25 of outside mating interface 151.The connector 25 can electrically dock with the outside mating interface 151, beneficial to reality Existing modularization assembling preferable between drive device and car body 10.

The outside mating interface 151 is located at the both ends of the power supply 16 in the lateral direction.In this way, the outside docking Interface 151 can preferably utilize the remaining space at the both ends of 11 interior power of support frame 16, convenient to be docked with motor, and improve branch Space availability ratio inside support bone frame 11.

The master board 150 is horizontally set at the top in the support frame 11, and the power supply 16 is located at the master The lower section of control panel 150.It is arranged such, can preferably protects the master board 150 not to be squeezed.

The front and rear sides of the top of the power supply 16 are provided with along left and right extension supporting the master board 150 upwards Support rib 1790, it is described to support the dead slot 179 being provided between rib 1790 between the master board 150 and power supply 16.Such as This, can preferably support outside the fixed master board 150, can also protect the element in master board 150 be not easy by To extruding.

In the present embodiment, the master board 150 is the strip along left and right extension.In this way, the master board 150 can improve space availability ratio preferably using the space on top in tubular support skeleton 11.It is described in his embodiment Master board 150 can also be other shapes.

Transmission connection member is provided with the human-computer interaction body-sensing car 100, the transmission connection member includes power delivery Part, Hall transmission part and to transmit the temperature transmission part of temperature signal.It is arranged such, the temperature transmission part can To transmit the temperature signal of human-computer interaction body-sensing car 100 to control device 15, when the corresponding component temperature of human-computer interaction body-sensing car 100 When degree reach a certain height, the corresponding defence programs such as shutdown can be started, improve the safety in utilization of human-computer interaction body-sensing car 100.

The transmission part can be cable or plug terminal.In this way, signal transmission can be achieved.It is appreciated that this place The plug terminal be not limited to be arranged in diagram plug terminal 252 between power supply 16 and drive device or other Place is substituting the plug terminal of cable.State cable and be also not necessarily limited to illustrated cable 211 or set in this place Put cable elsewhere.

In the utility model different embodiments, when the transmission part is cable, 5 Hall lines, 2 can be included Bar or 1 temperature line, 3 power lines.When the transmission part is plug terminal, can include 3 power supply terminals, 5 suddenly That terminal, 2 or 1 temperature terminal.Certainly, wire is used in other embodiments or partly, is partly adopted It is transmitted with terminal.For example, in the present embodiment, the plug terminal 252 can be provided with power supply terminal, but be not provided with Hall Terminal, corresponding function is realized by separately powering up pond order wire.

Power supply 16 is provided with the support frame 11, the inside of power supply 16 is provided with to monitor the internal temperature of power supply 16 Temperature sensor (not shown), the temperature transmission part connect the temperature sensor.In this way, can be used to sensing power supply 16 is It is no temperature overheating to be present, improve safety in utilization.

Axletree 21 is provided between the wheel 20 and car body 10, the wheel 20 is rotatablely connected by the axletree 21 In on the car body 10, the drive device is in the wheel 20, and the drive device is motor, the main control Plate 150 is provided with to control the drive circuit of the drive device (not shown), is provided with the axletree 21 described in connection The cable 211 of drive device, the cable 211 extend the axletree 21 to be connected with a connector 25.Such as This is set, and the power supply, Hall and temperature transmission part are provided between the drive device and the connector 25.In other realities Apply in mode, temperature transmission part can also be not provided between the drive device and the connector 25, be i.e. drive device can To be not provided with temperature sensor,

The connector 25 includes a frame mouth 251 and the corresponding institute for connecting the cable 211 in the frame mouth 251 State plug terminal 252.

The power supply 16 is connected with outside mating interface 151, and the outside mating interface 151 and the connector 25 are mutual Docking.In this way, the connector 25 relative with outside mating interface 151 can connect, improve between drive device and power supply 16 Modularization assembling degree, improve security.

Further, connected between power supply 16 and outside mating interface 151 by master board 150, the power supply 16 with The battery mating interface 152 and battery interface 177 being mutually inserted, the outside mating interface 151 are provided between master board 150 In the master board 150, connected between the outside mating interface 151 and power supply 16 by the master board 150. In this way, further increasing the modularization assembling degree between master board 150 and power supply 16, security is improved.

The outside of wheel 20 is provided with wheel cover 123, and the wheel cover 123 is provided with anticollision glue 127.It is arranged such, During use, the wheel cover 123 can be preferably protected.

Specifically, the anticollision glue 127 is convexly equipped in the outside of the wheel cover 123.In this way, it is simple in construction, it is easy to assembly. In other embodiments, the anticollision glue 127 can be also embedded in inside wheel cover 123, using being different from the slow of wheel cover 123 Wear-resistant material is rushed, material saving cost while improving durability.

Join described in Fig. 1, the anticollision glue 127 is located at the front and rear sides of wheel cover 123.In this way, material saving cost. In other embodiment, also anticollision glue 127 can be also installed at other positions.

The wheel cover 123 is immobilizated on the car body 10.The car body 10 includes being located at the wheel 20 and support rib Motor fixing seat 3 between frame 11.The motor fixing seat 3 positions the wheel 20 to be pivotally connected.

The motor fixing seat 3 upwardly extends the grafting installation foot 311 to wheel cover described in plugged and fixed 123, institute State the lower section of wheel cover 123 be provided be recessed from bottom to top housing the installation slot 1230 of the grafting installation foot 311.Such as This, the wheel cover 123 can realize stable fixing with the motor fixing seat 3, and simple in construction, and assembling is firm.

The lower section of wheel cover 123 is provided with the fixed column protruded out from top to bottom positioned at installation slot 1230 front and rear sides 1231, the motor fixing seat 3 be provided with positioned at the front and rear sides of grafting installation foot 311 and be recessed from top to bottom to grafting house The fixing groove 313 of the fixed fixed column 1231.So can further it improve between wheel cover 123 and motor fixing seat 3 Hold stability.

By size of the support frame 11 before and after car body 10 and/or on above-below direction is less than the diameter of wheel 20 and institute It is to be provided with along the axially extending circular tube shaped of wheel 20, the wheel cover 123 to cover the wheel cap of wheel 20 to state support frame 11 Portion 1241 and the extension 1242 extended from wheel cap 1241 to the streamlined contraction in the direction of support frame 11.It is in this way, described Extension 1242 can make have preferable dustproof and waterproof function between the wheel 20 and car body 10, and can improve human-computer interaction body Feel the overall structure fluency of car 100, be easy to user to clean.

The installation gap 124 that the extending end of extension 1242 is provided with to be engaged with the support frame 11, such as This, improves the overall structural stability of human-computer interaction body-sensing car 100.

The support frame 11 is provided with the guide rail 112 of depression, and light bar 4 is inserted with the guide rail 112.It is arranged such, Simple installation；The light bar 4 can make the human-computer interaction body-sensing car 100 have preferably warning recognition reaction when in use, carry The traffic safety of high user.

The guide rail 112 extends in left-right direction, and located at the front side of support frame 11 and/or rear side.In this way, make described Light bar 4 can be located at front side and/or the rear side of the support frame 11.

Also it is inserted with that the foot pedal apparatus fixed support 18 for holding the foot pedal apparatus 12 is installed on the guide rail 112. It is arranged such, the foot pedal apparatus fixed support 18 and light bar 4 can share a guide rail 112, be easy to manufacture.

The left and right ends of guide rail 112 are inserted with to foot-operated with the phase of the foot pedal apparatus 12 installation fixing of left and right two respectively Device fixed support 18, the light bar 4 is between the both ends foot pedal apparatus fixed support 18.In an assembling process, can incite somebody to action Light bar 4 is first assigned into the guide rail 112, then the foot pedal apparatus fixed support 18 of the both sides is assigned into the both sides of light bar 4 In guide rail 112, it is easy to assemble.

The rear side of light bar 4 is fixed with the fixed strip 41 being plugged in the guide rail 112.It is arranged such, can be by lamp Band 4 is easy to being manufactured for light bar 4 with being fitted together after the separately manufacturing of fixed strip 41.

The cross section of guide rail 112 is T fonts.The cross section of fixed strip 41 is T fonts.It is arranged such, the fixation Bar 41 tightly coordinates with guide rail 112, improves the fixing stability between light bar 4 and support frame 11.In other embodiments, The cross section can also be other shapes, and guarantee does not depart from after plugging.

The support frame 11 is along the axially extending circular tube shaped of wheel 20, the guide rail 112, foot pedal apparatus fixed support 18 and light bar 4 be respectively positioned on the top half of the support frame 11.It is arranged such, the support frame 11 can be upwards to the pin Step on device fixed support 18 and preferable holding power is provided.In other embodiments, the guide rail 112, foot pedal apparatus fix branch Frame 18 and light bar 4 can be located at the middle part or the latter half of the support frame 11.

Being provided with the support frame 11 along the axially extending lengthwise open power supply 16 of wheel 20, the power supply 16 includes battery Shell 17, the battery case 17 and support frame 11 are metal material.It is arranged such, outside the battery of the metal material Shell 17 can make the power supply 16 be anti-explosion battery, and the support frame 11 of the metal material makes the explosion-proof electrical source 16 have more Further protection, the double-level-metal material protection can be greatly enhanced the security of the human-computer interaction body-sensing car 100, Power supply 16 is avoided to explode caused security incident.

In the present embodiment, the support frame 11 is aluminum pipe.In other embodiments, the support frame 11 Can be other metal materials.

The limited impression 170 to cooperate and stopper protrusion 111 are provided between the battery case 17 and support frame 11. It is arranged such, beneficial to the positioning between the power supply 16 and support frame 11, is not susceptible to mutual displacement, improves overall Stability, and anti-reverse mounting can be played a part of in assembling.

Size of the support frame 11 before and after car body 10 and/or on above-below direction is less than the diameter of wheel 20.So set Put, the car body 10 has less size on front and rear and/or above-below direction, more saves materials cost and more portable.

The support frame 11 is along the axially extending circular tube shaped of wheel 20.It is arranged such, in the base with same volume Support frame 11 described in plinth has smaller surface area, so as to more save materials cost and allow car body 10 smallerization, gently Just change.On the other hand, the round and smooth support frame 11 in surface is not easy to produce larger damage and failure to user or periphery things. In other embodiments, the support frame 11, lengthwise shape power supply 16 along axletree 21 to cross section can also be square Shape, other polygons, ellipse or other irregular shapes.Cross-sectional area of the power supply 16 of the lengthwise shape along the axial direction of wheel 20 be Circle, it is engaged with the support frame 11.

In the present embodiment, it is to be fixedly connected between the foot pedal apparatus 12 and support frame 11.The first position Sensor 13 can be used to sense the pressure information on the foot pedal apparatus 12.

The first position sensor 13 is pressure sensor.It is arranged such, first position sensor 13 can be used to sense Pressure information on foot pedal apparatus 12.

The control device 15 is to according to the stress information gap control driving wheel between two foot pedal apparatus 12 20 movements rotate, and realize and turn to.It is arranged such, when two foot pedal apparatus 12 are identical by force information, two wheels 20 move Dynamic speed is identical, and when two foot pedal apparatus 12 are by force information difference, wherein the translational speed of single wheel 20 is more than opposite side The translational speed of wheel 20, or the moving direction of both sides wheel 20 so as to realize on the contrary, turn to.

In the present embodiment, the same foot pedal apparatus 12 is provided with to sense two of same sole pressure information Sensing element region 1313.In other embodiment, the first position sensor 13 can only set a sensing element area The sensor in domain 1313, i.e. can be expressed as on the same foot pedal apparatus 12 being provided with to sense same sole difference portion Two such first position sensors 13 of position pressure information, the control device 15 is to according to described two first positions The pressure differential of sensor 13 drives the wheel 20 to move or rotate.It is arranged such, when two stress information gaps of foot pedal apparatus 12 When identical, the translational speed of two wheel 20 is identical, when two 12 stress information gap differences of foot pedal apparatus, wherein single wheel 20 Translational speed is more than the translational speed of opposite side wheel 20, or the moving direction of both sides wheel 20 on the contrary, being turned to so as to realize.

In other embodiments, whether the first position sensor 13 can also have to sense on foot pedal apparatus 12 User, to control the start and stop of wheel 20.It is arranged such, without being separately provided an inductive switch, so as to simplify the knot of car body 10 Structure.Certainly, in other embodiments, inductive switch can also be separately provided.

The drive device can be arranged in wheel 20, so the drive can be set come in using the existing volume of wheel 20 Dynamic device, space availability ratio are high；In other embodiments, the drive device can also be arranged in support frame 11.Such as This set, can be applicable to wheel 20 it is relatively small in the case of.

The foot pedal apparatus 12 includes pedal bottom plate 121 and the foot pad 122 above pedal bottom plate 121, and described One position sensor 13 is arranged at the lower section of pedal bottom plate 121.It is arranged such, user can be trampled on the foot pad 122, Meet specific anti-skidding or improve the needs of trampling comfortableness.

The human-computer interaction body-sensing car 100 further comprises second place sensor (not shown), to sense support rib The inclination information of the relative wheel 20 of frame 11.It is arranged such, when user and support frame 11 are overall toward when leaning forward, described the Two position sensors sense inclination, will be signaled to control device 15, and the control device 15 controls driving moment 20 Travel forward so that it is overall that there is sweptback power, play a part of balance.Specifically, the second place sensor bag Include gyroscope, acceleration transducer and/or photoelectric sensor.

The foot pedal apparatus 12 is compared to the outside deflection of fore-and-aft direction.It is arranged such, is suitable between the tiptoe of user two Distance be wider than two heels distance stance, increase user's comfort level., can not also be inclined in his embodiment Tiltedly.

In summary, human-computer interaction body-sensing car 100 of the present utility model, one branch is only included between two wheels 20 The tubular support skeleton 11 of support effect, and foot pedal apparatus 12 is independently arranged on support frame 11, is mutually turned without two The mechanism of dynamic connection is used for setting foot pedal apparatus 12 respectively, contrasts existing balance car or swing car on the market, simple in construction, car body 10 be integral type, and scalability is strong, simplifies steering yoke or vehicle body separates rotational structure, vehicle body is firmer.

Although the utility model is disclosed above by preferred embodiment, but the utility model is not limited to, it is any This known those skilled in the art, do not departing from spirit and scope of the present utility model, a little change and retouching, therefore this practicality can be made New protection domain is worked as to be defined depending on claims scope claimed.

Claims (22)

1. a kind of human-computer interaction body-sensing car, it includes car body and two wheels on car body, and the wheel is in radial direction On can be rotated around car body；It is characterized in that：The car body further comprises a support frame, be arranged on the support frame two Individual foot pedal apparatus, to sense the relatively described support frame of described two foot pedal apparatus by force information first position sense Device, to drive the drive device of the wheel and to according to it is described by force information controlled the drive device driving described in Wheel is mobile or the control device of rotation, the support frame are integral structure and be connected with vehicle wheel rotation, the support rib Frame is provided with the guide rail of depression, is inserted with to install the foot pedal apparatus for holding foot pedal apparatus fixation branch on the guide rail Frame.

2. human-computer interaction body-sensing car according to claim 1, it is characterised in that：The guide rail extends in left-right direction, and Located at the front side of support frame and/or rear side.

3. human-computer interaction body-sensing car according to claim 1, it is characterised in that：The guide rail left and right ends be inserted with to The foot pedal apparatus fixed support of fixing is mutually installed with the foot pedal apparatus of left and right two respectively.

4. human-computer interaction body-sensing car according to claim 1, it is characterised in that：It is described that to plug, left and right two is foot-operated to be filled Put support bracket fastened unilateral guide rail and be integrated extension or separate.

5. human-computer interaction body-sensing car according to claim 1, it is characterised in that：The track cross-section is T fonts.

6. human-computer interaction body-sensing car according to claim 1, it is characterised in that：The foot pedal apparatus fixed support includes using To be laterally inserted in plugging portion and extending outward the guide rail in the guide rail foot pedal apparatus is held to install Installation portion.

7. human-computer interaction body-sensing car according to claim 6, it is characterised in that：The installation portion is provided with to hold pin Step on the holding hole of device.

8. human-computer interaction body-sensing car according to claim 6, it is characterised in that：The installation portion and plug setting between portion There is the support alar part for the extension that fitted up and/or down with support frame.

9. human-computer interaction body-sensing car according to claim 1, it is characterised in that：The support frame is axially to prolong along wheel The circular tube shaped stretched, guide rail and the foot pedal apparatus fixed support are respectively positioned on the top half of the support frame.

10. human-computer interaction body-sensing car according to claim 6, it is characterised in that：The cross section that plugs is T fonts.

11. human-computer interaction body-sensing car according to claim 1, it is characterised in that：The support frame before and after car body and/ Or the size on above-below direction is less than wheel diameter.

12. human-computer interaction body-sensing car according to claim 1, it is characterised in that：The foot pedal apparatus and support frame it Between to be fixedly connected.

13. human-computer interaction body-sensing car according to claim 1, it is characterised in that：The first position sensor is pressure Sensor.

14. human-computer interaction body-sensing car according to claim 1, it is characterised in that：The first position sensor is feeling Survey the foot pedal apparatus pressure changing information.

15. human-computer interaction body-sensing car according to claim 1, it is characterised in that：The control device is to according to two Stress information gap between foot pedal apparatus drives the wheel mobile or rotated.

16. human-computer interaction body-sensing car according to claim 1, it is characterised in that：It is same on the same foot pedal apparatus When provided with to sense two first position sensors of same sole different pressures information, the control device is to according to institute The pressure differential for stating two first position sensors drives the wheel mobile or rotated.

17. human-computer interaction body-sensing car according to claim 1, it is characterised in that：The first position sensor is feeling Whether have user, to control the start and stop of wheel if surveying on foot pedal apparatus.

18. human-computer interaction body-sensing car according to claim 1, it is characterised in that：The human-computer interaction body-sensing car is further Including power supply, the power supply to the drive device, first position sensor and control device to power, the control device To control the power supply, drive device and first position sensor, and the stress sensed according to first position sensor Drive signal is sent to drive device, so as to which driving moment rotates.

19. human-computer interaction body-sensing car according to claim 1, it is characterised in that：The drive device is arranged at support rib In frame or in wheel.

20. human-computer interaction body-sensing car according to claim 1, it is characterised in that：The foot pedal apparatus includes pedal bottom plate And the foot pad above pedal bottom plate, the first position sensor are arranged at below the foot platform.

21. human-computer interaction body-sensing car according to claim 1, it is characterised in that：The human-computer interaction body-sensing car is further Including sensing the second place sensor of the inclination information of support frame relative wheel.

22. human-computer interaction body-sensing car according to claim 21, it is characterised in that：The second place sensor includes top Spiral shell instrument, acceleration transducer and/or photoelectric sensor.