CN212828865U - Novel balance car - Google Patents
Novel balance car Download PDFInfo
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- CN212828865U CN212828865U CN202021199479.3U CN202021199479U CN212828865U CN 212828865 U CN212828865 U CN 212828865U CN 202021199479 U CN202021199479 U CN 202021199479U CN 212828865 U CN212828865 U CN 212828865U
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Abstract
The utility model belongs to a vehicle, in particular to a novel balance car of a balance car with safety and reasonable design of control mode, which comprises a car body, wherein two wheels are arranged on the car body side by side, the wheels are provided with hub motors, the novel balance car also comprises a control module, the two hub motors, a power supply module and four pressure sensors, the four pressure sensors are used for detecting the pressure of both soles and heels of a user, the control module compares the pressure of the left sole with the pressure of the left heel and obtains a left foot pressure deviation value, compares the pressure of the right sole with the pressure of the right heel and obtains a right foot pressure deviation value, and the two hub motors are regulated according to the speed control component of the two wheels; the automobile body includes upper cover, two second inner frame, first inner frame and the lower cover that top-down set gradually, and the upper end of upper cover is provided with two running-boards side by side, and four pressure sensor set up respectively between the tip of running-board and the tip of second inner frame.
Description
Technical Field
The utility model belongs to a vehicle, in particular to a novel balance car.
Background
The electric balance vehicle, also called a body sensing vehicle, a thinking vehicle, a position pickup vehicle and the like, mainly comprises a single wheel and two wheels. The operating principle is mainly established on a basic principle called Dynamic Stabilization (Dynamic Stabilization), a gyroscope and an acceleration sensor in a vehicle body are used for detecting the change of the posture of the vehicle body, and a servo control system is used for accurately driving a motor to perform corresponding adjustment so as to keep the balance of pedals. The gyroscope board is fixed inside the vehicle body and is parallel to the horizontal plane. When the body of the driver leans forward, the bicycle will move forward, and when the body leans backward, the bicycle will move backward. The balance car is a novel green product used by modern people as a travel tool and leisure and entertainment.
In the prior art, in order to simplify the balance car, the structure of balance car has two wheels and an axletree, and two wheels set up the both ends at the axletree, are provided with two rotatable footboards on the axletree, are provided with the gyroscope on the footboard, and the rotation angle of footboard is detected to the gyroscope, and the angle change according to detecting controls the wheel and traveles.
However, the prior art is not perfect, the mode of controlling the two pedals by rotating mutually is too complex, a user is not convenient to keep balance on the balance car, and the control difficulty is high.
SUMMERY OF THE UTILITY MODEL
For overcoming the not enough and problem that exists of prior art, the utility model provides a safety, control mode reasonable in design's balance car.
In order to achieve the above purpose, the utility model adopts the following technical scheme:
a novel balance car comprises a car body, wherein two wheels are arranged on the car body side by side, the wheels are provided with hub motors, the novel balance car further comprises a control module, the control module is connected with the two hub motors, a power supply module and four pressure sensors, the four pressure sensors are used for detecting the pressure of soles and heels of two feet of a user, the control module compares the pressure of the left sole with the pressure of the left heel to obtain a left foot pressure deviation value, compares the pressure of the right sole with the pressure of the right heel to obtain a right foot pressure deviation value, and obtains speed control components of the two wheels by combining the left foot pressure deviation value, the right foot deviation value and the rotating speeds of the two hub motors, and the two hub motors are regulated according to the speed control components of the two wheels;
the automobile body includes upper cover, two second inner frame, first inner frame and the lower cover that top-down set gradually, and the upper end of upper cover is provided with two running-boards side by side, and four pressure sensor set up respectively between the tip of running-board and the tip of second inner frame.
Preferably, the second inner framework is detachably arranged on the first inner framework.
Preferably, both ends of the second inner frame extend to the front side and the rear side of the first inner frame respectively.
Preferably, a second mounting groove is formed in the end portion of the second inner framework, and the four pressure sensors are respectively arranged in the corresponding second mounting grooves.
Preferably, the upper cover is provided with a port, the pressure sensor is arranged through the port,
preferably, the number of the through holes is four, the through holes correspond to the pressure sensors one by one, and the four through holes are respectively arranged between the end part of the second inner framework and the end part of the pedal plate.
Preferably, the upper cover is provided with a countersunk groove, and the pedal plate is arranged in the countersunk groove.
Preferably, a non-slip mat is fixedly arranged on the vehicle body, and the pedal plate and the pressure sensor are sealed between the non-slip mat and the vehicle body.
Preferably, shafts of the two hub motors are respectively fixedly arranged on two sides of the first inner framework, key grooves are formed in the shafts of the hub motors, mounting seats are fixedly arranged on the first inner framework, the shafts of the hub motors are arranged between the mounting seats and the first inner framework, flat key portions are formed in the mounting seats, and the flat key portions are matched in the key grooves.
Preferably, the power module and the control module are arranged between the first inner framework and the lower cover.
Preferably, the pressure sensor is a strain gauge sensor.
Compared with the prior art, the utility model outstanding and profitable technological effect is:
(1) the pressure induction of the two feet to the balance car is adopted to control the balance car to keep balance, which is beneficial to a user to get on or off the balance car conveniently and ensures the safety of getting on or off the car.
(2) The pressure deviation value of the two feet is adopted, the rotating speed of the wheels is combined, then the two parallel wheels are regulated, the forward movement, the backward movement and the steering of the balance car are realized by controlling the differential rotation, the synchronous rotation, the acceleration, the deceleration and the like of the two parallel wheels, the control method of the balance car is adopted, the pressure deviation value of the two feet can be adjusted by a user through the forward and backward swinging of the two feet, the two feet respectively and independently control the wheels on the two sides, the human motion logic is met, the balance car is kept horizontal in the operation process, and the operation is safer.
(3) When user's both feet were trampled on two running-boards, the second inner frame bearing was in the below of running-board, and second inner frame and first inner frame play the effect that directly bears user's weight, and first inner frame and second inner frame play the effect that improves structural strength and bearing capacity, therefore this novel balance car has bearing capacity reinforce, reasonable in design's advantage.
Drawings
Fig. 1 is a schematic perspective view of the present invention;
fig. 2 is a schematic diagram of the explosion structure of the present invention;
fig. 3 is a schematic structural view of the upper cover of the present invention;
in the figure: 1-upper cover, 2-second inner frame, 3-first inner frame, 4-lower cover, 5-pedal, 6-non-slip mat, 7-wheel, 8-mounting seat, 91-control module, 92-pressure sensor, 93-power module, 95-headlamp, 96-tail lamp, 11-through hole, 12-countersunk groove, 13-mud guard, 21-second mounting groove, 41-hub motor, 42-tire, 411-keyway and 81-flat key part.
Detailed Description
To facilitate understanding of those skilled in the art, the present invention will be further described with reference to the accompanying drawings and specific embodiments.
As shown in fig. 1 to 3, the utility model also provides a novel balance car, including automobile body, control module 91, power module 93 and four pressure sensor 92, be provided with two wheels 7 on the automobile body, two wheels 7 set up side by side, and wheel 7 includes in-wheel motor 41 and tire 42, and in-wheel motor 41 is outer rotor type motor, and tire 42 is fixed to be set up in-wheel motor 41's the outside, and the spindle setting of two in-wheel motor 41 is in the both sides of automobile body, and in-wheel motor 41's rotation can drive the traveling of balance car.
The control module 91 is electrically connected with the two in-wheel motors 41, the power supply module 93 and the four pressure sensors 92, the power supply module 93 is used for supplying power to a system of the balance car, and the four pressure sensors 92 are used for detecting the pressure of the soles and the heels of the feet of a user.
The control module 91 compares the pressure of the left sole with the pressure of the left heel to obtain a left sole pressure deviation value, compares the pressure of the right sole with the pressure of the right heel to obtain a right sole pressure deviation value, combines the left sole pressure deviation value, the right sole deviation value and the rotation speeds of the two in-wheel motors 41 to obtain the speed control components of the two wheels 7, and adjusts the speed of the two in-wheel motors 41 according to the speed control components of the two wheels 7.
The control module 91 is further integrated with a speed measuring module, and the speed measuring module is used for measuring the rotating speed of the two hub motors 41.
The pressure sensor 92 is specifically a strain gauge, specifically a resistance strain gauge, when a user steps on the pressure sensor 92, the pressure sensor 92 deforms under stress and generates a corresponding electrical signal to be sent to the control module 91, and the control module 91 calculates a current pressure value of the pressure sensor 92 according to the electrical signal.
The automobile body includes upper cover 1, two second inner frame 2, first inner frame 3 and lower cover 4, and upper cover 1, two second inner frame 2, first inner frame 3 and 4 top-down of lower cover are fixed setting gradually together, and two second inner frame 2 set up side by side on first inner frame 3, and the upper end of upper cover 1 is provided with two running-boards 5 side by side, and two running-boards 5 movably set up respectively on upper cover 1, and two running-boards 5 correspond to user's both feet respectively.
The opening 11 has been seted up on the upper cover 1, opening 11 is four, opening 11 one-to-one corresponds to pressure sensor 92, pressure sensor 92 wears to locate and corresponds opening 11, the length of running-board 5 is unanimous with the length of second inner frame 2, the tip of running-board 5 is located directly over second inner frame 2, four pressure sensor 92 set up respectively between the tip of running-board 5 and the tip of second inner frame 2, four openings 11 set up respectively between the tip of running-board 5 and the tip of second inner frame 2.
Step on two running-boards 5 respectively as user's both feet, the pressure sensor 92 that is located running-board 5 below takes place deformation to produce corresponding pressure value, through the barycenter position that changes the foot, the pressure deviation value of adjustable sole and heel, thereby reach the effect of controlling the balance car.
When user's both feet were trampled on two running-boards 5, the 2 bearings of second inner frame were in the below of running-board 5, and second inner frame 2 and first inner frame 3 play the effect that directly bears user's weight, and first inner frame 3 and second inner frame 2 play the effect that improves structural strength and bearing capacity, consequently this novel balance car has bearing capacity advantage strong, reasonable in design.
First inner frame 3 and upper cover 1 can be respectively the bolt fastening on lower cover 4, and upper cover 1 and the cooperation of lower cover 4 form the inner chamber, and two second inner frames 2, first inner frame 3, control module 91, power module 93 set up respectively in this inner chamber, and control module 91, power module 93 specifically set up between first inner frame 3 and lower cover 4, avoid control module 91 and power module 93 bearing.
Second inner frame 2 and first inner frame 3 are main bearing structure, and second inner frame 2 and first inner frame 3 can adopt steel or aluminum alloy to make, and upper cover 1 and lower cover 4 are dustproof, waterproof structure, and upper cover 1 and lower cover 4 can adopt light, corrosion-resistant plastics to make, consequently, this novel balance car still has matter light, durable, firm advantage.
The second inner frame 2 can be dismantled and set up on first inner frame 3, but 2 bolt fastening of second inner frame are on first inner frame 3, and second inner frame 2 is dismantled and assembled to the convenience is changed second inner frame 2, and the user can be with 2 pile together of second inner frame of different quantity, adjusts the structural strength of second inner frame 2, thereby has improved the application scope of this novel balance car.
The overall structure of first inner frame 3 is flat-plate-shaped, and the overall structure of second inner frame 2 also is flat-plate-shaped, and the both ends of second inner frame 2 extend to first inner frame 3 front and back both sides respectively, and first inner frame 3 bearing is in the below of two second inner frames 2, and both fully contact has further improved the stationarity of first inner frame 3 to the support of second inner frame 2.
Two countersunk grooves 12 are formed in the upper cover 1, the two countersunk grooves 12 correspond to the two pedal plates 5 one by one, the pedal plates 5 are matched with the countersunk grooves 12, the pedal plates 5 are arranged in the corresponding countersunk grooves 12, and the countersunk grooves 12 play a role in positioning the pedal plates 5, so that the installation of the pedal plates 5 is further facilitated.
Fixed slipmat 6 that is provided with on the automobile body, 6 accessible glues of slipmat bond in the upper end of automobile body, and 6 lids of slipmat are established on opening 11, and running-board 5, pressure sensor 92 are sealed between slipmat 6 and automobile body, have played dustproof, waterproof effect to when the user foot is stepped on the automobile body, with slipmat 6 direct contact, still play the problem of avoiding user's foot to take place to skid.
The spindle of two in-wheel motor 41 is fixed the both sides that set up at first inner frame 3 respectively, keyway 411 has been seted up to the side of in-wheel motor 41 spindle, the fixed mount pad 8 that is provided with on first inner frame 3, the overall structure of mount pad 8 is "U" style of calligraphy roughly, the bolt fastening is respectively on first inner frame 3 at the both ends of mount pad 8, in-wheel motor 41's spindle setting is between mount pad 8 and first inner frame 3, the middle part of mount pad 8 is formed with parallel key portion 81, parallel key portion 81 adaptation is in keyway 411, thereby realize that in-wheel motor 41's spindle is fixed to be set up on first inner frame 3.
Two sides of the upper cover 1 are fixedly provided with mud blocking covers 13, and the two mud blocking covers 13 are respectively covered on the two wheels 7, so that muddy water rolled up by the wheels 7 is prevented from being thrown onto a user when the vehicle runs.
Two front lamps 95 are arranged at the front end of the vehicle body, a tail lamp 96 is arranged at the rear end of the vehicle body, the front lamps 95 and the tail lamp 96 are respectively and electrically connected with the control module 91, and the front lamps 95 and the tail lamp 96 are used for improving illumination when the balance car runs and are convenient to run in a dark environment.
The non-slip mat 6 is made of rubber with rich elasticity, the pedal plate 5 is movably arranged at the upper end of the upper cover 1, and the non-slip mat 6 can drive the pedal plate 5 to reset under the action of removing external force or no external force, so that the non-slip mat is convenient to use for the next time.
As shown in fig. 3, A, B, C, D respectively indicate the installation positions of four pressure sensors 92 on the upper cover 1, the pressure sensors 92 at A, B, C, D respectively correspond to the sole of the right foot, the sole of the left foot, the heel of the right foot and the heel of the left foot of the user, and the operation principle of the balance bike is described as follows:
starting the balance car, and initializing the balance car into a riding mode by the control module 91;
the balance car advances under the condition that the two pedals incline forwards and the inclination degrees are consistent, the pressure sensor 92 at A, B is consistent in pressure degree, the pressure sensor 92 at C, D is not pressurized, the balance car keeps advancing, and the advancing speed of the balance car is increased along with the increase of the forward inclination angle of the pedals;
the conditions of the balance car backing are that both pedals are backing backwards and the leaning degrees are consistent, the pressure sensor 92 at C, D is consistent in pressure degree, the pressure sensor 92 at A, B is not stressed, the balance car is kept backing, and the backing speed of the balance car is increased along with the increase of the backing angle of the pedals;
the balance car stops under the condition that both pedals are kept horizontal, the pressure sensor 92 at the position A, B, C, D is not pressed, and the balance car is kept still;
the condition that the balance car turns to the right is that the two pedals are inclined forwards, the pressure sensor 92 at the position B is more pressurized than the pressure sensor 92 at the position A, the rotating speed of the wheel 7 at the left side is more than that of the wheel 7 at the right side, so that a differential speed is formed, and the balance car turns to the right;
the condition that the balance car turns to the left is that both pedals incline forward, the degree of compression of the pressure sensor 92 at the position A is greater than that of the pressure sensor 92 at the position B, the rotating speed of the wheels 7 on the right side is greater than that of the wheels 7 on the left side, a differential speed is formed, and the balance car turns to the left.
The above-mentioned embodiment is only the preferred embodiment of the present invention, and does not limit the protection scope of the present invention according to this, so: all equivalent changes made according to the structure, shape and principle of the utility model are covered within the protection scope of the utility model.
Claims (10)
1. A novel balance car comprises a car body, two wheels (7) are arranged on the car body side by side, the wheels (7) are provided with hub motors (41), the device is characterized by further comprising a control module (91), wherein the control module (91) is connected with the two in-wheel motors (41), the power supply module (93) and the four pressure sensors (92), the four pressure sensors (92) are used for detecting the pressure of the soles and the heels of the feet of a user, the control module (91) compares the pressure of the left sole with the pressure of the left heel to obtain a left foot pressure deviation value, compares the pressure of the right sole with the pressure of the right heel to obtain a right foot pressure deviation value, and obtains speed control components of the two wheels (7) by combining the left foot pressure deviation value, the right foot deviation value and the rotating speeds of the two in-wheel motors (41), regulating the speed of the two hub motors (41) according to the speed control components of the two wheels (7);
the bicycle body comprises an upper cover (1), two second inner frameworks (2), a first inner framework (3) and a lower cover (4) which are sequentially arranged from top to bottom, two pedal plates (5) are arranged at the upper end of the upper cover (1) side by side, and four pressure sensors (92) are respectively arranged between the end parts of the pedal plates (5) and the end parts of the second inner frameworks (2).
2. The novel balance car as claimed in claim 1, wherein the second inner frame (2) is detachably arranged on the first inner frame (3).
3. The novel balance car as claimed in claim 2, wherein both ends of the second inner frame (2) extend to the front and rear sides of the first inner frame (3), respectively.
4. The novel balance car as claimed in any one of claims 1 to 3, wherein the end of the second inner frame (2) is provided with an installation groove (21), and four pressure sensors (92) are respectively arranged in the corresponding installation grooves (21).
5. The novel balance car as claimed in any one of claims 1 to 3, wherein the upper cover (1) is provided with a through opening (11), and the pressure sensor (92) is arranged through the through opening (11).
6. A new vehicle as claimed in claim 5, characterised in that said ports (11) are four, the ports (11) corresponding one-to-one to the pressure sensors (92), the four ports (11) being respectively arranged between the end of the second inner frame (2) and the end of the footboard (5).
7. The novel balance car as claimed in claim 6, wherein the upper cover (1) is provided with a countersunk groove (12), and the pedal plate (5) is arranged in the countersunk groove (12).
8. The novel balance car as claimed in claim 1 or 7, wherein a non-slip mat (6) is fixedly arranged on the car body, and the pedal plate (5) and the pressure sensor (92) are sealed between the non-slip mat (6) and the car body.
9. The novel balance car as claimed in claim 1 or 6, wherein shafts of the two in-wheel motors (41) are respectively and fixedly arranged on two sides of the first inner frame (3), a key groove (411) is formed in the shafts of the in-wheel motors (41), a mounting seat (8) is fixedly arranged on the first inner frame (3), the shafts of the in-wheel motors (41) are arranged between the mounting seat (8) and the first inner frame (3), a flat key portion (81) is formed on the mounting seat (8), and the flat key portion (81) is matched in the key groove (411).
10. The novel balance car of claim 1 or 6, wherein the power module (93) and the control module (91) are arranged between the first inner frame (3) and the lower cover (4).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202021199479.3U CN212828865U (en) | 2020-06-24 | 2020-06-24 | Novel balance car |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202021199479.3U CN212828865U (en) | 2020-06-24 | 2020-06-24 | Novel balance car |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN212828865U true CN212828865U (en) | 2021-03-30 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202021199479.3U Active CN212828865U (en) | 2020-06-24 | 2020-06-24 | Novel balance car |
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| Country | Link |
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| CN (1) | CN212828865U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114408078A (en) * | 2022-01-05 | 2022-04-29 | 武义佰泽运动器械有限公司 | Electric balance car |
| CN115339556A (en) * | 2021-10-20 | 2022-11-15 | 浙江群英车业有限公司 | Two-wheeled electrodynamic balance car |
-
2020
- 2020-06-24 CN CN202021199479.3U patent/CN212828865U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115339556A (en) * | 2021-10-20 | 2022-11-15 | 浙江群英车业有限公司 | Two-wheeled electrodynamic balance car |
| CN114408078A (en) * | 2022-01-05 | 2022-04-29 | 武义佰泽运动器械有限公司 | Electric balance car |
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Address after: 321399 dongpengtou, 4th floor, No. 171, Xueyuan North Road, Yongkang Economic Development Zone, Jinhua City, Zhejiang Province (self declaration) Patentee after: Zhejiang Anshang robot Co.,Ltd. Address before: 321399 dongpengtou, 4th floor, No. 171, Xueyuan North Road, Yongkang Economic Development Zone, Jinhua City, Zhejiang Province Patentee before: JINHUA ANSHANG ROBOT TECHNOLOGY Co.,Ltd. |
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| CP03 | Change of name, title or address |