阅读说明：本技术 手推轮式车辆 (Hand-push wheeled vehicle ) 是由 查霞红 赵凤丽 高彬彬 鄢正清 于 2018-07-04 设计创作，主要内容包括：本发明涉及一种手推轮式车辆,包括：行走机构,所述行走机构包括前轮和后轮；自驱动机构,所述自驱动机构用于驱动所述行走机构；第一自驱控制装置,所述第一自驱控制装置根据所述前轮是否高离地面,来控制所述自驱动机构,以使所述自驱动机构在所述前轮高离地面时,降低所述行走机构的行走速度或停止驱动所述行走机构。通过第一自驱控制装置在所述前轮高离地面时,控制所述自驱动机构的转速,从而降低后轮的行走速度或者停止驱动所述后轮。根据本发明实施例的手推轮式车辆,可以减小转弯半径,并且转弯时不需要反复操作自驱开关,操作程序简单,减少误操作。(The invention relates to a hand-propelled wheeled vehicle comprising: the travelling mechanism comprises a front wheel and a rear wheel; the self-driving mechanism is used for driving the walking mechanism; the first self-driving control device controls the self-driving mechanism according to whether the front wheel is high off the ground or not, so that the self-driving mechanism reduces the traveling speed of the traveling mechanism or stops driving the traveling mechanism when the front wheel is high off the ground. When the front wheel is higher than the ground, the first self-driving control device controls the rotating speed of the self-driving mechanism, so that the traveling speed of the rear wheel is reduced or the rear wheel is stopped to be driven. According to the hand-push wheeled vehicle disclosed by the embodiment of the invention, the turning radius can be reduced, the self-driving switch does not need to be operated repeatedly during turning, the operation procedure is simple, and misoperation is reduced.)

1. A hand-propelled wheeled vehicle, comprising:

the travelling mechanism comprises a front wheel and a rear wheel;

the self-driving mechanism is used for driving the walking mechanism;

the first self-driving control device controls the self-driving mechanism according to whether the front wheel is high off the ground or not, so that the self-driving mechanism reduces the traveling speed of the traveling mechanism or stops driving the traveling mechanism when the front wheel is high off the ground.

2. Hand-propelled wheeled vehicle according to claim 1,

the first self-driving control device comprises a self-driving switch, when the front wheel is high above the ground, the self-driving switch reduces the rotating speed of the self-driving mechanism or disconnects the self-driving mechanism from the traveling mechanism, and the self-driving mechanism reduces the traveling speed of the traveling mechanism or stops driving the traveling mechanism.

3. Hand-propelled wheeled vehicle according to claim 1,

the first self-driven control device comprises an identification sensor; the identification sensor comprises a first sensor and a second sensor, wherein the first sensor is used for detecting the angle between the front wheel and the ground, and the second sensor is used for detecting the pressure between the front wheel and the ground;

and the first self-driving control device determines whether the front wheel is high off the ground or not according to the angle and the pressure.

4. Hand-propelled wheeled vehicle according to claim 2,

the self-driven switch is a mechanical switch, and when the front wheel is high above the ground, at least part of the mechanical switch is disconnected.

5. Hand-propelled wheeled vehicle according to claim 4,

the hand-propelled wheeled vehicle further comprises: a bottom shell and a front axle, the bottom shell including a mounting hole supporting the front axle;

the front wheel is arranged on one side of the bottom shell through the front wheel shaft, the front wheel shaft comprises a shaft main body which is rotatably connected with the front wheel, and the shaft main body can move in the mounting hole;

when the front wheel is high above the ground, the shaft main body moves to the lower side of the mounting hole, the mechanical switch is disconnected at least partially,

when the front wheel contacts the ground, the shaft body moves to the upper side of the mounting hole, and the mechanical switch is closed.

6. Hand-propelled wheeled vehicle according to claim 5,

the mechanical switch includes a contact, the bottom case further includes a recess receiving the contact,

the front wheel axle further comprises a switch trigger part for triggering the contact and a connecting part for connecting the axle main body and the switch trigger part,

when the front wheel is high above the ground, the shaft main body moves to the lower side of the mounting hole, the switch trigger part is disconnected with the contact, and the self-driving mechanism stops driving the travelling mechanism;

when the front wheel contacts the ground, the shaft main body moves to the upper side of the mounting hole, the switch trigger part is connected with the contact, and the self-driving mechanism starts to drive the traveling mechanism.

7. Hand-propelled wheeled vehicle according to claim 6,

the contacts are located at the top within the recess.

8. Hand-propelled wheeled vehicle according to claim 6,

the contact is a slide rheostat,

when the front wheel is high above the ground, the shaft main body moves to the lower side of the mounting hole, the switch trigger part moves, the resistance value of the sliding rheostat is increased, and the self-driving mechanism reduces the traveling speed of the traveling mechanism;

when the front wheel contacts the ground, the shaft main body moves to the upper side of the mounting hole, the switch trigger part moves, the resistance value of the sliding rheostat is reduced, and the self-driving mechanism recovers the traveling speed of the traveling mechanism.

9. Hand-propelled wheeled vehicle according to claim 8,

the slide rheostat extends in a substantially vertical direction within the recess.

10. Hand-pushed wheeled vehicle according to any one of claims 6 to 9,

the connecting part and the switch triggering part are positioned on different sides of the bottom shell with the front wheel.

11. Hand-propelled wheeled vehicle according to claim 5,

the mechanical switch comprises a contact;

the hand-propelled wheeled vehicle further comprises: a bottom housing including a mounting hole supporting the front axle, the contact being located at a top portion within the mounting hole;

the front wheel shaft comprises a shaft main body which is rotatably connected with the front wheel, the shaft main body can move in the mounting hole, and a switch triggering part is arranged on the upper side of the shaft main body;

when the front wheel is high above the ground, the shaft main body moves to the lower side of the mounting hole, the switch trigger part is disconnected with the contact, and the self-driving mechanism stops driving the travelling mechanism;

when the front wheel contacts the ground, the shaft main body moves to the upper side of the mounting hole, the switch trigger part is connected with the contact, and the self-driving mechanism starts to drive the traveling mechanism.

12. Hand-propelled wheeled vehicle according to claim 11,

the contact is a sliding rheostat which extends from the top to the bottom in the mounting hole;

when the shaft main body moves to the lower side of the mounting hole, the resistance value of the sliding rheostat is increased, and the self-driving mechanism reduces the traveling speed of the traveling mechanism;

when the shaft main body moves to the upper side of the mounting hole, the resistance value of the sliding rheostat is reduced, and the self-driving mechanism recovers the traveling speed of the traveling mechanism.

13. Hand-propelled wheeled vehicle according to claim 3,

the first self-driven control device further comprises a control component;

when the control component judges that the front wheel is high above the ground according to the angle and the pressure detected by the identification sensor, the control component sends a first control signal to the self-driving mechanism, and the self-driving mechanism reduces the traveling speed of the traveling mechanism or stops driving the traveling mechanism according to the first control signal;

and when the control component judges that the front wheels contact the ground according to the angle and the pressure detected by the identification sensor, the control component sends a second control signal to the self-driving mechanism, and the self-driving mechanism recovers the traveling speed of the traveling mechanism according to the second control signal.

14. Hand-propelled wheeled vehicle according to claim 13,

the hand-propelled wheeled vehicle further comprises: the front wheel is arranged on one side of the bottom shell through a front wheel shaft and is rotationally connected with the front wheel shaft;

the first sensor is an angle sensor and is arranged on the bottom shell or the front wheel shaft;

the second sensor is a pressure sensor, the second sensor being mounted at one or more of the following locations: on the front wheel, between the front wheel axle and the front wheel, or between the bottom shell and the front wheel axle.

15. Hand-propelled wheeled vehicle according to claim 14,

the pressure sensor is a capacitive pressure sensor.

16. Hand-propelled wheeled vehicle according to claim 14,

the angle sensor transmits the detected angle to the control part, and the pressure sensor transmits the detected pressure to the control part.

17. Hand-propelled wheeled vehicle according to claim 16,

and when the control part determines that the front wheel is lifted according to the angle and judges that the pressure is less than a preset threshold value, the control part judges that the front wheel is high off the ground.

18. Hand-propelled wheeled vehicle according to claim 16,

and when the control part determines that the front wheel is lifted according to the angle and judges that the pressure is greater than a preset threshold value, the control part judges that the front wheel is in contact with the ground.

19. Hand-propelled wheeled vehicle according to claim 17 or 18,

the preset threshold value and the angle signal have a corresponding relation.

20. Hand-propelled wheeled vehicle according to any one of claims 1-19, characterised in that it further comprises:

the operating rod comprises a holding part, a second self-driving control device is installed on the holding part, and when the second self-driving control device is started, the first self-driving control device works normally.

21. Hand-propelled wheeled vehicle according to claim 1,

the self-driving mechanism is at least used for driving the rear wheel.

Technical Field

The invention relates to the technical field of vehicles, in particular to a hand-push wheel type vehicle.

Background

In the process of carrying out pivot steering on the hand-push wheeled vehicle, a user needs to tilt the front wheel and then manually control the hand-push wheeled vehicle to carry out pivot steering; if the front wheel is not tilted, the turning radius is very large, and pivot steering cannot be realized.

Taking the self-driving type hand-push mower as an example, in the pivot steering process, the front wheel also needs to be tilted, the self-driving switch also needs to be turned off to perform pivot steering, and the self-driving switch is turned on to continue self-propelling after the steering is completed.

If the self-driving switch is not turned off, the turning radius of the hand-push mower is also large and the hand-push mower is not easy to control. Therefore, if the user needs to turn the lawn mower on the spot while using the hand-push type lawn mower, the user needs to repeatedly operate the self-driven switch, which results in a complicated operation procedure and is prone to misoperation.

Disclosure of Invention

In view of this, the invention provides a lawn mower, which can reduce the turning radius, does not need to repeatedly operate a self-driving switch, has a simple operation procedure, and reduces misoperation.

According to an aspect of the present invention, there is provided a hand-propelled wheeled vehicle including:

the travelling mechanism comprises a front wheel and a rear wheel;

the self-driving mechanism is used for driving the walking mechanism;

the first self-driving control device controls the self-driving mechanism according to whether the front wheel is high off the ground or not, so that the self-driving mechanism reduces the traveling speed of the traveling mechanism or stops driving the traveling mechanism when the front wheel is high off the ground.

In a possible implementation manner, the first self-driving control device includes a self-driving switch, when the front wheel is high above the ground, the self-driving switch reduces the rotation speed of the self-driving mechanism or disconnects the self-driving mechanism from the traveling mechanism, and the self-driving mechanism reduces the traveling speed of the traveling mechanism or stops driving the traveling mechanism.

In one possible implementation, the first self-driven control device includes an identification sensor; the identification sensor comprises a first sensor and a second sensor, wherein the first sensor is used for detecting the angle between the front wheel and the ground, and the second sensor is used for detecting the pressure between the front wheel and the ground;

and the first self-driving control device determines whether the front wheel is high off the ground or not according to the angle and the pressure.

In one possible implementation, the self-driven switch is a mechanical switch, and the mechanical switch is at least partially disconnected when the front wheel is high above the ground.

In one possible implementation, the hand-propelled wheeled vehicle further includes: a bottom shell and a front axle, the bottom shell including a mounting hole supporting the front axle;

the front wheel is arranged on one side of the bottom shell through the front wheel shaft, the front wheel shaft comprises a shaft main body which is rotatably connected with the front wheel, and the shaft main body can move in the mounting hole;

when the front wheel is high above the ground, the shaft main body moves to the lower side of the mounting hole, the mechanical switch is disconnected at least partially,

when the front wheel contacts the ground, the shaft body moves to the upper side of the mounting hole, and the mechanical switch is closed.

In one possible implementation, the mechanical switch includes a contact, the bottom case further includes a recess to accommodate the contact,

the front wheel axle further comprises a switch trigger part for triggering the contact and a connecting part for connecting the axle main body and the switch trigger part,

when the front wheel is high above the ground, the shaft main body moves to the lower side of the mounting hole, the switch trigger part is disconnected with the contact, and the self-driving mechanism stops driving the travelling mechanism;

when the front wheel contacts the ground, the shaft main body moves to the upper side of the mounting hole, the switch trigger part is connected with the contact, and the self-driving mechanism starts to drive the traveling mechanism.

In one possible implementation, the contacts are located at the top within the recess.

In one possible implementation, the contacts are sliding varistors,

when the front wheel is high above the ground, the shaft main body moves to the lower side of the mounting hole, the switch trigger part moves, the resistance value of the sliding rheostat is increased, and the self-driving mechanism reduces the traveling speed of the traveling mechanism;

when the front wheel contacts the ground, the shaft main body moves to the upper side of the mounting hole, the switch trigger part moves, the resistance value of the sliding rheostat is reduced, and the self-driving mechanism recovers the traveling speed of the traveling mechanism.

In a possible implementation, the sliding varistor extends in a substantially vertical direction within the recess.

In a possible implementation, the connecting portion and the switch triggering portion are located on different sides of the bottom case than the front wheel.

In one possible implementation, the mechanical switch includes a contact;

the hand-propelled wheeled vehicle further comprises: a bottom housing including a mounting hole supporting the front axle, the contact being located at a top portion within the mounting hole;

the front wheel shaft comprises a shaft main body which is rotatably connected with the front wheel, the shaft main body can move in the mounting hole, and a switch triggering part is arranged on the upper side of the shaft main body;

when the front wheel is high above the ground, the shaft main body moves to the lower side of the mounting hole, the switch trigger part is disconnected with the contact, and the self-driving mechanism stops driving the travelling mechanism;

when the front wheel contacts the ground, the shaft main body moves to the upper side of the mounting hole, the switch trigger part is connected with the contact, and the self-driving mechanism starts to drive the traveling mechanism.

In one possible implementation, the contact is a sliding varistor that extends from top to bottom within the mounting hole;

when the shaft main body moves to the lower side of the mounting hole, the resistance value of the sliding rheostat is increased, and the self-driving mechanism reduces the traveling speed of the traveling mechanism;

when the shaft main body moves to the upper side of the mounting hole, the resistance value of the sliding rheostat is reduced, and the self-driving mechanism recovers the traveling speed of the traveling mechanism.

In one possible implementation, the first self-driven control device further includes a control component;

when the control component judges that the front wheel is high above the ground according to the angle and the pressure detected by the identification sensor, the control component sends a first control signal to the self-driving mechanism, and the self-driving mechanism reduces the traveling speed of the traveling mechanism or stops driving the traveling mechanism according to the first control signal;

and when the control component judges that the front wheels contact the ground according to the angle and the pressure detected by the identification sensor, the control component sends a second control signal to the self-driving mechanism, and the self-driving mechanism recovers the traveling speed of the traveling mechanism according to the second control signal.

In one possible implementation, the hand-propelled wheeled vehicle further includes: the front wheel is arranged on one side of the bottom shell through a front wheel shaft and is rotationally connected with the front wheel shaft;

the first sensor is an angle sensor and is arranged on the bottom shell or the front wheel shaft;

the second sensor is a pressure sensor, the second sensor being mounted at one or more of the following locations: on the front wheel, between the front wheel axle and the front wheel, or between the bottom shell and the front wheel axle.

In one possible implementation, the pressure sensor is a capacitive pressure sensor.

In one possible implementation, the angle sensor sends the detected angle to the control component, and the pressure sensor sends the detected pressure to the control component.

In a possible implementation manner, when the control component determines that the front wheel is raised according to the angle and determines that the pressure is smaller than a preset threshold, the control component determines that the front wheel is high above the ground.

In a possible implementation manner, when the control component determines that the front wheel is raised according to the angle and determines that the pressure is greater than a preset threshold, the control component determines that the front wheel contacts the ground.

In a possible implementation manner, the preset threshold value and the angle signal have a corresponding relationship.

In one possible implementation, the hand-propelled wheeled vehicle further includes:

the operating rod comprises a holding part, a second self-driving control device is installed on the holding part, and when the second self-driving control device is started, the first self-driving control device works normally.

In one possible implementation, the self-driving mechanism is used at least for driving the rear wheels.

When the front wheels are higher than the ground, the first self-driving control device controls the rotating speed of the self-driving mechanism, so that the traveling speed of the traveling mechanism is reduced or the traveling mechanism stops being driven. According to the hand-push wheeled vehicle disclosed by the embodiment of the invention, the turning radius can be reduced, the self-driving switch does not need to be operated repeatedly during turning, the operation procedure is simple, and misoperation is reduced.

Other features and aspects of the present invention will become apparent from the following detailed description of exemplary embodiments, which proceeds with reference to the accompanying drawings.

Drawings

The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate exemplary embodiments, features, and aspects of the invention and, together with the description, serve to explain the principles of the invention.

Fig. 1 shows a block diagram of a hand-propelled wheeled vehicle according to an embodiment of the invention.

Fig. 2 shows a schematic structural view of a hand-propelled wheeled vehicle according to an embodiment of the invention.

Fig. 3 shows a partial enlarged view of M in fig. 2.

FIG. 4 shows a schematic view of a mounting hole according to an embodiment of the invention.

Fig. 5 shows a schematic view of a hand-propelled wheeled vehicle according to an embodiment of the invention.

Fig. 6 shows a partial enlarged view of M in fig. 5.

Fig. 7a shows a schematic circuit configuration according to an embodiment of the invention.

Fig. 7b shows a schematic circuit configuration according to an embodiment of the invention.

Fig. 8a shows a schematic view of a contact and a mounting hole according to an embodiment of the invention.

Fig. 8b shows a schematic structural diagram of a sliding varistor and a mounting hole according to an embodiment of the invention.

Fig. 9 is a schematic diagram illustrating a circuit connection relationship between the first self-driven control device and the second self-driven control device according to an embodiment of the present invention.

Description of the reference numerals

1 holding part, 2 second self-driving control device, 3 operating rod, 4 rear wheels, 5 bottom shell, 51 concave part, 6 front wheels, 7 front wheel shaft, 71 shaft body, 72 connecting part, 73 switch triggering part, 8 contact, 9 slide rheostat and 10 self-driving mechanism.

Detailed Description

Various exemplary embodiments, features and aspects of the present invention will be described in detail below with reference to the accompanying drawings. In the drawings, like reference numbers can indicate functionally identical or similar elements. While the various aspects of the embodiments are presented in drawings, the drawings are not necessarily drawn to scale unless specifically indicated.

The word "exemplary" is used exclusively herein to mean "serving as an example, embodiment, or illustration. Any embodiment described herein as "exemplary" is not necessarily to be construed as preferred or advantageous over other embodiments.

Furthermore, in the following detailed description, numerous specific details are set forth in order to provide a better understanding of the present invention. It will be understood by those skilled in the art that the present invention may be practiced without some of these specific details. In some instances, methods, procedures, components, and circuits that are well known to those skilled in the art have not been described in detail so as not to obscure the present invention.

Fig. 1 shows a block diagram of a hand-propelled wheeled vehicle according to an embodiment of the invention. As shown in fig. 1, the hand-propelled wheeled vehicle may include: the self-driving device comprises a traveling mechanism, a self-driving mechanism and a first self-driving control device.

Wherein, the walking mechanism can comprise a front wheel and a rear wheel; the self-driving mechanism is used for driving the travelling mechanism, for example, can be used for driving rear wheels or front wheels, or can be used for driving the front wheels and the rear wheels, and the self-driving mechanism can be a motor, a gear and the like.

The first self-driving control device can control the self-driving mechanism according to whether the front wheel is high off the ground or not, so that the self-driving mechanism reduces the traveling speed of the traveling mechanism or stops driving the traveling mechanism when the front wheel is high on the ground.

Wherein, the front wheel height above the ground can mean: before turning, the user tilts the front wheel up to cause the front wheel to be high off the ground, or the front wheel is high off the ground due to depression of the ground during forward movement of the hand-propelled wheeled vehicle, or the like.

Taking the self-driving mechanism as an example for driving the rear wheel, when the front wheel is high above the ground (for example, before steering, the user tilts the front wheel), the first self-driving control device may control the rotation speed of the self-driving mechanism, so as to reduce the walking speed of the rear wheel or stop driving the rear wheel, and at this time, the user may push the hand-push wheeled vehicle to steer.

If the walking speed of the rear wheel is reduced (for example, only a part of the walking speed is reduced and the walking speed is not reduced to 0), when a user pushes the hand-push wheel type vehicle to steer, the steering control can be facilitated, and the turning radius can be reduced; if the walking speed of the rear wheel is reduced to 0, the user can realize pivot steering when pushing the hand-push wheel type vehicle to steer; if the rear wheels are stopped to be driven, the user can realize pivot steering when pushing the hand-push wheel type vehicle to steer.

According to the hand-push wheeled vehicle, the turning radius can be reduced, the first self-driving mechanism can control the self-driving mechanism to reduce the walking speed of the walking mechanism or stop driving the walking mechanism when the front wheel is high above the ground, the self-driving switch does not need to be operated repeatedly during turning, the operation procedure is simple, and misoperation is reduced.

The first self-driven control device: example 1

In a possible implementation manner, the first self-driving control device may include a self-driving switch, when the front wheel is high above the ground, the self-driving switch reduces the rotation speed of the self-driving mechanism or disconnects the self-driving mechanism from the traveling mechanism, and the self-driving mechanism reduces the traveling speed of the traveling mechanism or stops driving the traveling mechanism.

The self-driving switch can be a mechanical switch, and when the front wheel is high above the ground, the mechanical switch can be at least partially disconnected; when the front wheels contact the ground, the mechanical switch is closed, and the self-driving mechanism starts to drive the travelling mechanism.

Example 1.1

Fig. 2 shows a schematic structural view of a hand-propelled wheeled vehicle according to an embodiment of the invention. Fig. 3 shows a partial enlarged view of M in fig. 2.

As shown in fig. 2 and 3, the hand-propelled wheeled vehicle may include: the operating rod 3, the operating rod 3 may comprise a grip 1. The running gear may comprise front wheels 6 and rear wheels 4, the self-driving mechanism not being shown in fig. 2. The hand-propelled wheeled vehicle may further include: a bottom case 5 and a front wheel axle 7, the bottom case 5 including a mounting hole (not shown) supporting the front wheel axle 7; the front wheel 6 is mounted on one side of the bottom shell 5 through the front wheel shaft 7, and the front wheel shaft 7 comprises a shaft main body 71 rotatably connected with the front wheel, and the shaft main body 71 can move in the mounting hole.

As shown in fig. 2, the second self-driven control device 2 may be attached to the grip 1, and the second self-driven control device 2 may include a push-type switch, and when the user uses the hand-push type wheeled vehicle, the user holds the grip 1 and presses the switch, the self-driving mechanism drives the traveling mechanism to start traveling, and the user may adjust the traveling direction using the grip 1.

The bottom shell 5 may be used to connect the front wheels 6 and the rear wheels 4 and may provide some protection. The front wheel shaft 7 is rotatably connected to the front wheel 6 via the shaft main body 71 so that the shaft main body 71 does not rotate with the rotation of the front wheel 6 during the travel of the front wheel 6. Wherein, the mounting hole can be round, oval or the strip shape with two semi-arc ends.

Fig. 4 is a schematic view illustrating a mounting hole according to an embodiment of the present invention, and as shown in fig. 4, a bar shape having both ends in a shape of a semicircular arc may be taken as an example, the bar shape may extend in a direction perpendicular to the ground (vertical direction), and the diameter of the semicircular arc may be slightly larger than the outer diameter of the shaft main body 71, so that the shaft main body 71 may move up and down in the mounting hole. The above is merely an example of the mounting hole, and the shape and the opening direction of the mounting hole are not limited in the present invention as long as the shaft main body 71 can move in the substantially vertical direction in the mounting hole.

As shown in fig. 3, in the present example, the self-driven switch may include a contact 8 and a switch activating portion 73. The switch trigger part 73 is used for triggering the contact 8, when the switch trigger part 73 is contacted with the contact 8, the contact 8 is triggered, the self-driven switch is closed, and when the switch trigger part 73 is separated from the contact 8, the self-driven switch is opened. The switch triggering part 73 may be an end portion of the shaft main body 71 of the front wheel axle 7 extending at a side of the bottom case 5, and the front wheel axle 7 may further include a connecting part 72 connecting the shaft main body 71 and the switch triggering part 73. The connecting portion 72 and the switch activating portion 73 may be located on a different side of the bottom case 5 from the front wheel 6, for example, the connecting portion 72 and the switch activating portion 73 may be located on an outer side of the bottom case, and in case of failure of the switch activating portion 73, maintenance is easy.

In order to prevent the switch triggering part 73 from being dislocated and disconnected from the contacts 8 due to the movement of the switch triggering part 73 during operation, the bottom case 5 may further include a recess 51 for accommodating the contacts 8, and the switch triggering part 73 may move in the recess 51.

The position and the extending direction of the concave portion 51 may refer to the position of the switch triggering portion 73, the extending direction of the mounting hole, and the like. For example, the mounting hole extends in a direction perpendicular to the ground (vertical direction), and then the recess 51 may also be provided to extend in the vertical direction. As shown in fig. 3, the connection portion 72 extends downward, the switch triggering portion 73 is located below the shaft main body 71, and then the recess 51 may be provided at the lower side of the bottom case; if the connection portion 72 extends upward and the switch activating portion 7 is located above the shaft main body 71, the recess 51 may be provided at an upper side of the bottom case.

Fig. 2 and 3 show a case where the front wheel 6 contacts the ground, and when the front wheel 6 contacts the ground, the shaft main body 71 contacts the upper side of the mounting hole due to the self weight of the bottom case 5, and the switch triggering portion 73 contacts (is connected to) the contact 8. At this time, the mechanical switch is closed, and the self-driving mechanism can drive the traveling mechanism to travel normally, for example, at a set speed.

When the hand-push wheeled vehicle runs on a slope, the shaft main body 71 is still contacted with the upper side of the mounting hole due to the self weight of the bottom shell 5, and the switch triggering part 73 is contacted with the contact 8, so that the normal running of the self-driving mechanism driving running mechanism is not influenced.

Fig. 5 shows a schematic view of a hand-propelled wheeled vehicle according to an embodiment of the invention. Fig. 6 shows a partial enlarged view of M in fig. 5.

Fig. 5 and 6 show a case where the front wheel 6 is high from the ground, for example, the front wheel 6 is high from the ground due to the user tilting the front wheel 6 by applying pressure obliquely downward to the left by the grip 1. When the front wheel 6 is located above the ground, the axle body 71 moves to the lower side of the mounting hole due to the self-weight of the front wheel 6 and the axle body 71, and the switch activating portion 73 is disconnected from the contact 8 (i.e., the switch activating portion 73 is separated from the contact 8). At this time, the mechanical switch is turned off, the self-driving mechanism can stop driving the traveling mechanism to normally travel, and the user can apply a force of turning left or right through the holding part 1 to realize pivot steering.

When the front wheel is raised above the ground due to the depression of the ground during the forward movement of the hand-push wheeled vehicle, the axle main body 71 moves to the lower side of the mounting hole due to the self weight of the front wheel 6 and the axle main body 71, and the switch triggering portion 73 is disconnected from the contact 8. At the moment, the mechanical switch is switched off, the self-driving mechanism can stop driving the walking mechanism to normally walk, and the safety of the hand-push wheel type vehicle in the walking process can be ensured by the mode so as to avoid accidents and damages to the hand-push wheel type vehicle.

In one possible implementation, the contact may be a sliding varistor. In one example, the slide rheostat may extend in a substantially vertical direction within the recess 51.

Fig. 7a and 7b respectively show a schematic circuit configuration according to an embodiment of the present invention. As shown in fig. 7a and 7b, the slide rheostat 9 is connected to a power source and a self-driving mechanism 10, respectively.

As shown in fig. 7a, when the front wheel 6 is high above the ground, the shaft main body 71 moves to the lower side of the mounting hole, and the switch triggering portion 73 moves (downward), and at this time, most of the upper surface of the sliding resistor 9 is connected in the circuit, and the resistance value of the sliding resistor 9 becomes large. At this time, the self-driving switch reduces the rotation speed of the self-driving mechanism 10, and the self-driving mechanism 10 further reduces the traveling speed of the traveling mechanism.

As shown in fig. 7b, when the front wheel 6 contacts the ground, the shaft main body 71 moves to the upper side of the mounting hole, the switch triggering portion 73 moves (upward), and at this time, a small portion of the upper surface of the slide resistor 9 is connected in the circuit, and the resistance of the slide resistor 9 becomes small. At this time, the self-driving mechanism 10 normally drives the traveling mechanism to travel at a set speed (in other words, the self-driving mechanism returns to the traveling speed of the traveling mechanism).

Through setting up the slide rheostat, according to the nimble walking speed of adjusting walking structure of the different states of front wheel, need not operate the self-driven switch repeatedly, the operating procedure is simple, reduces the maloperation.

Example 1.2

In another possible implementation, the contact 8 may be located at the top of the mounting hole, and the upper side of the shaft main body 71 may be provided with a switch triggering part. In other words, the switch activating portion may be directly provided on the shaft main body 71. Fig. 8a shows a schematic diagram of a contact and a mounting hole according to an embodiment of the invention, and as shown in fig. 8a, the contact 8 is arranged at the top of the mounting hole.

At this time, when the front wheel 6 is high above the ground, the axle body 71 moves to the lower side of the mounting hole due to the self-weight of the front wheel 6 and the axle body 71, and the switch triggering part is disconnected from the contact 8; when the front wheel 6 contacts the ground, the shaft main body 71 moves to the upper side of the mounting hole due to the self weight of the bottom case 5, and the switch triggering part is connected with the contact 8.

In this example, the contact 8 may also be a sliding varistor which may extend from the top to the bottom within the mounting hole; fig. 8b shows a schematic structural view of a sliding varistor and a mounting hole according to an embodiment of the invention, and as shown in fig. 8b, the sliding varistor 9 extends from the top to the bottom inside the mounting hole.

Thus, referring to fig. 7a and 8b, when the front wheel 6 is high above the ground, the axle body 71 moves to the lower side of the mounting hole due to the self-weight of the front wheel 6 and the axle body 71, the resistance value of the slide rheostat is increased, and the self-driving mechanism reduces the traveling speed of the traveling mechanism; referring to fig. 7b and 8b, when the front wheel 6 contacts the ground, the shaft main body 71 moves to the upper side of the mounting hole due to the self weight of the bottom case 5, the resistance value of the sliding resistor becomes small, and the self-driving mechanism restores the traveling speed of the traveling mechanism.

By providing the self-driven switch in the mounting hole of the bottom case, it is not necessary to provide the recess 51, the connecting portion 72, the switch trigger portion 73, and the like outside the bottom case, and the structure of the self-driven switch is simplified and the appearance is more beautiful.

The first self-driven control device: example 2

The first self-driven control device may include an identification sensor; the identification sensor may include a first sensor for detecting an angle of the front wheel 6 with the ground and a second sensor for detecting a pressure of the front wheel with the ground; and the first self-driving control device determines whether the front wheel is high off the ground or not according to the angle and the pressure.

The angle between the front wheel 6 and the ground may be an angle between a line connecting the front wheel 6 and the center of the rear wheel 4 and a horizontal plane in a vertical direction. The pressure of the front wheels 6 against the ground can be determined in various ways, for example, the pressure of the front wheels 6 against the ground can be detected by directly providing a sensor on the front wheels 6, or the pressure between the front wheel axle 71 and the front wheels 6 can be detected by providing a sensor between the front wheel axle 71 and the front wheels 6, and the pressure between the front wheels 6 and the ground can be determined based on the detected pressure.

In a possible implementation, the first sensor may be an angle sensor, which may be disposed on the front wheel axle or on the bottom shell, and may detect the angle of the front wheel 6 with respect to the horizontal plane when the front wheel 6 is high off the ground or the hand-propelled wheeled vehicle is walking on a slope; alternatively, the first sensor may be two height sensors respectively installed at the front wheel 6 and the rear wheel 4 to detect the height of the front wheel 6 and the height of the rear wheel 4, and the first self-drive control means may determine the angle of the front wheel 6 with respect to the horizontal plane according to the height of the front wheel 6 and the height of the rear wheel 4 and the distance between the front wheel 6 and the rear wheel 4.

In one possible implementation, the second sensor may be a pressure sensor, such as a capacitive pressure sensor, a piezoresistive pressure sensor, or a ceramic pressure sensor. The second sensor may be arranged at one or more of the following positions: for example, on the front wheels 6, between the front wheel axle 71 and the front wheels 6, or between the bottom case 5 and the front wheel axle 71, etc. Taking the example of being arranged between the front wheel shaft 71 and the front wheel 6, the second pressure sensor can be arranged on the front wheel shaft 71, and the pressure detected by the upper side and the lower side of the front wheel shaft 71 should be the same if walking on flat ground during the rotation of the front wheel 6; if the hand-push wheeled vehicle is walking on a slope or the front wheel 6 is high above the ground, the pressures detected on the upper and lower sides of the front wheel shaft 71 should be different, and the pressure of the front wheel 6 against the ground can be determined based on the difference between the pressures detected on the upper and lower sides.

In one possible implementation, the first self-driven control device may further include a control part;

when the control component judges that the front wheel is high above the ground according to the angle and the pressure detected by the identification sensor, the control component sends a first control signal to the self-driving mechanism, and the self-driving mechanism reduces the traveling speed of the traveling mechanism or stops driving the traveling mechanism according to the first control signal.

And when the control component judges that the front wheels contact the ground according to the angle and the pressure detected by the identification sensor, the control component sends a second control signal to the self-driving mechanism, and the self-driving mechanism recovers the traveling speed of the traveling mechanism according to the second control signal.

For example, the angle sensor may send the detected angle to the control component, and the pressure sensor may send the detected pressure to the control component. The control part can determine whether the front wheel 6 is lifted according to the angle, and when the control part determines that the front wheel 6 is lifted according to the angle and the pressure is smaller than a preset threshold value, the control part judges that the front wheel 6 is higher than the ground; when the control part determines that the front wheel 6 is raised according to the angle and judges that the pressure is greater than the preset threshold value, the control part judges that the front wheel 6 contacts the ground.

The front wheel 6 may be raised due to the user tilting the front wheel 6, or the hand-push wheeled vehicle may be walking on a slope. The control means may determine whether the front wheel 6 is raised or not based on the angle of the front wheel with the ground detected by the angle sensor, for example, when the angle is greater than 0 °, the control means may determine that the front wheel 6 is raised, and when the angle is equal to 0 °, the control means may determine that the front wheel 6 is not raised.

When the angle is less than 0 °, the control part may judge the concavity, unevenness, etc. of the ground, in which case the control part may transmit a first control signal to a self-driving mechanism that reduces the traveling speed of the traveling mechanism or stops driving the traveling mechanism according to the first control signal.

It should be noted that the above-mentioned 0 ° is only an example, and there may be an angle smaller than 0 °, for example, the radius of the front wheel 6 is smaller than that of the rear wheel 4, and even when walking on a flat ground, the angle formed by the horizontal plane and the line connecting the centers of the front wheel 6 and the rear wheel 4 is an angle smaller than 0 °, so the above-mentioned angle is only an example, and does not limit the present invention in any way.

The preset threshold may be preset according to an angle between the front wheel 6 and the ground, because the angle of the slope is different when the hand-push wheeled vehicle travels on the slope, and the pressure between the front wheel 6 and the slope is also different. If only one preset threshold is set, the judgment result of the control part may be inaccurate. As an example, the first self-driven control device may include a storage module, and the storage module may store correspondence between different angles and preset thresholds.

When the control component determines that the front wheel 6 is raised, the control component can search for a corresponding preset threshold value of the pressure according to the angle between the front wheel 6 and the ground. And then judging the relation between the detected pressure of the front wheel 6 and the ground and a preset threshold, wherein if the pressure is smaller than the preset threshold, the control component can judge that the front wheel 6 is higher than the ground, and if the pressure is larger than the preset threshold, the control component can judge that the front wheel 6 contacts the ground.

In one example, the angle and the preset threshold may be in a linear relationship, and the control unit may determine the preset threshold corresponding to the received angle (pressure) according to the linear relationship after determining the front wheel elevation according to the received angle.

In another example, the angle in one interval may correspond to a preset threshold, and the storage module may store the correspondence between the angles in different intervals and the preset threshold. After the control component determines that the front wheel is lifted according to the received angle, the control component can search the preset threshold corresponding to the received angle according to the corresponding relation. In one possible implementation manner, as shown in fig. 2 and 5, a second self-driven control device 2 may be installed on the grip portion 1, and when the second self-driven control device 2 is turned on, the first self-driven control device operates normally.

The second self-driven control device 2 may include a push switch, a speed regulation module, and the like. Fig. 9 is a schematic diagram showing a circuit connection relationship between the first self-driven control device and the second self-driven control device 2 according to an embodiment of the present invention.

Taking both as self-driven switches as an example, as shown in fig. 9, when both the self-driven switches are closed, the self-driven mechanism can operate normally, and when any one of the self-driven switches is turned off, the self-driven mechanism stops operating.

When the first self-driven control device comprises the identification sensor and the control component, the first self-driven control device can realize the control of the self-driven mechanism only when the second self-driven control device 2 is started.

In this way, when the first self-driven control device fails or other emergencies occur, the user can still control the hand-push wheeled vehicle to stop so as to avoid accidents.

Having described embodiments of the present invention, the foregoing description is intended to be exemplary, not exhaustive, and not limited to the embodiments disclosed. Many modifications and variations will be apparent to those of ordinary skill in the art without departing from the scope and spirit of the described embodiments. The terms used herein were chosen in order to best explain the principles of the embodiments, the practical application, or technical improvements to the techniques in the marketplace, or to enable others of ordinary skill in the art to understand the embodiments disclosed herein.