CN207241896U - Human-computer interaction body-sensing car - Google Patents

Human-computer interaction body-sensing car Download PDF

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Publication number
CN207241896U
CN207241896U CN201720814365.7U CN201720814365U CN207241896U CN 207241896 U CN207241896 U CN 207241896U CN 201720814365 U CN201720814365 U CN 201720814365U CN 207241896 U CN207241896 U CN 207241896U
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CN
China
Prior art keywords
support frame
wheel
bottom plate
human
computer interaction
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Active
Application number
CN201720814365.7U
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Chinese (zh)
Inventor
应佳伟
肖科平
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Hangzhou Chic Intelligent Technology Co Ltd
Original Assignee
Hangzhou Chic Intelligent Technology Co Ltd
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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62K—CYCLES; CYCLE FRAMES; CYCLE STEERING DEVICES; RIDER-OPERATED TERMINAL CONTROLS SPECIALLY ADAPTED FOR CYCLES; CYCLE AXLE SUSPENSIONS; CYCLE SIDE-CARS, FORECARS, OR THE LIKE
    • B62K11/00—Motorcycles, engine-assisted cycles or motor scooters with one or two wheels
    • B62K11/007—Automatic balancing machines with single main ground engaging wheel or coaxial wheels supporting a rider
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62K—CYCLES; CYCLE FRAMES; CYCLE STEERING DEVICES; RIDER-OPERATED TERMINAL CONTROLS SPECIALLY ADAPTED FOR CYCLES; CYCLE AXLE SUSPENSIONS; CYCLE SIDE-CARS, FORECARS, OR THE LIKE
    • B62K3/00—Bicycles
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L15/00—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles
    • B60L15/20—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed
    • B60L15/24—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed with main controller driven by a servomotor
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62J—CYCLE SADDLES OR SEATS; AUXILIARY DEVICES OR ACCESSORIES SPECIALLY ADAPTED TO CYCLES AND NOT OTHERWISE PROVIDED FOR, e.g. ARTICLE CARRIERS OR CYCLE PROTECTORS
    • B62J25/00—Foot-rests; Knee grips; Passenger hand-grips
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62J—CYCLE SADDLES OR SEATS; AUXILIARY DEVICES OR ACCESSORIES SPECIALLY ADAPTED TO CYCLES AND NOT OTHERWISE PROVIDED FOR, e.g. ARTICLE CARRIERS OR CYCLE PROTECTORS
    • B62J45/00—Electrical equipment arrangements specially adapted for use as accessories on cycles, not otherwise provided for
    • B62J45/40—Sensor arrangements; Mounting thereof
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62J—CYCLE SADDLES OR SEATS; AUXILIARY DEVICES OR ACCESSORIES SPECIALLY ADAPTED TO CYCLES AND NOT OTHERWISE PROVIDED FOR, e.g. ARTICLE CARRIERS OR CYCLE PROTECTORS
    • B62J6/00—Arrangement of optical signalling or lighting devices on cycles; Mounting or supporting thereof; Circuits therefor
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62K—CYCLES; CYCLE FRAMES; CYCLE STEERING DEVICES; RIDER-OPERATED TERMINAL CONTROLS SPECIALLY ADAPTED FOR CYCLES; CYCLE AXLE SUSPENSIONS; CYCLE SIDE-CARS, FORECARS, OR THE LIKE
    • B62K11/00—Motorcycles, engine-assisted cycles or motor scooters with one or two wheels
    • B62K11/02—Frames
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62K—CYCLES; CYCLE FRAMES; CYCLE STEERING DEVICES; RIDER-OPERATED TERMINAL CONTROLS SPECIALLY ADAPTED FOR CYCLES; CYCLE AXLE SUSPENSIONS; CYCLE SIDE-CARS, FORECARS, OR THE LIKE
    • B62K23/00—Rider-operated controls specially adapted for cycles, i.e. means for initiating control operations, e.g. levers, grips
    • B62K23/08—Rider-operated controls specially adapted for cycles, i.e. means for initiating control operations, e.g. levers, grips foot actuated
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62K—CYCLES; CYCLE FRAMES; CYCLE STEERING DEVICES; RIDER-OPERATED TERMINAL CONTROLS SPECIALLY ADAPTED FOR CYCLES; CYCLE AXLE SUSPENSIONS; CYCLE SIDE-CARS, FORECARS, OR THE LIKE
    • B62K3/00—Bicycles
    • B62K3/02—Frames
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62M—RIDER PROPULSION OF WHEELED VEHICLES OR SLEDGES; POWERED PROPULSION OF SLEDGES OR SINGLE-TRACK CYCLES; TRANSMISSIONS SPECIALLY ADAPTED FOR SUCH VEHICLES
    • B62M6/00—Rider propulsion of wheeled vehicles with additional source of power, e.g. combustion engine or electric motor
    • B62M6/40—Rider propelled cycles with auxiliary electric motor
    • B62M6/45—Control or actuating devices therefor
    • B62M6/50—Control or actuating devices therefor characterised by detectors or sensors, or arrangement thereof
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62M—RIDER PROPULSION OF WHEELED VEHICLES OR SLEDGES; POWERED PROPULSION OF SLEDGES OR SINGLE-TRACK CYCLES; TRANSMISSIONS SPECIALLY ADAPTED FOR SUCH VEHICLES
    • B62M6/00—Rider propulsion of wheeled vehicles with additional source of power, e.g. combustion engine or electric motor
    • B62M6/80—Accessories, e.g. power sources; Arrangements thereof
    • B62M6/90—Batteries
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62M—RIDER PROPULSION OF WHEELED VEHICLES OR SLEDGES; POWERED PROPULSION OF SLEDGES OR SINGLE-TRACK CYCLES; TRANSMISSIONS SPECIALLY ADAPTED FOR SUCH VEHICLES
    • B62M7/00—Motorcycles characterised by position of motor or engine
    • B62M7/12—Motorcycles characterised by position of motor or engine with the engine beside or within the driven wheel
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L2200/00—Type of vehicles
    • B60L2200/12—Bikes
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L2250/00—Driver interactions
    • B60L2250/22—Driver interactions by presence detection
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62K—CYCLES; CYCLE FRAMES; CYCLE STEERING DEVICES; RIDER-OPERATED TERMINAL CONTROLS SPECIALLY ADAPTED FOR CYCLES; CYCLE AXLE SUSPENSIONS; CYCLE SIDE-CARS, FORECARS, OR THE LIKE
    • B62K2202/00—Motorised scooters
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62K—CYCLES; CYCLE FRAMES; CYCLE STEERING DEVICES; RIDER-OPERATED TERMINAL CONTROLS SPECIALLY ADAPTED FOR CYCLES; CYCLE AXLE SUSPENSIONS; CYCLE SIDE-CARS, FORECARS, OR THE LIKE
    • B62K2204/00—Adaptations for driving cycles by electric motor
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/72—Electric energy management in electromobility

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Transportation (AREA)
  • Power Engineering (AREA)
  • Motorcycle And Bicycle Frame (AREA)
  • Mechanical Control Devices (AREA)

Abstract

A kind of human-computer interaction body-sensing car provided by the utility model includes car body and two wheels on car body, wheel can rotate around car body in radial directions；Car body further comprises a support frame, is arranged on the support frame two foot pedal apparatus, control device and to drive the driving device of wheel, support frame is integral structure and is connected with vehicle wheel rotation, foot pedal apparatus includes pedal bottom plate and between pedal bottom plate and support frame and to sense first position sensor of the foot pedal apparatus by force information, and control device is mobile or turn to by force information control driving device driving wheel according to two foot pedal apparatus.Above-mentioned human-computer interaction body-sensing car by force information according to foot pedal apparatus by being controlled driving device to drive wheel mobile or rotate, existing balance car, which can effectively be solved, to be needed to be designed to support frame to need two parts rotating, and rotated the problem of can controlling complicated caused by vehicle wheel rotation by two parts.

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, its operation principles is mainly built upon one kind and is referred to as In the basic 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 drive motor to be adjusted correspondingly, to keep the balance of system.
Existing human-computer interaction body-sensing car has been generally divided into operation lever and without this two class of operation lever, wherein the people with operation lever Machine interaction body-sensing car, its human-computer interaction body-sensing car is turned to carries out concrete operations control by operation lever.Without with operation lever Human-computer interaction body-sensing car, advance, the retrogressing of its human-computer interaction body-sensing car are controlled by the inclination of whole human-computer interaction body-sensing car, Steering is then ridden on foot platform by user, and is controlled by relative rotation angle difference between two foot platforms Realize.Wherein, the two-wheeled human-computer interaction body-sensing car without operation lever is mainly patent CN201410262108.8 revealed two Self-balancing human-computer interaction body-sensing Che Wei to be taken turns to represent, the inner cover in the balance car includes symmetrically arranged left inside lid and right inner cover, and The relatively right inner cover rotation connection of left inside lid.
So, the balance car, which has been used for the inner cover that support frame acts on, need to include left inside lid and right inner cover, 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 the prior art and propose.
To achieve these goals, the utility model provides a kind of human-computer interaction body-sensing car, including car body and arranged on car body On two wheels, the wheel can rotate around car body in radial directions；The car body further comprises a support frame, sets Put two on the support frame foot pedal apparatus, control device and to drive the driving device of the wheel, the branch Support bone frame is integral structure and is connected with vehicle wheel rotation, and the foot pedal apparatus includes pedal bottom plate and positioned at the foot-operated bottom Between plate and the support frame and to sense first position sensor of the foot pedal apparatus by force information, the control dress Put and controlled the driving device to drive the wheel mobile or turn to by force information according to two foot pedal apparatus.
Further, each first position sensor includes be distributed in two positions of pedal bottom plate two Sensing element region, two positions that the first position sensor passes through pedal bottom plate described in two sense element senses By force information, obtain the foot pedal apparatus by force information.
Further, the sensing element region is equipped with the first forced section and the second forced section, each sensing element region The first forced section offset with the support frame and the pedal bottom plate alternative one, second forced section and the branch Another in both support bone frame and the pedal bottom plate offsets.
Further, the portion to offset in two components of first forced section and the second forced section with the pedal bottom plate The bottom surface of part is vacantly set.
Further, the foot pedal apparatus further includes the sensor fixed seat on the support frame, and described Pass through the sensor fixed seat with the component that the support frame offsets in two components of one forced section and the second forced section Supported with support frame.
Further, first forced section is supported with the pedal bottom plate, second forced section and the sensor Fixed seat supports, and the bottom surface of first forced section is hanging.
Further, first forced section is equipped with first through hole, and second forced section is equipped with the second through hole, institute State pedal bottom plate and be equipped with the first mounting hole, the sensor fixed seat is equipped with the second mounting hole, and first forced section leads to The mode for crossing the first fixing piece through first through hole lock the first mounting hole of people is installed on the pedal bottom plate and is ridden with described Bottom plate supports, and second forced section is installed on institute by way of the second fixing piece locks the second mounting hole of people through the second through hole State in sensor fixed seat and supported with the sensor fixed seat.
Further, first fixing piece includes the connecting rod of screw rod, nut and the connection screw rod and the nut, The connecting rod is the body of rod of smooth-sided compression candles, and the connecting rod is located in the first through hole.
Further, the first gap is equipped between the pedal bottom plate and the sensing element region.
Further, the sensor fixed seat is equipped with the second gap with the sensing element region.
Due to the utilization of above-mentioned technical proposal, the utility model possesses advantages below：
The human-computer interaction body-sensing car of the utility model by force information according to foot pedal apparatus by being controlled driving device to drive Wheel is mobile or turns to, and can effectively solve existing balance car needs to be designed to support frame to need two portions rotated Point, rotated the problem of can controlling complicated caused by wheel steering by two parts.
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.
Figure 17 is the sectional view of the foot pedal apparatus in Fig. 1, and fixing piece is shown in the figure.
Embodiment
In order to make the purpose of the utility model, technical solutions and advantages more clearly understood, below in conjunction with attached drawing and implementation Example, is further elaborated the utility model.It should be appreciated that specific embodiment described herein is only explaining this Utility model, not limiting the utility model.
Please refer to Fig.1 to shown in Figure 17, for the structure diagram 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 be rotated 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, control device 15 with And to drive the driving device (not shown) of the wheel 20, the support frame 11 be integral structure and with 20 turns of wheel Dynamic connection, each foot pedal apparatus 12 are included to sense first position sensor 13 of the foot pedal apparatus 12 by force information, institute Control device 15 is stated according to two foot pedal apparatus 12 by force information, control the driving device drive the wheel 20 move or Turn to.It should be noted that wheel 20, which moves, refers to that driving device drives the output phase is same to export to two wheels 20, make Wheel 20 have identical rotating speed advance with car body or retreat (certainly in extreme circumstances may also be static, car at this time State of the wheel 20 in a stress balance), wheel 20 turns to and refers to that driving device exports two different driving forces to car Wheel 20, makes the rotating speed of wheel 20 different, so that car body turns to when turning to or retreat when advancing.
The support frame 11 is equipped with concave guide rail 112, is inserted with to install described in fixing on the guide rail 112 The foot pedal apparatus fixing bracket 18 of foot pedal apparatus 12.So set, simple in structure, easy to assemble, and the support frame 11 can It is different easy to be carried out according to the selection of both particular requirements with the foot pedal apparatus fixing bracket 18 to be assembled after separately manufacturing Manufacturing process flow, such as in some embodiments, the support frame 11 is tubulose, separately manufacturing can be easy to The support frame 11 is manufactured.The overall structure refers to the left inside lid that can be mutually rotated relative to setting in the prior art For right inner cover, the support frame 11 is the structure of globality, and in different embodiments, the overall structure can be Separable assembled is formed or is integrally formed.In addition, from the point of view of shape of cross section, the tubulose can include circular tube shaped, polygonal tube The tubulose of shape or any other shape of cross section；From the point of view of the extension mode on left and right directions, the tubulose is not limited to wait this example The tubulose of extension, can also be the various tubuloses irregularly extended, such as partial enlargement, part diminution, rotation, displacement etc..
The guide rail 112 extends in left-right direction, and arranged on 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.So set, the foot pedal apparatus fixing bracket 18 can be inserted in left-right direction It is connected on the support frame 11, the foot pedal apparatus fixing bracket 18 can be made to be subject to preferably to hold power in the up-down direction, Beneficial to the support to foot pedal apparatus 12 upwards.
112 left and right ends of guide rail are inserted with to foot-operated with 12 phase of the foot pedal apparatus installation fixing of left and right two respectively Device fixing bracket 18.So set, two foot pedal apparatus 12 in the left and right are immobilizated in the foot pedal apparatus fixing bracket 18 On.In the present embodiment, it is described to prolong to plug the unilateral guide rail 112 of the two foot pedal apparatus fixing brackets 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 at the same time holding two respectively The foot pedal apparatus fixing bracket 18 of foot pedal apparatus 12, centre are not interrupted, in this way, it is simple in structure, manufacture and easy to assembly.At other In embodiment, the one side guide rail 112 or independently of each other setting.
112 cross section of guide rail is T fonts.So set, the foot pedal apparatus fixing bracket 18 can be inserted in it is described Prevent from outwards departing from guide rail 112.Certainly, in other embodiments, 112 cross section of guide rail may be configured as other shapes Shape, such as triangle, circle etc., need to only cause the bore of the opening of the guide rail to be less than the size of guide rail interior bore so that institute It is not easily to fall off to state foot pedal apparatus fixing bracket 18.
The foot pedal apparatus fixing bracket 18 include to laterally be inserted in the guide rail 112 plug portion 181 and Extend outward the guide rail 112 and hold the mounting portion 183 of the foot pedal apparatus 12 to install.It is so set, described foot-operated Device fixing bracket 18 can be immobilizated on support frame 11 to hold the foot pedal apparatus 12.
The mounting portion 183 is equipped with to hold the holding hole 101 of foot pedal apparatus 12.So set, the holding hole The firm connection worn between the realization of the retaining pieces such as nut and foot pedal apparatus 12 can be held on 101.
The mounting portion 183 and plug and be equipped with the extension that fits up and/or down with support frame 11 between portion 181 Support alar part 182.So set, the support alar part 182 can be held on the support frame 11 in the up-down direction, carry The intensity of the high foot pedal apparatus fixing bracket 18, so that the fixing improved between foot pedal apparatus 12 and support frame 11 is stablized 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 fixing bracket 18 is respectively positioned on the top half of the support frame 11.So set, the support frame 11 can be to On provide preferable holding power to the foot pedal apparatus fixing bracket 18.Certainly, the guide rail 112 and foot pedal apparatus fixing bracket 18 top halfs for being arranged at the support frame 11 are preferential embodiment, but the 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 fixing bracket 18 may be alternatively located at the support The middle part or the latter half of skeleton 11.
181 cross section of portion that plugs is T fonts.So set, the portion 181 that plugs can be tight between guide rail 112 Coordinate, improve fixing stability.In other embodiments, the plug division 118 corresponds to 112 cross section of guide rail and can 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 driving device, One position sensor 13 and control device 15 are powered, and the control device 15 is controlling the power supply 16, driving device and One position sensor 13, and according to what first position sensor 13 was sensed driving letter is sent to driving device by force information Number, so as to drive wheel 20 to rotate.
Axletree 21 is equipped 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, 10 center of gravity of car body is less than the axletree 21.So set, 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, can keep car body 10 to keep original state not to be flipped up；Car body 10 is flipped up even by external force, Since the effect of gravity still can make car body 10 being returned to original position, so as to greatly facilitate 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 become 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 is rotated along axletree 21.
In the present embodiment, described 21 one end of axletree is connected with wheel 20, and the other end is connected with axletree and fixes Plate 23, the wheel axis fixing plate 23 are held with 10 phase of car body.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.So set, work as 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.
11 side of support frame be equipped be used for the motor fixing seat 3 of 23 secure fit of wheel axis fixing plate with Wheel axis fixing plate 23 assembles rear 3 center of gravity of the motor fixing seat and is less than the axletree 21.So set, can further it protect Demonstrate,prove 10 center of gravity of car body and be less than the axletree 21.Specifically, larger metal of quality etc. can be used in the motor fixing seat 3 Material, ensures that 10 center of gravity of car body is located at axletree below 21 and keeps higher stability.
Gasket seal (not shown) is equipped 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 equipped with the host cavity 110 to the mating motor fixing seat 3, 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 equipped with the power supply 16 in the host cavity 110, the motor fixing seat 3 is equipped with laterally protruding out to collecting The positioning column 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 equipped with wheel cover 123, and 3 cap 31 of motor fixing seat 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, easy to assemble.In other embodiments, the wheel cover 123 can also be immobilizated on car body 10 by other means.
Left and right extension and phase interworking are equipped between 10 host cavity 110 of car body and 3 inserted terminal 32 of motor fixing seat The stopper protrusion 111 of conjunction and spacing recess 321.So set, on the one hand the motor fixing seat 3 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 21 line direction of axletree.So set, the wheel axis fixing plate 23 exists It is subject to be not susceptible to deflection during the active force of 10 anteroposterior direction of car body and/or above-below direction, improves the wheel axis fixing plate 23 Fixing stability between car body 10.In other embodiments, the wheel axis fixing plate 23 can not also be perpendicular to car 21 line direction of wheel shaft.
The driving device is arranged in the wheel 20, and the cable for connecting the driving device is equipped with 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 driving 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.Driving device, that is, the motor, in other embodiments, the driving device can also It is arranged in car body 20.
The motor fixing seat 3 is equipped with concave holds the container 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 container 33, so as to improve 10 external table of car body The planarization in face.In other embodiments, the motor fixing seat 3 can also be with a part or whole part one of support frame 11 Shaping.
The wheel axis fixing plate 23 is rectangle, and the container 33 is and the 23 corresponding square of wheel axis fixing plate Shape.In other embodiments, or other shapes.So set, the pluggable positioning axletree of container 33 Fixed plate 23, prevents the wheel axis fixing plate 23 to be moved or rotate.
The foot pedal apparatus 12 further includes the pedal bottom plate 121 above the first position sensor 13, and described One position sensor 13 includes two sensing element regions 1313, and described two sensing element regions 1313 are distributed in described foot-operated The front portion and rear portion of bottom plate 121, two sensing element regions 1313 one end close to each other be equipped with to support frame 11 The second forced section 1312 directly or indirectly supported, the one end being located remotely from each other in described two sensing element regions 1313 are equipped with To the first forced section 1311 directly or indirectly to offset with the pedal bottom plate 121.In this way, the foot-operated bottom ought be stepped on downwards During plate 121, the first forced section 1311 of the front and rear sides is subject to top-down power, and the second middle forced section 1312 by In being subject to resist force from bottom to top, make first position sensor 13 that the similar arch deformation arched upward upwards, the deformation be presented Macroscopic deformation or microdeformation are can be understood as, so that the sensing element region 1313 of the rear and front end senses deformation Amount.The bottom surface of first forced section 1311 is vacantly set, when being so subject to pedal force on foot-operated floor 121, the first forced section 1311 Possess the space moved down, so sensing element region 1313 is arched upward upwards, certain second forced section 1312 it is upper Portion preferably can also vacantly be set.Preferably, the first gap is equipped between the pedal bottom plate 121 and sensing element region 1313 5, first gap 5 can provide the space that the sensing element region 1313 in first position sensor 13 is arched upward upwards.Certainly In other embodiments, the first forced section 1311 can be supported with support frame 11, the second forced section 1312 and pedal bottom plate 121 Support, the bottom surface of the second forced section 1312 is vacantly set, and the top surface of the first forced section 1311 is preferably vacantly set, the embodiment The deformation principle in middle sensing element region 1313 is similar with above-mentioned deformation, and details are not described herein.It should be noted that same foot The distribution mode in two sensing element regions 1313 of the lower section of tread plate 121 is not limited to the front and rear region of pedal bottom plate 121, also may be used To be distributed in the left and right region of pedal bottom plate 121.
Described directly support refers to directly contact realization there is no miscellaneous part between the two and support, described to support indirectly Refer to that the transmission of the power by miscellaneous part between the two is realized to support, such as in the present embodiment, second forced section Sensor fixed seat 125 is additionally provided with supporting between 1312 and support frame 11.
Specifically, as shown in figure 4, the foot pedal apparatus 12 is included directly to be held with 1312 phase of the second forced section 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.It should be noted that sensor fixed seat 125 and sensing member The second gap 6 is equipped between part region 1313, in order to provide the space deformed downwards for sensing element region 1313.
As shown in figs. 4 and 17, in the present embodiment, the first forced section 1311 is equipped with first through hole 134, the second stress Portion 1312 is equipped with the second through hole 1315, and pedal bottom plate 121 is equipped with the first mounting hole 1211, is set in sensor fixed seat 125 There is the second mounting hole 1251, the first forced section 1311 locks the first mounting hole by the first fixing piece 7 through first through hole 134 1211 mode is installed on pedal bottom plate 121 and with being supported on pedal bottom plate 121, and the second forced section 1312 is fixed by second Part 8 through the second through hole 1315 lock the second mounting hole 1251 mode be installed on sensor fixed seat 125 on and and sensor Fixed seat 125 supports.
In the present embodiment, the first fixing piece 7 includes the connecting rod of screw rod 71, nut 72 and connecting screw 71 and nut 72 73, connecting rod 73 is the body of rod of smooth-sided compression candles, and connecting rod 73 is located in first through hole 134, and the first fixing piece 7 when in use, connects It is smooth contact between extension bar 73 and first through hole 134, it is possible to reduce the frictional force of connecting rod 73 and first through hole 134, avoids The problem of because of the excessive damage first through hole 134 of frictional force and then causing sensing element region 1313 to deform.
The diameter of the connecting rod 73 is slightly lower than in the internal diameter of the first through hole 134, so not influence first solid Determine part 7 by the first forced section 1311 be installed on pedal bottom plate 121 installation effect while, can further reduce connecting rod 73 With the frictional force between first through hole 134.
Gasket assembly 9 is folded between the nut 72 and first forced section 1311, gasket assembly 9 can be to avoid For one fixing piece 7 when installing the first forced section 1311 to foot-operated floor 121,1311 stress of the first forced section is excessive to cause sense The problem of answering element area 1313 to deform.
It is understood that the second fixing piece 8 can be arranged to the structure of the first fixing piece 7, or common spiral shell Bolt, gasket assembly can also be set between the head of the second fixing piece 8 and the second forced section 1312.
The first position sensor 13 is, for example, that pressure sensor includes former and later two ends 131 and connection described two The connecting portion 132 of a end 131, it is described to include second forced section 1312, first forced section per one end 131 1311 and the sensing element region 1313 between 1312 and first forced section 1311 of the second forced section.So set Put, former and later two described ends 131 can be had an effect according to the difference of front and rear sole respectively senses different pressure informations.From another For in statement, described two sensing element regions 1313 are it can be appreciated that two different pressure sensors are tested respectively The difference of front and rear sole is had an effect.Two sensing element regions 1313 are connected by connecting portion 132, can be an end During 131 stress, there is the trend to stick up in another end 131 by the effect of connecting portion 132, so has the trend that is upturned End 131 in sensing element region 1313 can so understand one negative pressure of bad student, so would be even more beneficial to lead to lower recess Cross two sensing element regions 1313 and calculate pressure differential, make accuracy and the sensitivity of the pressure of the collection of first position sensor 13 Essence is improved, controls the power output of driving device by first position sensor 13 easy to control device.
Generally, that is, the same foot pedal apparatus 12 is equipped with to sense two of same sole pressure information The sensing element region 1313, the two positions (tool for the correspondence foot pedal apparatus 12 that two sensing element regions 1313 sense Body is the front portion and rear portion of corresponding foot pedal apparatus 12) pressure that is subject to is pressure of the same sole on same foot pedal apparatus 12 Information, is closer, the difference of the pressure sensed in two sensing element regions 1313 is same sole in same foot The pressure information on device 12 is stepped on, in other words, for same first position sensor 13, that is, control device 15 The pressure value that two sensing element regions 1313 of same first position sensor 13 sense is received, control device 15 is counted The difference of the two pressure values is calculated, each foot pedal apparatus 12 corresponds to a pressure difference value, and last control device 15 is according to two Wheel 20 described in relation i.e. stress information-driven between stress difference rotates and then drives the car of human-computer interaction body-sensing car Body is mobile or turns to.
Specifically, when two foot pedal apparatus 12 (are referred specifically to pressure difference value, pressure difference value here is not by force information is identical Refer to the absolute value of pressure differential, but there is direction, for example, for a foot pedal apparatus 12, its anterior stress, pressure differential Value is denoted as honest, and the big pressure difference value of rear pressure is denoted as negative value) when, control device 15 control driving device the output phase with driving Power gives two wheels 20, makes two wheels, 20 velocity of rotation identical, realizes that car body 20 moves, as a kind of special circumstances, in car body During beinthebalancestate state, two wheels, 20 velocity of rotation is zero, and car body does not move at this time；When two 12 stress of foot pedal apparatus are believed When ceasing different, control device 15 controls driving device to export different driving force to two wheels 20, one of wheels 20 and connects Received driving force is more than the driving force of another wheel 20 so that and the velocity of rotation of two wheels 20 is different, so that its The translational speed of middle single wheel 20 is more than the translational speed of opposite side wheel 20, so as to fulfill steering.It should be noted that the One position sensor 13 can only control the rotation band motor vehicles bodies of wheel 20 mobile or turn to, but the rotation speed during movement of wheel 20 Degree also needs to control by other sensors.The driving force how control device 15 controls driving device the output phase same is seen below in detail State.
Specifically, the human-computer interaction body-sensing car 100 further comprises second place sensor (not shown), to sense The inclination information of 11 relative wheel 20 of support frame.So set, when user stands when on foot pedal apparatus 12, two foot-operated Device 12 it is identical by force information, can drive support frame 11 overall when user turns forward toward leaning forward, the second Put after sensor senses the information that support frame 11 turns forward, send signal that support frame 11 turns forward to controlling dress 15 are put, the control of the control device 15 driving wheel 20 travels forward so that it is overall that there is sweptback power, play balance Effect.In addition, the angle of inclination that second place sensor sensing arrives is bigger, driving force is bigger.Specifically, the second place passes Sensor includes gyroscope, acceleration transducer and/or photoelectric sensor.Need what is illustrated, when user tilts backwards, wheel 20 Move backward, its principle is identical with the above-mentioned principle to travel forward, and details are not described herein.
In the present embodiment, the same foot pedal apparatus 12 is equipped 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 equipped 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 turn to.So set, when two 12 stress information gaps of foot pedal apparatus When identical, two wheels, 20 translational speed is identical, when two 12 stress information gaps of foot pedal apparatus are different, wherein single wheel 20 Velocity of rotation is more than the velocity of rotation of opposite side wheel 20, or wheel 20 rotation direction in both sides is on the contrary, so as to fulfill steering.
In the present embodiment, the first position sensor 13 is I-shaped first position sensor, in right and left The width of the upward connecting portion 132 is less than the width of the end 131.So set, before the connecting portion 132 can be fixed Two second forced section 1312 afterwards, strengthens the intensity of first position sensor 13, and the relatively narrow connecting portion 132 can reduce the The weight of one position sensor 13, on the other hand, also can the first position sensor 13 have preferably elasticity to improve sense Sensitiveness plays a role.Certainly, in other embodiments, the shape of first position sensor 13 is not limited to adopt in this With circular weighing sensor etc..
The foot pedal apparatus 12 further includes the lower casing 126 between the sensor fixed seat 125 and car body 10.Such as This, can improve 10 outboard structure planarization of car body, play preferable protection and beauty function.
The top of pedal bottom plate 121 is equipped with foot pad 122, and the foot pad 122 is closed with 126 phase of lower casing and connected.Foot 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 plays 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 10 anteroposterior direction of car body 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.So set, the overall structural stability of the car body 10 can be improved.
121 side of pedal bottom plate is equipped with to be covered in the wheel cover 123 of the top of wheel 20, the wheel cover 123 It is separately set with foot pedal apparatus 12.In this way, it is easy to implement both respective manufacturing process, in other embodiments, the foot Step on device 12 and can also integrally extend with the wheel cover 123 and form.In other embodiments, the wheel cover 123 and foot Stepping on the section components of device 12 can also be integrally formed.
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.So set, the master board 150 can be utilized preferably 110 space of lengthwise host cavity in the tubular support skeleton 11, improves space availability ratio.In other embodiments, it is described Master board 150 can be otherwise placed in support frame 11.
Power supply 16 is equipped with the support frame 11, the master board 150 is equipped with to electrical with the power supply 16 The battery mating interface 152 of docking.The power supply 16 is equipped with the battery interface to be connected to each other with the battery mating interface 152 177.Dock, can avoid more so set, being realized between the power supply 16 and master board 150 by modular interface Cable 211 the problems such as shuttling, avoiding 211 aging of cable generation, 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, improves Assembly stability.In other embodiments, other positions be may also placed in.
150 left and right ends of master board are equipped with the exterior mating interface mutually electrically to be docked with both sides driving device 151.It can facilitate the exterior mating interface 151 can be outwards opposite with the interface of driving device and/or first position sensor 13 Connect, beneficial to realizing preferable modularization assembling.
It is equipped between the support frame 11 and wheel 20 and is electrically connected the driving device and to described in electrical dock The connector 25 of exterior mating interface 151.The connector 25 can electrically be docked with the exterior mating interface 151, beneficial to reality Existing modularization assembling preferable between driving device and car body 10.
The exterior mating interface 151 is located at the both ends of the power supply 16 in the lateral direction.In this way, the exterior docking Interface 151 can preferably utilize the remaining space at 11 interior power of support frame, 16 both ends, 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.So set, the master board 150 can be preferably protected not to be squeezed.
The front and rear sides of the top of the power supply 16 are equipped with along left and right extension supporting the master board 150 upwards Support rib 1790, it is described to support the empty slot 179 being equipped 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.In other embodiments, institute It can also be other shapes to state master board 150.
Transmission connecting component is equipped with the human-computer interaction body-sensing car 100, the transmission connecting component includes power delivery Component, Hall transmission part and to transmit the temperature transmission part of temperature signal.So set, the temperature transmission part can To transmit the temperature signal of human-computer interaction body-sensing car 100 to control device 15, when 100 corresponding component temperature of human-computer interaction body-sensing car When degree reach a certain height, the corresponding protective programs such as shutdown can be started, improve 100 safety in utilization of human-computer interaction body-sensing car.
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 driving 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 cords.When the transmission part is plug terminal, can include 3 power supply terminals, 5 suddenly That terminal, 2 or 1 temperature terminal.Certainly, in other embodiments or part using conducting wire, partly adopt It is transmitted with terminal.For example, in the present embodiment, the plug terminal 252 can be equipped 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 equipped with the support frame 11, the power supply 16 is internally provided with to monitor 16 internal temperature of power supply 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 to there is a situation where temperature overheating, improve safety in utilization.
Axletree 21 is equipped 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 driving device is arranged in the wheel 20, and the driving device drives motor, the main control Plate 150 is equipped with to control the drive circuit (not shown) of the driving device, is equipped with the axletree 21 described in connection The cable 211 of driving 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 equipped between the driving device and the connector 25.In other realities Apply in mode, between the driving device and the connector 25 can not also set temperature transmission part, i.e. driving 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 exterior mating interface 151, and the exterior mating interface 151 and the connector 25 are mutual Docking.In this way, the connector 25 can be connected to each other with exterior mating interface 151, improve between driving device and power supply 16 Modularization assembling degree, improves security.
Further, connected between power supply 16 and exterior 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 exterior mating interface 151 are equipped between master board 150 In the master board 150, connected between the exterior 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 equipped with wheel cover 123, and the wheel cover 123 is equipped with anticollision glue 127.So set, 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 structure, 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 equipped with it is concave housing the installation slot 1230 of the grafting installation foot 311 from bottom to top.Such as This, the wheel cover 123 can realize the fixing of stabilization with the motor fixing seat 3, and simple in structure, and assembling is firm.
The lower section of wheel cover 123 is equipped with the fixed column protruded out from top to bottom positioned at 1230 front and rear sides of installation slot 1231, the motor fixing seat 3 is equipped with positioned at 311 front and rear sides of grafting installation foot and concave to grafting collecting from top to bottom The fixing groove 313 of the fixed fixed column 1231.It can so further improve between wheel cover 123 and motor fixing seat 3 Hold stability.
Since size of the support frame 11 before and after car body 10 and/or on above-below direction is less than 20 diameter of wheel and institute It is along the axially extending circular tube shaped of wheel 20 to state support frame 11, and the wheel cover 123 is equipped with to cover the wheel cap of wheel 20 Portion 1241 and the extension 1242 extended from wheel cap 1241 to the streamlined contraction in 11 direction of support frame.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, cleaned easy to user.
1242 extending end of extension be equipped with to the matched installation gap 124 of 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 equipped with concave guide rail 112, and light bar 4 is inserted with the guide rail 112.So set, Simple installation；The light bar 4 can make the human-computer interaction body-sensing car 100 have preferable warning recognition reaction when in use, carry The traffic safety of high user.
The guide rail 112 extends in left-right direction, and arranged on the front side of support frame 11 and/or rear side.In this way, make described Light bar 4 can be arranged on front side and/or the rear side of the support frame 11.
Also it is inserted with that the foot pedal apparatus fixing bracket 18 for holding the foot pedal apparatus 12 is installed on the guide rail 112. So set, the foot pedal apparatus fixing bracket 18 and light bar 4 can share a guide rail 112, easy to manufacture.
112 left and right ends of guide rail are inserted with to foot-operated with 12 phase of the foot pedal apparatus installation fixing of left and right two respectively Device fixing bracket 18, the light bar 4 is between the both ends foot pedal apparatus fixing bracket 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 fixing bracket 18 of the both sides is assigned into 4 both sides of light bar In guide rail 112, easy to assemble.
The rear side of light bar 4 is fixed with the fixed strip 41 being plugged in the guide rail 112.So set, can be by lamp Band 4 after 41 separately manufacturing of fixed strip with fitting together, easy to being manufactured for light bar 4.
112 cross section of guide rail is T fonts.41 cross section of fixed strip is T fonts.So set, 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 fixing bracket 18 and light bar 4 be respectively positioned on the top half of the support frame 11.So set, the support frame 11 can be upwards to the foot Step on device fixing bracket 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 equipped 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.So set, 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 limiting groove 170 to cooperate and stopper protrusion 111 are equipped between the battery case 17 and support frame 11. So set, beneficial to the positioning between the power supply 16 and support frame 11, mutual displacement is not susceptible to, is improved overall Stability, and anti-reverse mounting can be played the role of in assembling.
Size of the support frame 11 before and after car body 10 and/or on above-below direction is less than 20 diameter of wheel.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.So set, in the base with same volume Support frame 11 described in plinth has the surface area of smaller, 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.The power supply 16 of the lengthwise shape is along the axial cross-sectional area of wheel 20 Circle, 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.
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.So set, an inductive switch need not be separately provided, so as to simplify 10 knot of car body Structure.Certainly, in other embodiments, inductive switch can also be separately provided.
The driving 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 driving 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.So set, user can be trampled on the foot pad 122, Meet specific anti-skidding or improve the needs of trampling comfort.
The foot pedal apparatus 12 is compared to the outside deflection of anteroposterior direction.So set, it is suitable between two tiptoe of user Distance be wider than two heels distance stance, increase user's comfort level.In other embodiments, can not also be inclined Tiltedly.
In conclusion the human-computer interaction body-sensing car 100 of the utility model, only includes one branch 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 structure, 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, without departing from the spirit and scope of the utility model, can make a little change and retouch, therefore this practicality New protection domain is when subject to claims scope claimed.

Claims (10)

1. a kind of human-computer interaction body-sensing car, including car body and two wheels on car body, the wheel is in radial directions It can be rotated around car body；It is characterized in that, two that the car body further comprises a support frame, is arranged on the support frame Foot pedal apparatus, control device and to drive the driving device of the wheel, the support frame be integral structure and with Vehicle wheel rotation connect, the foot pedal apparatus include pedal bottom plate and between the pedal bottom plate and the support frame and To sense first position sensor of the foot pedal apparatus by force information, the control device is according to two foot pedal apparatus Controlled the driving device to drive the wheel mobile or turn to by force information.
2. human-computer interaction body-sensing car according to claim 1, it is characterised in that：Each first position sensor wraps Two sensing element regions for being distributed in two positions of pedal bottom plate are included, the first position sensor passes through described in two Two positions of pedal bottom plate described in sense element senses by force information, obtain the foot pedal apparatus by force information.
3. human-computer interaction body-sensing car according to claim 2, it is characterised in that：The sensing element region be equipped with first by Power portion and the second forced section, the first forced section and both the support frame and the pedal bottom plate in each sensing element region One of offset, second forced section offsets with another in both the support frame and the pedal bottom plate.
4. human-computer interaction body-sensing car according to claim 3, it is characterised in that：First forced section and the second forced section The bottom surface of the component to offset in two components with the pedal bottom plate is vacantly set.
5. human-computer interaction body-sensing car according to claim 4, it is characterised in that：The foot pedal apparatus is further included installed in institute State the sensor fixed seat on support frame, in two components of first forced section and the second forced section with the support frame The component to offset is supported by the sensor fixed seat with support frame.
6. human-computer interaction body-sensing car according to claim 5, it is characterised in that：First forced section and the foot-operated bottom Plate supports, and second forced section is supported with the sensor fixed seat, and the bottom surface of first forced section is hanging.
7. human-computer interaction body-sensing car according to claim 6, it is characterised in that：It is logical that first forced section is equipped with first Hole, second forced section are equipped with the second through hole, and the pedal bottom plate is equipped with the first mounting hole, the sensor fixed seat The second mounting hole is equipped with, first forced section is by way of the first fixing piece locks the first mounting hole of people through first through hole Supported on the pedal bottom plate and with the pedal bottom plate, second forced section passes through second by the second fixing piece The mode that through hole locks the second mounting hole is installed in the sensor fixed seat and is supported with the sensor fixed seat.
8. human-computer interaction body-sensing car according to claim 7, it is characterised in that：First fixing piece includes screw rod, spiral shell The connecting rod of cap and the connection screw rod and the nut, the connecting rod are the body of rod of smooth-sided compression candles, and the connecting rod is located at In the first through hole.
9. the human-computer interaction body-sensing car according to claim 3-8 any one, it is characterised in that：The pedal bottom plate and institute State and be equipped with the first gap between sensing element region.
10. the human-computer interaction body-sensing car according to claim 5-8 any one, it is characterised in that：The sensor is fixed Seat is equipped with the second gap with the sensing element region.
CN201720814365.7U 2017-01-04 2017-07-06 Human-computer interaction body-sensing car Active CN207241896U (en)

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Application Number Priority Date Filing Date Title
CN2017100069532 2017-01-04
CN201710006953.2A CN106828728A (en) 2017-01-04 2017-01-04 Human-computer interaction body-sensing car

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CN207241896U true CN207241896U (en) 2018-04-17

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Application Number Title Priority Date Filing Date
CN201710006953.2A Pending CN106828728A (en) 2015-10-10 2017-01-04 Human-computer interaction body-sensing car
CN201710547539.2A Active CN107364524B (en) 2017-01-04 2017-07-06 Human-computer interaction somatosensory vehicle
CN201720815024.1U Active CN207580049U (en) 2017-01-04 2017-07-06 Foot pedal apparatus
CN201720814365.7U Active CN207241896U (en) 2017-01-04 2017-07-06 Human-computer interaction body-sensing car
CN201710548607.7A Active CN107416097B (en) 2017-01-04 2017-07-06 Pedal device
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