阅读说明：本技术 一种水上自平衡交通娱乐工具 (Self-balancing traffic entertainment tool on water ) 是由 曾韵陶 于 2020-07-24 设计创作，主要内容包括：本发明公开了一种水上自平衡交通娱乐工具,包括用于提供浮力的流线型浮筒,对称设置于浮筒两侧并用于平衡浮筒的第一喷水螺旋桨系统和第二喷水螺旋桨系统,设置于浮筒上并用于驱动浮筒的行进转弯控制系统,设置于浮筒上并用于获取人体动作形态信息的脚踏板,设置于浮筒上用于判断人体动作的传感器系统和控制系统,以及用于提供存储动力能源的电池组。本发明将现有的陆上“自平衡技术”巧妙的应用在水上娱乐工具上,通过第一喷水螺旋桨系统和第二喷水螺旋桨系统之间的相互配合,实现水上娱乐工具的垂直方向上的平衡,再结合现有的陆上“自平衡技术”,实现水上娱乐交通工具的行进、后退、转弯、转圈等操作,极大地丰富了人们水上娱乐的生活。(The invention discloses a water self-balancing transportation and entertainment tool, which comprises a streamline buoy for providing buoyancy, a first water spray propeller system and a second water spray propeller system which are symmetrically arranged on two sides of the buoy and used for balancing the buoy, a marching and turning control system arranged on the buoy and used for driving the buoy, a pedal plate arranged on the buoy and used for acquiring human body action form information, a sensor system and a control system arranged on the buoy and used for judging human body actions, and a battery pack for providing and storing power energy. The invention skillfully applies the prior land self-balancing technology to the water entertainment tool, realizes the balance of the water entertainment tool in the vertical direction through the mutual matching of the first water spraying propeller system and the second water spraying propeller system, and realizes the operations of advancing, retreating, turning, circling and the like of the water entertainment vehicle by combining the prior land self-balancing technology, thereby greatly enriching the life of people in water entertainment.)

1. A self-balancing on water vehicle, its characterized in that: comprises a streamline buoy (1) for providing buoyancy, a first water spray propeller system (6) and a second water spray propeller system (7) which are symmetrically arranged at two sides of the buoy (1) and used for balancing the buoy (1), a first water spray propeller system and a second water spray propeller system which are arranged on the buoy (1) and used for driving the buoy (1) to advance, the device comprises a running and turning control system for backing and turning, a pedal plate (2) arranged on the buoy (1) and used for acquiring human body action form information, a sensor system (13) arranged on the buoy (1) and matched with the pedal plate (2) and used for judging human body actions, a control system (14) arranged on the buoy (1) and used for receiving and calculating data of the sensor system (13) and controlling corresponding actions of the buoy (1), and a battery pack (8) used for providing stored power energy.

2. The self-balancing aquatic vehicle as claimed in claim 1, wherein: the first water spraying propeller system (6) comprises an L-shaped first pump body, a first water spraying water inlet (6-4) and a first water spraying water outlet (6-3) which are arranged on the first pump body, a first water spraying pump blade (6-2) which is arranged in the first pump body, a first pump shaft which is connected with the first water spraying pump blade (6-2), and a first water spraying driving motor (6-1) which is connected with the first pump shaft and is used for driving the first pump shaft; the second water spraying propeller system (7) comprises a second pump body which is L-shaped, a second water spraying water inlet and a second water spraying water outlet which are arranged on the second pump body, a second water spraying pump blade (7-2) which is arranged in the second pump body, a second pump shaft which is connected with the second water spraying pump blade (7-2), and a second water spraying driving motor (7-1) which is connected with the second pump shaft and is used for driving the second pump shaft.

3. The self-balancing aquatic vehicle as claimed in claim 2, wherein: the advancing turning control system comprises a first horizontal propeller system (4) and a second horizontal propeller system (5) which are symmetrically arranged at two sides of the buoy (1); the first horizontal propeller system (4) comprises a first propeller cylinder (4-1) arranged on the buoy (1), a first propeller driving shaft (4-5) arranged in the first propeller cylinder (4-1), first propeller blades (4-6) arranged at two ends of the first propeller driving shaft (4-5), and a first propeller driving motor (4-3) for driving the first propeller driving shaft (4-5) to rotate forwards and backwards; the second horizontal propeller system (5) comprises a second propeller cylinder arranged on the buoy (1), a second propeller driving shaft (5-5) arranged in the second propeller cylinder, second propeller blades (5-6) arranged at two ends of the second propeller driving shaft (5-5), and a second propeller driving motor (5-3) for driving the second propeller driving shaft (5-5) to rotate forwards and backwards; wherein the first propeller driving motor (4-3) and the second propeller driving motor (5-3) control different rotating speeds according to the data sensed by the sensor system to realize the function of turning the buoy (1).

4. The self-balancing aquatic vehicle as claimed in claim 2, wherein: the advancing and turning control system comprises a single-cylinder propeller system (16) for driving the buoy (1) to advance and retreat, and a steering system or a vector water spraying system which is arranged on the buoy (1) and used for controlling the buoy (1) to turn; the single-cylinder propeller system (16) comprises a single-cylinder propeller cylinder (10) arranged on the buoy (1), a single-cylinder propeller driving shaft arranged in the single-cylinder propeller cylinder (10), single-cylinder propeller blades (12-1,12-2) arranged at two ends of the single-cylinder propeller driving shaft, and a single-cylinder propeller driving motor (9) used for driving the single-cylinder propeller driving shaft to rotate positively and negatively.

5. The self-balancing aquatic vehicle as claimed in claim 4, wherein: the helm steering system including set up in rudder blade fixed axle (18) on flotation pontoon (1), set up in rudder blade (17) on rudder blade fixed axle (18), with rudder blade (17) activity links to each other and is used for control rudder blade (17) wind rudder blade fixed axle (18) pivoted rudder blade drive plectrum (20), and set up in on flotation pontoon (1) and be used for control helm steering wheel (19) of rudder blade drive plectrum (20).

6. The self-balancing aquatic vehicle as claimed in claim 4, wherein: the vector water spraying system comprises a connecting cylinder connected with the single-cylinder propeller cylinder system (16), a vector water spraying rotating shaft (33) arranged on the floating cylinder (1), a vector water spraying port (32) connected with the connecting cylinder and capable of rotating around the vector water spraying rotating shaft (33), and a vector water spraying steering engine system arranged on the floating cylinder (1) and used for controlling the vector water spraying port (32) to rotate; the vector water spray steering engine system comprises a vector water spray steering engine (36) arranged on the buoy (1), a vector water spray steering engine shifting piece (37) arranged on the vector water spray steering engine (36), and a first pull rod (34) and a second pull rod (35) which are arranged at two ends of the vector water spray steering engine shifting piece (37) and connected with the vector water spray opening (32); wherein the vector water jet (32) is in a hemispherical shape, and the connecting cylinder is a hemispherical cylinder; or the vector water jet (32) is in a cylindrical shape, and the connecting cylinder is a combination of a T-shaped fixing piece (39) and a telescopic pipe (38).

7. A self-balancing aquatic vehicle as claimed in claim 3, 4 or 5, wherein: the buoy (1) is further provided with a leg control column (3) which is matched with the sensor system and used for sensing the leg action of the human body and transmitting sensing data to the control system.

8. A self-balancing aquatic vehicle as claimed in claim 3, 4 or 5, wherein: the first water spraying driving motor (6-1) and the second water spraying driving motor (7-1) are combined into the same total driving motor (28), and a clutch control system capable of respectively controlling the first pump shaft and the second pump shaft to rotate independently is further arranged on the float bowl (1).

9. The self-balancing aquatic vehicle as claimed in claim 8, wherein: the clutch control system comprises a clutch bevel gear (21) arranged on a driving shaft of the main driving motor, a first connecting system and a second connecting system which are symmetrically arranged on two sides of the clutch bevel gear (21) and are respectively connected with the first pump shaft and the second pump shaft, and a clutch shifting plate device which is arranged on the buoy (1) and is used for controlling the clutch bevel gear (21) to be respectively connected with or disconnected from the first connecting system and the second connecting system; the first connecting system comprises a first connecting bevel gear (6-5) which is matched with the clutch bevel gear (21) to realize clutch, a first bearing (25) which is connected with the first connecting bevel gear (6-5) through a connecting shaft, a first universal joint (27) which is connected with the first bearing (25) through a first driven connecting rod (26), and a first pump shaft connecting bevel gear which is connected with the first universal joint (27) through a connecting shaft and is connected with the first pump shaft; the second connecting system comprises a second connecting bevel gear (7-5) which is matched with the clutch bevel gear (21) to realize clutch, a second bearing which is connected with the second connecting bevel gear (7-5) through a connecting shaft, a second universal joint which is connected with the second bearing through a second driven connecting rod, and a second pump shaft which is connected with the universal joint through a connecting shaft and is connected with the second pump shaft.

10. The self-balancing aquatic vehicle as claimed in claim 9, wherein: the clutch shifting piece device comprises a clutch steering gear (22) arranged on the buoy (1), a clutch shifting piece (23) arranged on the clutch steering gear, and a pressure reversing piece (24) connected with the clutch shifting piece (23).

Technical Field

The invention relates to the technical field of self-balancing devices, in particular to a water self-balancing transportation and entertainment tool.

Background

At present, water traffic and entertainment tools mainly comprise sailboats, sailboards, sliding plates, yachts, water motorcycles and the like, and the traffic and entertainment tools are difficult to widely popularize due to high cost, large operation difficulty, inconvenient carrying and the like; on the other hand, with the improvement of living standard, people have higher and higher requirements on fashion and interest of water traffic and entertainment tools. At present, a self-balancing technology is mature, a motion compensation algorithm is adopted through a dynamic balance principle, a gyroscope and an acceleration sensor in the motion compensation algorithm are utilized to accurately detect the tiny change of the posture of a vehicle body, a precise and quick servo control system is utilized to sensitively drive a motor, and corresponding posture adjustment is carried out to keep the stability and balance of the whole vehicle body. The self-balancing technology is widely applied to various fields of production and life, particularly widely applied to the fields of self-balancing vehicles, body-sensing vehicles, wheelbarrows and the like, and becomes a green and environment-friendly transportation entertainment tool for people to ride instead of walk and entertain. However, the self-balancing technology is not widely applied to aquatic entertainment tools, and the aquatic self-balancing traffic and entertainment tools are innovated and developed, so that certain necessity and urgency are provided.

The invention aims to innovatively develop a water self-balancing traffic and entertainment tool by utilizing the existing self-balancing technology, and provides a new choice for solving water traffic and entertainment such as water entertainment of oceans, lakes, rivers and the like, water patrol, water rescue, water performance, aquaculture and the like.

Disclosure of Invention

The technical problem to be solved by the invention is as follows: the self-balancing traffic entertainment tool applies the self-balancing technology to the water entertainment tool for water entertainment of oceans, lakes, rivers and the like, and provides the water traffic tool for water patrol, water rescue, water performance, aquaculture and the like.

In order to achieve the purpose, the technical scheme adopted by the invention is as follows:

the utility model provides a self-balancing traffic entertainment tool on water, including the streamlined flotation pontoon that is used for providing buoyancy, the symmetry set up in the flotation pontoon both sides are used for balancing the first water spray screw system and the second water spray screw system of flotation pontoon, set up in on the flotation pontoon and be used for the drive the flotation pontoon advances, retreat and the turn control system of marcing of turning, set up in on the flotation pontoon and be used for acquireing human action form information's running-board, set up in on the flotation pontoon and with the running-board cooperatees and is used for judging the sensor system of human action, set up in be used for receiving the operation on the flotation pontoon sensor system data and control the control system of the corresponding action of flotation pontoon to and.

Further, the first water spraying propeller system comprises an L-shaped first pump body, a first water spraying water inlet and a first water spraying water outlet which are arranged on the first pump body, a first water spraying pump blade arranged in the first pump body, a first pump shaft connected with the first water spraying pump blade, and a first water spraying driving motor connected with the first pump shaft and used for driving the first pump shaft; the second water spray propeller system comprises a second pump body in an L shape, a second water spray water inlet and a second water spray water outlet which are arranged on the second pump body, a second water spray pump blade arranged in the second pump body, a second pump shaft connected with the second water spray pump blade, and a second water spray driving motor connected with the second pump shaft and used for driving the second pump shaft.

Further, the advancing turning control system comprises a first horizontal propeller system and a second horizontal propeller system which are symmetrically arranged on two sides of the buoy; the first horizontal propeller system comprises a first propeller cylinder arranged on the buoy, a first propeller driving shaft arranged in the first propeller cylinder, first propeller blades arranged at two ends of the first propeller driving shaft, and a first propeller driving motor used for driving the first propeller driving shaft to rotate forwards and backwards; the second horizontal propeller system comprises a second propeller cylinder arranged on the buoy, a second propeller driving shaft arranged in the second propeller cylinder, second propeller blades arranged at two ends of the second propeller driving shaft, and a second propeller driving motor used for driving the second propeller driving shaft to rotate forwards and backwards; the first propeller driving motor and the second propeller driving motor control different rotating speeds according to data sensed by the sensor system to realize the function of turning the buoy.

In another application form, the travel turning control system comprises a single-cylinder propeller system for driving the buoy to advance and retreat, and a steering system or a vector water spraying system which is arranged on the buoy and used for controlling the buoy to turn; the single-cylinder propeller system comprises a single-cylinder propeller cylinder arranged on the buoy, a single-cylinder propeller driving shaft arranged in the single-cylinder propeller cylinder, single-cylinder propeller blades arranged at two ends of the single-cylinder propeller driving shaft, and a single-cylinder propeller driving motor used for driving the single-cylinder propeller driving shaft to rotate forwards and backwards;

further, the helm steering system including set up in rudder blade fixed axle on the flotation pontoon set up in rudder blade on the rudder blade fixed axle, with rudder blade activity links to each other and is used for control rudder blade winds rudder blade fixed axle pivoted rudder blade drives the plectrum, and set up in on the flotation pontoon and be used for control the helm steering wheel of rudder blade drive plectrum.

Furthermore, the vector water spraying system comprises a connecting cylinder connected with the single-cylinder propeller cylinder system, a vector water spraying rotating shaft arranged on the floating cylinder, a vector water spraying port which is connected with the connecting cylinder and can rotate around the vector water spraying rotating shaft, and a vector water spraying steering engine system which is arranged on the floating cylinder and is used for controlling the vector water spraying port to rotate; the vector water spraying steering engine system comprises a vector water spraying steering engine arranged on the buoy, a vector water spraying steering engine shifting piece arranged on the vector water spraying steering engine, and a first pull rod and a second pull rod which are arranged at two ends of the vector water spraying steering engine shifting piece and connected with the vector water spraying port; the vector water spraying port is in a hemispherical shape, and the connecting cylinder is a hemispherical cylinder; or the vector water spray opening is in a cylinder shape, and the connecting cylinder is a combination of a T-shaped fixing piece and a telescopic pipe.

Furthermore, the buoy is also provided with a leg control column which is matched with the sensor system and used for sensing the leg action of the human body and transmitting sensing data to the control system.

Furthermore, the first water spray driving motor and the second water spray driving motor are the same general driving motor, and a clutch control system capable of respectively controlling the first pump shaft and the second pump shaft to rotate independently is further arranged on the float bowl.

Furthermore, the clutch control system comprises a clutch bevel gear arranged on a drive shaft of the main drive motor, a first connecting system and a second connecting system which are symmetrically arranged on two sides of the clutch bevel gear and are respectively connected with the first pump shaft and the second pump shaft, and a clutch shifting piece device which is arranged on the float and is used for controlling the clutch bevel gear to be respectively connected with or disconnected from the first connecting system and the second connecting system; the first connecting system comprises a first connecting bevel gear which is matched with the clutch bevel gear to realize clutch, a first bearing which is connected with the first connecting bevel gear through a connecting shaft, a first universal joint which is connected with the first bearing through a first driven connecting rod, and a first pump shaft connecting bevel gear which is connected with the first universal joint through a connecting shaft and is connected with the first pump shaft; the second connecting system comprises a second connecting bevel gear which is matched with the clutch bevel gear to realize clutch, a second bearing which is connected with the second connecting bevel gear through a connecting shaft, a second universal joint which is connected with the second bearing through a second driven connecting rod, and a second pump shaft which is connected with the universal joint through a connecting shaft and is connected with the bevel gear.

Furthermore, the clutch plectrum device comprises a clutch steering gear arranged on the buoy, a clutch plectrum arranged on the clutch steering gear and a pressure reversing piece connected with the clutch plectrum

Compared with the prior art, the invention has the following beneficial effects:

(1) the invention skillfully applies the prior land self-balancing technology to the water entertainment tool, realizes the balance of the water entertainment tool in the vertical direction by adding the first water spraying propeller system and the second water spraying propeller system which are used for balancing water in the vertical direction and mutually matching the first water spraying propeller system and the second water spraying propeller system, and realizes the operations of advancing, retreating, turning and circling of the water entertainment vehicle by combining the prior land self-balancing technology, thereby greatly enriching the life of people in water entertainment, simultaneously being capable of using the water entertainment tool as a water rescue tool and improving the practicability.

(2) The advancing and turning control system can adopt the arrangement form of double horizontal propellers, realizes the turning function through the speed difference between the two horizontal propellers, can adopt a single propeller to be matched with a steering system or a vector water spraying system, realizes the advancing and retreating functions through the single propeller, and realizes the turning function through the steering system or the water spraying system, thereby greatly improving the diversity of the design of the invention.

Drawings

Fig. 1 is a schematic view of an appearance structure of the leg control column of the present invention.

Fig. 2 is a schematic view of the structure of the present invention when a double horizontal propeller system is used.

Fig. 3 is a schematic sectional view of the leg control column of fig. 1.

Fig. 4 is a schematic view of the appearance structure of the leg-control column of the present invention.

Fig. 5 is a schematic view of the configuration of the present invention when a single-tube propeller system is used.

Fig. 6 is a schematic structural view of the single-tube propeller system of the present invention.

FIG. 7 is a schematic structural diagram of the vector water spraying system of the present invention.

FIG. 8 is a schematic structural diagram of another embodiment of the vector water spraying system of the present invention.

Wherein, the names corresponding to the reference numbers are:

1 buoy, 2 foot pedals, 3 leg control columns, 6 a first water jet propeller system, 7 a second water jet propeller system, 4-1 a first propeller cylinder, 4-2 a first slag barrier net, 4-3 a first propeller drive motor, 4-5 a first propeller drive shaft, 4-6 a first propeller blade, 5 a second horizontal propeller system, 5-3 a second propeller drive motor, 5-5 a second propeller drive shaft, 5-6 a second propeller blade, 6-a first water jet propeller system, 6-1 a first water jet drive motor, 6-2 a first water jet pump blade, 6-3 a first water jet outlet, 6-4 a first water jet inlet, 7 a second water jet propeller system, 7-1 a second water jet drive motor, 7-2 a second water jet pump blade, the device comprises an 8-type battery pack, a 9-single-cylinder propeller driving motor, a 10-single-cylinder propeller cylinder, an 11-second slag blocking net, 12-1, 12-2-single-cylinder propeller blades, a 13 sensor system, a 14 control system, a 16-single-cylinder propeller system, a 17 rudder blade, an 18 rudder blade fixing shaft, a 19 steering engine, a 20 rudder blade driving shifting sheet, a 21 clutch bevel gear, a 22 clutch steering engine, a 23 clutch shifting sheet, a 24 pressure reversing sheet, a 25 first bearing, a 26 first driven connecting rod, a 27 first universal joint, a 28 total driving motor, a 29 illuminating lamp, a 31 cylindrical body, a 32 vector water spraying opening, a 33 vector water spraying rotating shaft, a 34 first pull rod, a 35 second pull rod, a 36 vector water spraying steering engine, a 37 vector water spraying steering engine shifting sheet, a 38 telescopic pipe and a 39T-type fixing piece.

Detailed Description

The present invention will be further described with reference to the following description and examples, which include but are not limited to the following examples.

As shown in FIGS. 1-8:

the utility model provides a self-balancing vehicle entertainment tool on water, use current land "self-balancing technique" on water entertainment tool ingeniously, make water entertainment tool realize advancing at current land "self-balancing technique", the backspace, on the basis of turning, can also realize the vertical balanced regulation of water entertainment tool, thereby satisfy water entertainment tool and advance on water, the backspace, turn, operation such as circle, people's life of amusement on water has greatly been enriched, also can regard it as rescue tool on water to use, promote the agility of rescue on water, effectively protect people's life and property safety. Its concrete structure includes flotation pontoon 1, and the buoyancy that flotation pontoon 1 produced can bear rated human weight, and under the rated load condition, 1 surfaces of flotation pontoon just submerge in the aquatic or be a little higher than the surface of water to increase mysterious sense, the flotation pontoon is the streamline shape, is convenient for reduce the resistance, increases stability. In order to increase the bearing capacity of the buoy 1, two sides near the gravity center line of the buoy are respectively provided with a hanging buckle, when the weight of a human body exceeds the rated buoyancy of the buoy, a pair of buoyancy boxes can be symmetrically hung on the hanging buckles, so that extra buoyancy is generated to bear the overweight human body, and the requirements of users with different weights are met.

The upper surface of the buoy 1 is provided with a pedal 2 which is used as a human body bearing part and is connected with a sensor system 13, the sensor system 13 can sense the weight of a human body through the pedal, the angle data of forward leaning and backward leaning are transmitted to a control system 14 in real time, the control system is composed of intelligent chips such as a single chip microcomputer, the intelligent chips in the controller system 14 process signals of the sensor data of the sensor system 13, PID operation is carried out to obtain the data of the direction, the angular velocity, the acceleration and the like of the buoy, and corresponding motors are controlled to rotate so as to realize the operations of balance, advancing, backward moving, turning and the like of the buoy, the buoy 1 is provided with a battery pack 8 which is used for providing power supply for each driving motor, the battery pack 8 is arranged in the buoy and can continuously provide electric energy for the device, and the battery is provided with a charging interface and can, the voltage accords with the human safety standard, and the battery is through water repellent treatment, and the interface that charges has the waterproof cover.

The buoy of the invention has the same principle as the forward and backward dynamic balance of a common land self-balancing vehicle, a sensor system connected with the pedal 2 comprises a solid-state gyroscope sensor, a three-dimensional acceleration sensor, a pressure sensor and a gravity sensor, can sense data of forward and backward tilting of a human body in real time and transmit the data to a control system, and an intelligent chip in the control system sends out corresponding instructions according to a set program. The invention is additionally provided with a first water spray propeller system 6 and a second water spray propeller system 7 for balancing the acting force of the buoy in the vertical direction and a traveling turning control system on the basis of the principle of a land balance vehicle, and the acting force of the first water spray propeller system 6 and the second water spray propeller system 7 in the axial direction of the buoy is balanced through the reacting force of the first water spray propeller system 6 and the second water spray propeller system 7 on the buoy so as to quickly adjust the balance of the buoy in the vertical direction.

Specifically, as shown in fig. 2: the first water spraying propeller system 6 comprises an L-shaped first pump body, a first water spraying water inlet 6-4 and a first water spraying water outlet 6-3 which are arranged on the first pump body, a first water spraying pump blade 6-2 which is arranged in the first pump body, a first pump shaft which is connected with the first water spraying pump blade 6-2, and a first water spraying driving motor 6-1 which is connected with the first pump shaft and is used for driving the first pump shaft; the second water spray propeller system 7 comprises an L-shaped second pump body, a second water spray water inlet and a second water spray water outlet which are arranged on the second pump body, a second water spray pump blade 7-2 which is arranged in the second pump body, a second pump shaft which is connected with the second water spray pump blade 7-2, and a second water spray driving motor 7-1 which is connected with the second pump shaft and is used for driving the second pump shaft. When the body of a person on the buoy inclines leftwards or rightwards and falls into water without balance, an electronic horizontal sensor in a sensing system arranged in the buoy acquires the horizontal inclination angle data of the buoy in real time and transmits the data to a control system, and the control system sends out an instruction according to a set program: when the inclination angle of the buoy exceeds a preset value, the control system instructs a motor (a first water spray driving motor 6-1 or a second water spray driving motor 7-1) at the lower side of the inclination to drive a pump blade (a first water spray pump blade 6-2 or a second water spray pump blade 7-2) at the lower side to rotate at a high speed and pump water downwards and spray out at a high speed, so that upward lifting force is generated, the height of the lower side is raised in real time until the height is balanced with the other side, the gravity center of a human body is adapted to be transferred, and the phenomenon that the human body falls into water is avoided. Of course, under the conditions that the proficiency of the operator is high and the operator can master the operation skill, the first water spray propeller system 6 and the second water spray propeller system 7 can be independently closed, and the balance problem in the vertical direction is freely controlled by the operator according to experience by means of the balance of the buoy.

The travel turning control system provided in the present invention can be implemented by various embodiments.