阅读说明：本技术 一种电动平衡车 (A kind of electrodynamic balance vehicle ) 是由 贾朋鹤 于 2019-09-25 设计创作，主要内容包括：本发明公开了一种电动平衡车,包括车架和设置在车架两侧的车轮,所述车架上设置有陀螺仪,所述车架上设置有用于监测使用者脚部压力变化的压力监测机构。所述压力监测机构包括设置在所述车架上用于与使用者脚部配合的两压力监测模块,所述压力监测模块能够将监测到压力变化通过设置在车架上的主板转换成命令信号反馈至车轮。本发明采用陀螺仪调整车架初始角度和压力监测模块控制运行状态相结合的方式,具有灵敏度高、响应速度快的优点。(The invention discloses a kind of electrodynamic balance vehicles, and including vehicle frame and the wheel that vehicle frame two sides are arranged in, gyroscope is provided on the vehicle frame, and the pressure monitoring mechanism for monitoring the variation of user's foot pressure is provided on the vehicle frame.The pressure monitoring mechanism includes two pressure monitoring modules being arranged on the vehicle frame for cooperating with user foot, and the pressure monitoring module can will monitor that pressure change is converted into command signal by the mainboard being arranged on vehicle frame and feeds back to wheel.The present invention has the advantages that high sensitivity, fast response time in such a way that gyroscope adjusts vehicle frame initial angle and pressure monitoring module control operating status combines.)

1. a kind of electrodynamic balance vehicle, including vehicle frame and the wheel that vehicle frame two sides are arranged in, it is characterised in that: be arranged on the vehicle frame There is gyroscope, the pressure monitoring mechanism for monitoring the variation of user's foot pressure is provided on the vehicle frame.

2. a kind of electrodynamic balance vehicle according to claim 1, it is characterised in that: the pressure monitoring mechanism includes that setting exists Two pressure monitoring modules on the vehicle frame for cooperating with user foot, the pressure monitoring module can will monitor to press Power variation is converted into command signal by the mainboard being arranged on vehicle frame and feeds back to wheel.

3. a kind of electrodynamic balance vehicle according to claim 2, it is characterised in that: the pressure monitoring module includes that setting exists Multiple pressure sensors on vehicle frame and for being acquired in real time to foot pressure acquire foot by multiple pressure sensors The pressure value difference of front area and Background Region, and pressure value difference is fed back into the mainboard, for adjusting balance car Operating status.

4. a kind of electrodynamic balance vehicle according to claim 2, it is characterised in that: the pressure monitoring module includes that setting exists For acquiring two pressure sensors of foot's front area and the variation of Background Region pressure value on vehicle frame, by collected pressure value Difference feeds back to the mainboard, for adjusting the operating status of balance car.

5. a kind of electrodynamic balance vehicle according to claim 3 or 4, it is characterised in that: before the operating status includes foot Portion's areal pressure value subtracts balance movement state when foot's Background Region pressure value is zero, and foot's front area pressure value subtracts Advance operating status when foot's Background Region pressure value is positive value, foot's front area pressure value subtract foot's Background Region pressure Foot's front area pressure value of run slowly state and vehicle frame two sides when force value is negative value subtracts foot's Background Region pressure The asynchronous divertical motion state of the pressure difference numerical value of force value.

6. a kind of electrodynamic balance vehicle according to claim 1-4, it is characterised in that: the middle part of the vehicle frame is arranged There is the auxiliary support mechanism convenient for original state station people；

The auxiliary support mechanism includes the first through hole that bottom of frame is arranged in and is arranged along vehicle frame front-rear direction, is arranged in institute The second through-hole stated on the center of vehicle frame and be vertically arranged, be arranged in second through-hole and with the mainboard signal The automatic telescopic link of connection is arranged in the first through hole and is located at the sleeve at automatic telescopic link two sides position, described Sleeve is rotatablely connected by two short axles and the first through hole inner wall, and sliding is provided with swing rod, the swing rod in the sleeve End be connected by hinged mode with the free end of the automatic telescopic link, the lower end of the swing rod be provided with auxiliary branch Support wheel, the bottom rear and front end of the first through hole are respectively arranged with the notch for enabling to the auxiliary support wheel landing.

7. a kind of electrodynamic balance vehicle according to claim 6, it is characterised in that: close to auxiliary support wheel one on the swing rod A contractibility is provided between end and the top of the first through hole for providing pre- convergent force for the swing rod.

8. a kind of electrodynamic balance vehicle according to claim 7, it is characterised in that: the upper surface middle part position of the vehicle frame is set It is equipped with the display screen with mainboard signal interconnection.

9. according to a kind of described in any item electrodynamic balance vehicles of claim 6-8, it is characterised in that: two before and after the first through hole A limited block is respectively set on the roof at end, limit can be provided to the swing rod when the swing rod is in collapsed state and protected Shield.

10. according to a kind of described in any item electrodynamic balance vehicles of claim 6-8, it is characterised in that: the first through hole it is interior Side bottom and be located at the automatic telescopic link lower position be provided with bumper.

Technical field

The invention belongs to electrodynamic balance vehicle technical field of mechanical design, more particularly, to a kind of electrodynamic balance vehicle.

Background technique

Electrodynamic balance vehicle is a kind of novel vehicles, it and electric bicycle and bike wheel mode in tandem Difference, but in such a way that two-wheeled is fixed side by side.Two-wheel electric balance car uses two wheel supports, storage battery power supply, nothing Brush motor driving, in addition single-chip microcontroller controls, attitude transducer acquires angular speed and angle signal, and common coordinated control car body is put down Weighing apparatus, the change for relying solely on gravity center of human body can realize that starting, acceleration, deceleration, stopping of vehicle etc. act.Currently on the market Balance car mainly have two class of single wheel and two-wheel, wherein two-wheel balance car safety coefficient is higher, is more suitable for trip of riding instead of walk.But market On two-wheel balance car there are still shortcomings: the vehicle frame of two-wheel balance car in the market is divided into left and right two parts, utilizes gyro The balance of instrument control car body, side vehicle frame and ground, which relatively rotate, when turning completes turning, and poor sensitivity and response speed are not yet It is sensitive.

Authorization Notice No. is that the utility model patent of CN201597703U discloses one kind for autobalance two wheeler On steering mechanism.Including bottom plate and the horizontal rotating shaft being firmly connected with it by support frame, one end of horizontal rotating shaft is fixed Chain is connected to operating stick, and the other end of horizontal rotating shaft is equipped with potentiometer, and along axisymmetrical and manipulation is fixed on horizontal rotating shaft The bearing bracket of wiper hammer, the below or above in bearing bracket two sides are equipped with elastomer.When operation, operator passes through rotation Operating stick, the rotation of controlled level shaft, the direction of rotation and size become to instruct by potentiometer, realize that the direction of trolley turns It is dynamic.But the utility model, by the way of operating stick steering, overall volume is bigger, and sensitivity is not high.

Authorization Notice No. is that the utility model patent of CN207631412U discloses a kind of two-wheel balance car, using connector Pressure sensor is fixedly installed between vehicle frame, pressure sensor is electrically connected with control circuit, when two-wheel balance car is turned, User's centre of body weight is shifted to single wheel direction, is made pressure size difference on two pressure sensors, is realized two wheels Differential rotation, to complete to turn, practice, it is found that two pressure sensors distance both feet of the two-wheel balance car of this structure The effect of power is smaller, and transmission signal is weak, and appearance is slow in reacting, not sensitive enough.

Therefore, it is necessary to research and develop a kind of new electrodynamic balance vehicle.

Summary of the invention

In view of this, a kind of electrodynamic balance vehicle is provided, using top the purpose of the present invention is aiming at the shortcomings in the prior art The mode that spiral shell instrument adjustment vehicle frame initial angle and pressure monitoring module control operating status combine, has high sensitivity, response Fireballing advantage.

In order to achieve the above objectives, the invention adopts the following technical scheme:

A kind of electrodynamic balance vehicle is provided with gyroscope on the vehicle frame including vehicle frame and the wheel that vehicle frame two sides are arranged in, described The pressure monitoring mechanism for monitoring the variation of user's foot pressure is provided on vehicle frame.

The pressure monitoring mechanism includes two pressure monitorings being arranged on the vehicle frame for cooperating with user foot Module, the pressure monitoring module can will monitor that pressure change passes through the mainboard being arranged on vehicle frame and is converted into command signal Feed back to wheel.

Further, the pressure monitoring module includes being arranged on vehicle frame and for being acquired in real time to foot pressure Multiple pressure sensors, by multiple pressure sensors acquire foot's front area and Background Region pressure value difference, and Pressure value difference is fed back into the mainboard, for adjusting the operating status of balance car.

Further, the pressure monitoring module includes being arranged on vehicle frame for acquiring foot's front area and rear area Two pressure sensors of domain pressure value variation, feed back to the mainboard for collected pressure value difference, for adjusting balance car Operating status.

Further, the operating status includes that subtract foot's Background Region pressure value be zero to foot's front area pressure value When balance movement state, foot's front area pressure value subtract foot's Background Region pressure value be positive value when advance run shape State, foot's front area pressure value subtract run slowly state and the vehicle frame two when foot's Background Region pressure value is negative value Foot's front area pressure value of side subtracts the asynchronous divertical motion state of pressure difference numerical value of foot's Background Region pressure value.

Further, it is provided in the middle part of the vehicle frame convenient for the auxiliary support mechanism of original state station people；

The auxiliary support mechanism includes the first through hole that bottom of frame is arranged in and is arranged along vehicle frame front-rear direction, is arranged in institute The second through-hole stated on the center of vehicle frame and be vertically arranged, be arranged in second through-hole and with the mainboard signal The automatic telescopic link of connection is arranged in the first through hole and is located at the sleeve at automatic telescopic link two sides position, described Sleeve is rotatablely connected by two short axles and the first through hole inner wall, and sliding is provided with swing rod, the swing rod in the sleeve End be connected by hinged mode with the free end of the automatic telescopic link, the lower end of the swing rod be provided with auxiliary branch Support wheel, the bottom rear and front end of the first through hole are respectively arranged with the notch for enabling to the auxiliary support wheel landing.

Further, one is provided between auxiliary support wheel one end and the top of the first through hole on the swing rod Contractibility is used to provide pre- convergent force for the swing rod.

Further, the upper surface middle part position of the vehicle frame is provided with the display screen with mainboard signal interconnection.

Further, a limited block is respectively set on the roof of the first through hole rear and front end, at the swing rod When collapsed state position limitation protection can be provided to the swing rod.

Further, the inside bottom of the first through hole and the lower position positioned at the automatic telescopic link are provided with anti- Hit pad.

Further, the wheel is driven by double wheel hub brushless motor.

Further, the automatic telescopic link is electric telescopic rod or Pneumatic extension bar.

Further, the outer end of the automatic telescopic link be provided with end cap for the automatic telescopic link outer end provide protection and Counter support power.

Further, the contractibility is tension spring or rubber strip.

Further, the vehicle frame top is provided with handrail.

Further, the limited block bottom is provided with rubber pad.

Further, the auxiliary support wheel uses universal ball wheel.

The beneficial effects of the present invention are:

The present invention provides a kind of electrodynamic balance for the problem that the sensitivity of electrodynamic balance vehicle is low, response speed is slow in the prior art Vehicle is provided with gyroscope including vehicle frame and the wheel that vehicle frame two sides are arranged on vehicle frame, be provided on vehicle frame and use for monitoring The pressure monitoring mechanism of person's foot pressure variation.Wherein, pressure monitoring mechanism includes being arranged on vehicle frame to be used for and user's foot Two pressure monitoring modules of portion's cooperation, pressure monitoring module can will monitor that pressure change passes through the mainboard being arranged on vehicle frame It is converted into command signal and feeds back to wheel.

In addition, pressure monitoring module includes the multiple pressures for being arranged on vehicle frame and being used to acquire foot pressure in real time Force snesor acquires the pressure value difference of foot's front area and Background Region by multiple pressure sensors, and by pressure value Difference feeds back to mainboard, for adjusting the operating status of balance car.

In addition, operating status includes that foot's front area pressure value subtracts balance when foot's Background Region pressure value is zero Operating status, foot's front area pressure value subtract advance operating status when foot's Background Region pressure value is positive value, foot Front area pressure value subtracts the foot of run slowly state and the vehicle frame two sides when foot's Background Region pressure value is negative value Front area pressure value subtracts the asynchronous divertical motion state of pressure difference numerical value of foot's Background Region pressure value.

The present invention controls the inclination angle of vehicle frame when not standing people after adjustment is switched on using gyroscope, and makes vehicle frame initial balance, Distributed intelligence is accepted for adjusting the operating status of balance car according to pressure monitoring module acquisition later；Wherein, pressure monitoring mould Block includes being arranged on vehicle frame for acquiring two pressure sensors of foot's front area and the variation of Background Region pressure value, will be adopted The pressure value difference collected feeds back to the mainboard, for adjusting the operating status of balance car；Before the operating status includes foot Portion's areal pressure value subtracts balance movement state when foot's Background Region pressure value is zero, and foot's front area pressure value subtracts Advance operating status when foot's Background Region pressure value is positive value, foot's front area pressure value subtract foot's Background Region pressure Foot's front area pressure value of run slowly state and vehicle frame two sides when force value is negative value subtracts foot's Background Region pressure The asynchronous divertical motion state of the pressure difference numerical value of force value.The present invention is using gyroscope adjustment vehicle frame initial angle and pressure prison The mode that module control operating status combines is surveyed, has the advantages that high sensitivity, fast response time.

In addition, during in order to avoid making personnel be stood from ground on vehicle frame, since gyroscope reacts slower nothing Method adjusts vehicle frame to balancing in time, and stationarity is poor, it is difficult to above the problem of hand, auxiliary support mechanism is provided in the middle part of vehicle frame, into And the personnel of improving get on the bus during stationarity, can faster upper hand, increase the usage experience of user of service especially beginner, Reliable equilibrium state is kept convenient for vehicle frame during the people of original state station.The auxiliary support mechanism include setting in bottom of frame and Along the first through hole of vehicle frame front-rear direction setting, the second through-hole for being arranged on the center of vehicle frame and being vertically arranged, if The automatic telescopic link set in the second through-hole and connect with mainboard signal is arranged in first through hole and is located at automatic telescopic link two The sleeve of side, and sleeve is rotatablely connected by two short axles and first through hole inner wall, sliding is provided with swing rod in sleeve, And the upper end of swing rod is connected by hinged mode with the free end of automatic telescopic link, the lower end of swing rod is provided with auxiliary branch Support wheel, the notch for enabling to auxiliary support wheel to land is respectively arranged in the bottom rear and front end of first through hole.

Gyro after the auxiliary support mechanism, when user of service uses this electrodynamic balance vehicle, after booting on mainboard Instrument can monitor the inclination angle of vehicle frame automatically, and mainboard makes vehicle frame keep balance according to the frame rake angle adjustment vehicle frame monitored, simultaneously Mainboard controls the upward shrinkage band movable pendulum bar lower end of automatic telescopic link to lower swing, so that the auxiliary support wheel of swing rod lower end is fallen To ground, since there are an auxiliary support wheel in the front and rear sides of vehicle frame respectively, reliable balance appearance can be provided for vehicle frame State can be avoided personnel's body during standing to vehicle frame as personnel in this way and be difficult to keep balance and causes to get on the bus unsuccessfully, and And can thoroughly be effectively prevented from and personnel's vehicle frame during getting on the bus is caused to lean forward or swing back, safety in utilization and use Experience is more preferable.It is able to confirm that personnel have stood firm when pressure monitoring module all detects pressure and pressure value tends to be identical On vehicle frame, the downward elongated movable pendulum bar lower end of automatic telescopic link of mainboard control at this time is withdrawn upwards and auxiliary support wheel is detached from Ground, in order to which subsequent personnel advance, retreat, cornering lamp operation.

In addition, auxiliary support wheel uses universal ball wheel, can not be influenced while providing gentle support power for vehicle frame whole The direction of body changes.In addition, automatic telescopic link uses electric telescopic rod, naturally it is also possible to use other kinds of automatic telescopic Bar, such as Pneumatic extension bar etc. can equally play identical effect.In addition, the outer end in automatic telescopic link is provided with end cap Protection and counter support power are provided for automatic telescopic link outer end.

In addition, in order to increase reaction speed when swing rod drives auxiliary support wheel to withdraw swing rod is quickly withdrawn, Be connected between one end of auxiliary support wheel and the top of first through hole on swing rod contractibility for providing for swing rod and Convergent force, the contractibility can be various types, for example tension spring or rubber strip etc. can play same effect.

In addition, being caused in order to avoid automatic telescopic link occurs to contact firmly when swing rod is pushed into extreme lower position with first through hole Damage, the inside bottom in first through hole and the top position positioned at automatic telescopic link are provided with bumper.

In addition, in order to when swing rod is in collapsed state i.e. when the auxiliary support wheel of swing rod lower end is packed up on swing rod Side provides position limitation protection, a limited block is respectively set on the roof of the rear and front end of first through hole, in this way, when swing rod is in When collapsed state position limitation protection can be provided to swing rod.

In addition, causing to damage in order to avoid swing rod collides with limited block bottom, the bottom of limited block is provided with rubber Rubber mat.In addition, it is more steady when for the ease of station people, vehicle frame top is provided with handrail.

Detailed description of the invention

Fig. 1 is the structure of the main view of the first embodiment of the invention；

Fig. 2 is the structure left view schematic diagram of the first embodiment of the invention；

Fig. 3 is the structure of the main view of second of embodiment of the invention；

Fig. 4 is the structure left view schematic diagram of second of embodiment of the invention；

Fig. 5 is the structure left view schematic diagram of the third embodiment of the invention；

Fig. 6 is the structure left view schematic diagram of the 4th kind of embodiment of the invention；

Fig. 7 is the structure of the main view of the 5th kind of embodiment of the invention；

Fig. 8 is the structure left view schematic diagram of the 5th kind of embodiment of the invention.

Specific embodiment

In order to make the object, technical scheme and advantages of the embodiment of the invention clearer, below in conjunction with the embodiment of the present invention Attached drawing 1 to 8, the technical solution of the embodiment of the present invention is clearly and completely described.Obviously, described embodiment is A part of the embodiments of the present invention, instead of all the embodiments.Based on described the embodiment of the present invention, this field is common Technical staff's every other embodiment obtained, shall fall within the protection scope of the present invention.