CN209921505U - Two-wheeled explosion-proof electrodynamic balance car - Google Patents
Two-wheeled explosion-proof electrodynamic balance car Download PDFInfo
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- CN209921505U CN209921505U CN201920403892.8U CN201920403892U CN209921505U CN 209921505 U CN209921505 U CN 209921505U CN 201920403892 U CN201920403892 U CN 201920403892U CN 209921505 U CN209921505 U CN 209921505U
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Abstract
The utility model discloses a two-wheeled explosion-proof electric balance car, which comprises a frame, a pedal arranged in the frame, a gyroscope system arranged on the frame, an auxiliary balance assembly arranged on the frame and a running mechanism; the running mechanism comprises two mechanical elastic explosion-proof wheels which are respectively arranged at two sides of the pedal, the auxiliary balance assembly comprises four identical auxiliary mechanical arms, and each auxiliary mechanical arm can move in multiple degrees of freedom; the signal output end of the gyroscope system is respectively and electrically connected with the running mechanism and the control end of the auxiliary balance assembly, and the running speed and direction of the running mechanism and the postures of the four auxiliary mechanical arms are controlled according to the real-time state information of the balance car collected by the gyroscope system, so that the running state of the whole balance car is adjusted, and the stable running of the balance car is ensured.
Description
Technical Field
The utility model relates to a two-wheeled balance car.
Background
The two-wheeled vertical balance intelligent vehicle is a new vehicle appearing in recent years, and is favored by consumers due to the characteristics of flexibility, environmental protection and convenience. Because the balance vehicle is simple and easy to operate and is intelligentized, the balance vehicle is generally accepted by a plurality of consumers, the inverted pendulum principle is adopted by two-wheeled balance vehicles on the market at present, a pitching state and a state change rate of a vehicle body are monitored by an attitude sensor (a gyroscope and an accelerometer), and after appropriate data and instructions are calculated by a high-speed microcontroller, a motor is driven to generate forward or backward acceleration to achieve the effect of balancing the front and back of the vehicle body. The general gravity center longitudinal axis of a driver standing on the vehicle and the vehicle is used as a reference line, when the axis inclines forwards, the built-in electric motor in the vehicle body can generate forward force, on one hand, the torque for tilting the driver and the vehicle forwards is balanced, on the other hand, the acceleration for advancing the vehicle is generated, and on the contrary, when the gyroscope finds that the gravity center of the driver tilts backwards, the backward force can be generated to achieve the balance effect.
The two-wheeled balance vehicle on the market at present has high technical difficulty and is easy to stand unstably when being tilted forwards and accelerated; when the vehicle is parked, the vehicle can swing back and forth by unloading the gyro system in the prior art, so that the driving discomfort of a driver can be caused, the use experience is influenced, and the driving safety factor is reduced; at present, the balance car needs to occupy a large space due to the existence of components such as a battery, a motor, a controller and the like; meanwhile, the two-wheel balance vehicle has high requirements on the road surface and cannot adapt to the running under complex road conditions.
SUMMERY OF THE UTILITY MODEL
In order to solve the technical problem that the above-mentioned background art provided, the utility model provides an explosion-proof electrodynamic balance car of two-wheeled.
In order to realize the technical purpose, the utility model discloses a technical scheme does:
a two-wheeled explosion-proof electric balance car comprises a car frame, wherein the car frame comprises a pedal, a gyroscope system is arranged on the car frame, and the two-wheeled explosion-proof electric balance car also comprises an auxiliary balance assembly and a running mechanism which are arranged on the car frame; the running mechanism comprises two mechanical elastic explosion-proof wheels which are respectively arranged at two sides of the pedal, the auxiliary balance assembly comprises four identical auxiliary mechanical arms, and each auxiliary mechanical arm can move in multiple degrees of freedom; the signal output end of the gyroscope system is respectively and electrically connected with the running mechanism and the control end of the auxiliary balance assembly, and the running speed and direction of the running mechanism and the postures of the four auxiliary mechanical arms are controlled according to the real-time state information of the balance car collected by the gyroscope system, so that the running state of the whole balance car is adjusted, and the stable running of the balance car is ensured.
Based on the preferable scheme of the technical scheme, the auxiliary mechanical arm comprises a small arm, a first driving motor of the small arm, a second driving motor of the small arm, a large arm, a driving motor of the large arm, a driving arm motor, a chassis rotating turbine box, a pull rod motor and an auxiliary mechanical arm controller; one end of the driving arm is mechanically connected with the chassis rotating turbine box, the other end of the driving arm is mechanically connected with one end of the large arm, and the other end of the large arm is mechanically connected with one end of the small arm; the signal output end of the gyroscope system and the signal input ends of the small arm first driving motor, the small arm second driving motor, the large arm driving motor, the driving arm motor and the pull rod motor are respectively electrically connected with the auxiliary mechanical arm controller; the driving arm motor is arranged at the connection position of the driving arm and the chassis rotating turbine box, an output shaft of the driving arm motor is mechanically connected with the driving arm, and the driving arm motor controls the driving arm to rotate around the chassis rotating turbine box according to a control signal of the auxiliary mechanical arm controller; the large arm driving motor is arranged at the joint of the large arm and the driving arm, an output shaft of the large arm driving motor is mechanically connected with the large arm, and the large arm driving motor controls the large arm to rotate around the driving arm according to a control signal of the auxiliary mechanical controller; the small arm first driving motor and the small arm second driving motor are arranged at the joint of the small arm and the large arm, output shafts of the small arm first driving motor and the small arm second driving motor are respectively and mechanically connected with the small arm, the small arm first driving motor controls the small arm to rotate around the axis of the small arm according to a control signal of the auxiliary mechanical arm controller, and the small arm second driving motor controls the small arm to rotate around the large arm according to a control signal of the auxiliary mechanical arm controller; one end of the pull rod is mechanically connected with the small arm, the other end of the pull rod is mechanically connected with an output shaft of a pull rod motor, and the pull rod motor adjusts the pull force of the pull rod according to a control signal of the auxiliary mechanical arm controller, so that the small arm rotates around the pull rod.
Based on above-mentioned technical scheme's preferred scheme, supplementary balanced subassembly still includes the backup pad, and four auxiliary machinery arms are fixed respectively in the backup pad, and the backup pad is fixed on the frame.
Based on above-mentioned technical scheme's preferred scheme, running gear still includes two wheel controllers and two in-wheel motors, and every in-wheel motor is installed respectively at the center of the explosion-proof wheel of the mechanical elasticity that corresponds, and the signal input part of every in-wheel motor and the wheel controller electric connection that corresponds, the output shaft of every in-wheel motor and the explosion-proof wheel mechanical connection of the mechanical elasticity that corresponds, the signal output part and the wheel controller electric connection of gyroscope system.
Based on above-mentioned technical scheme's preferred scheme, still include driving system, set up in the footboard below, driving system includes power battery and dc-to-ac converter, power battery's output and the input electric connection of dc-to-ac converter, the output of dc-to-ac converter and auxiliary balance subassembly and the power end electric connection of running gear.
Based on the preferable scheme of the technical scheme, the gyroscope system is electrically connected with the running mechanism and the control end of the auxiliary balance assembly through the CAN bus.
Adopt the beneficial effect that above-mentioned technical scheme brought:
the utility model adds the auxiliary balance component, and ensures that the balance car has higher stable balance when running and stopping by matching with the balance system of the original balance car; the mechanical elastic explosion-proof wheel is adopted to replace a common pneumatic tire, so that the adaptability of the balance car to a complex road surface is greatly improved, and the elasticity and the bearing effect are good; adopt in-wheel motor as drive arrangement, arrange the motor in the tire respectively, through the rational arrangement space, the original position can be used for devices such as reasonable increase battery to improve the duration of a motor balance car, improved two-wheeled balance car's space utilization greatly.
Drawings
Fig. 1 is a schematic structural diagram of an auxiliary balancing assembly of the present invention;
FIG. 2 is a schematic structural view of an auxiliary mechanical arm of the present invention;
fig. 3 is a control circuit diagram of the auxiliary balancing assembly of the present invention;
FIG. 4 is a control circuit diagram of the driving mechanism of the present invention;
fig. 5 is a schematic view of the mechanically elastic explosion-proof wheel of the present invention.
Description of reference numerals: 1. a pull rod motor; 2. a pull rod; 3. a small arm first drive motor; 4. a small arm second drive motor; 5. a small arm; 6. a large arm; 7. a large arm drive motor; 8. the chassis rotates the turbine box; 9. a drive arm motor; 10. a driving arm.
Detailed Description
The technical solution of the present invention will be described in detail below with reference to the accompanying drawings.
The utility model provides an explosion-proof electrodynamic balance car of two-wheeled, includes a frame, contains the footboard in the frame, and the gyroscope system sets up on the frame, still including setting up supplementary balanced subassembly and the running gear on the frame. The signal output end of the gyroscope system is respectively and electrically connected with the running mechanism and the control end of the auxiliary balance assembly, and the running speed and direction of the running mechanism and the posture of the auxiliary balance assembly are controlled according to the real-time state information of the balance car collected by the gyroscope system, so that the running state of the whole balance car is adjusted, and the stable running of the balance car is ensured.
As shown in fig. 1, the auxiliary balancing assembly includes four identical auxiliary mechanical arms, each of which is capable of performing multi-degree-of-freedom motions, and the four auxiliary mechanical arms may be fixed to a support plate, and the support plate is fixed to the frame.
As shown in fig. 2, each auxiliary mechanical arm includes a small arm 5, a small arm first drive motor 3, a small arm second drive motor 4, a large arm 6, a large arm drive motor 7, a drive arm 10, a drive arm motor 9, a chassis rotation turbine box 8, a tie rod 2, a tie rod motor 1, and an auxiliary mechanical arm controller. One end of a driving arm 10 is mechanically connected with the chassis rotating turbine box 8, the other end of the driving arm 10 is mechanically connected with one end of a large arm 6, and the other end of the large arm 6 is mechanically connected with one end of a small arm 5. And the signal output end of the gyroscope system and the signal input ends of the small arm first driving motor 3, the small arm second driving motor 4, the large arm driving motor 7, the driving arm motor 9 and the pull rod motor 1 are respectively electrically connected with the auxiliary mechanical arm controller. The driving arm motor 9 is arranged at the connection position of the driving arm 10 and the chassis rotation turbine box 8, an output shaft of the driving arm motor 9 is mechanically connected with the driving arm 10, and the driving arm motor 9 controls the driving arm 10 to rotate around the chassis rotation turbine box 8 according to a control signal of the auxiliary mechanical arm controller. The large arm driving motor 7 is arranged at the joint of the large arm 6 and the driving arm 10, an output shaft of the large arm driving motor 7 is mechanically connected with the large arm 6, and the large arm driving motor 7 controls the large arm 6 to rotate around the driving arm 10 according to a control signal of the auxiliary mechanical controller. The small arm first driving motor 3 and the small arm second driving motor 4 are arranged at the joint of the small arm 5 and the large arm 6, output shafts of the small arm first driving motor 3 and the small arm second driving motor 4 are respectively and mechanically connected with the small arm 5, the small arm first driving motor 3 controls the small arm 5 to rotate around the axis according to a control signal of the auxiliary mechanical arm controller, and the small arm second driving motor 4 controls the small arm 5 to rotate around the large arm 6 according to the control signal of the auxiliary mechanical arm controller. One end of the pull rod 2 is mechanically connected with the small arm 5, the other end of the pull rod 2 is mechanically connected with an output shaft of the pull rod motor 1, and the pull rod motor 1 adjusts the pull force of the pull rod according to a control signal of the auxiliary mechanical arm controller, so that the small arm 5 rotates around the pull rod. The control circuit of the auxiliary balancing component is shown in fig. 3.
The running mechanism comprises two mechanical elastic explosion-proof wheels, two wheel controllers and two in-wheel motors, wherein each in-wheel motor is respectively arranged at the center of the corresponding mechanical elastic explosion-proof wheel, the signal input end of each in-wheel motor is electrically connected with the corresponding wheel controller, the output shaft of each in-wheel motor is mechanically connected with the corresponding mechanical elastic explosion-proof wheel, and the signal output end of the gyroscope system is electrically connected with the wheel controllers. The control circuit of the running gear is shown in fig. 4. The traditional pneumatic tire is replaced by the mechanical elastic explosion-proof wheel as shown in fig. 5, the tire tread, the hinge and the rim are sequentially arranged from outside to inside, the wear resistance of the two-wheel balance car and the adaptation degree to a complex road surface are improved, the hub motor is used as a power device, a transmission structure is not needed, the hub motor is respectively and directly installed inside the wheels on two sides, and the space utilization rate is greatly improved. And each hub motor is independently provided with a corresponding controller, so that the purposes of improving the reliability and fault tolerance of the system can be achieved.
In this embodiment, a power system is disposed below the pedal, the power system includes a power battery and an inverter, an output end of the power battery is electrically connected to an input end of the inverter, and an output end of the inverter is electrically connected to the auxiliary balancing assembly and a power supply end of the running mechanism, so as to convert the direct current into the alternating current for power supply.
In this embodiment, the gyroscope system transmits data through the CAN bus.
The embodiment is only for explaining the technical thought of the utility model, can not limit with this the utility model discloses a protection scope, all according to the utility model provides a technical thought, any change of doing on technical scheme basis all falls into the utility model discloses within the protection scope.
Claims (6)
1. The utility model provides an explosion-proof electrodynamic balance car of two-wheeled, includes a frame, contains the footboard in the frame, and the gyroscope system sets up on the frame its characterized in that: the auxiliary balance assembly and the running mechanism are arranged on the frame; the running mechanism comprises two mechanical elastic explosion-proof wheels which are respectively arranged at two sides of the pedal, the auxiliary balance assembly comprises four identical auxiliary mechanical arms, and each auxiliary mechanical arm can move in multiple degrees of freedom; the signal output end of the gyroscope system is respectively and electrically connected with the running mechanism and the control end of the auxiliary balance assembly, and the running speed and direction of the running mechanism and the postures of the four auxiliary mechanical arms are controlled according to the real-time state information of the balance car collected by the gyroscope system, so that the running state of the whole balance car is adjusted, and the stable running of the balance car is ensured.
2. The two-wheeled explosion-proof electrodynamic balance car of claim 1, characterized in that: the auxiliary mechanical arm comprises a small arm, a first driving motor of the small arm, a second driving motor of the small arm, a large arm, a driving motor of the large arm, a driving arm motor, a chassis rotating turbine box, a pull rod motor and an auxiliary mechanical arm controller; one end of the driving arm is mechanically connected with the chassis rotating turbine box, the other end of the driving arm is mechanically connected with one end of the large arm, and the other end of the large arm is mechanically connected with one end of the small arm; the signal output end of the gyroscope system and the signal input ends of the small arm first driving motor, the small arm second driving motor, the large arm driving motor, the driving arm motor and the pull rod motor are respectively electrically connected with the auxiliary mechanical arm controller; the driving arm motor is arranged at the connection position of the driving arm and the chassis rotating turbine box, an output shaft of the driving arm motor is mechanically connected with the driving arm, and the driving arm motor controls the driving arm to rotate around the chassis rotating turbine box according to a control signal of the auxiliary mechanical arm controller; the large arm driving motor is arranged at the joint of the large arm and the driving arm, an output shaft of the large arm driving motor is mechanically connected with the large arm, and the large arm driving motor controls the large arm to rotate around the driving arm according to a control signal of the auxiliary mechanical controller; the small arm first driving motor and the small arm second driving motor are arranged at the joint of the small arm and the large arm, output shafts of the small arm first driving motor and the small arm second driving motor are respectively and mechanically connected with the small arm, the small arm first driving motor controls the small arm to rotate around the axis of the small arm according to a control signal of the auxiliary mechanical arm controller, and the small arm second driving motor controls the small arm to rotate around the large arm according to a control signal of the auxiliary mechanical arm controller; one end of the pull rod is mechanically connected with the small arm, the other end of the pull rod is mechanically connected with an output shaft of a pull rod motor, and the pull rod motor adjusts the pull force of the pull rod according to a control signal of the auxiliary mechanical arm controller, so that the small arm rotates around the pull rod.
3. The two-wheeled explosion-proof electrodynamic balance car of claim 1 or 2, characterized in that: the auxiliary balance assembly further comprises a supporting plate, the four auxiliary mechanical arms are respectively fixed on the supporting plate, and the supporting plate is fixed on the frame.
4. The two-wheeled explosion-proof electrodynamic balance car of claim 1, characterized in that: the running mechanism further comprises two wheel controllers and two in-wheel motors, each in-wheel motor is installed at the center of the corresponding mechanical elastic explosion-proof wheel, the signal input end of each in-wheel motor is electrically connected with the corresponding wheel controller, the output shaft of each in-wheel motor is mechanically connected with the corresponding mechanical elastic explosion-proof wheel, and the signal output end of the gyroscope system is electrically connected with the wheel controllers.
5. The two-wheeled explosion-proof electric balance car of claim 1, wherein a power system is disposed under the pedals, the power system comprises a power battery and an inverter, an output end of the power battery is electrically connected with an input end of the inverter, and an output end of the inverter is electrically connected with the auxiliary balance assembly and a power end of the running mechanism.
6. The two-wheeled explosion-proof electrodynamic balance car of claim 1, characterized in that: and the gyroscope system is electrically connected with the running mechanism and the control end of the auxiliary balance assembly through a CAN bus.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920403892.8U CN209921505U (en) | 2019-03-28 | 2019-03-28 | Two-wheeled explosion-proof electrodynamic balance car |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920403892.8U CN209921505U (en) | 2019-03-28 | 2019-03-28 | Two-wheeled explosion-proof electrodynamic balance car |
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| CN209921505U true CN209921505U (en) | 2020-01-10 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109866857A (en) * | 2019-03-28 | 2019-06-11 | 南京航空航天大学 | A kind of two-wheeled anti-explosion electric balance car |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109866857A (en) * | 2019-03-28 | 2019-06-11 | 南京航空航天大学 | A kind of two-wheeled anti-explosion electric balance car |
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