CN104859769A - Combinable unicycle balance bike - Google Patents

Abstract

The invention relates to a combinable single-wheel balance car, belongs to the technical field of novel electric vehicles, and solves the problem that after the single-wheel balance cars are combined, the rotating speeds of the balance cars are different. The invention comprises a vehicle body, wheels, pedals, a control rod and a handle, wherein the vehicle body comprises a driving circuit, the driving circuit comprises a battery and a motor, the pedals are arranged on two sides of the vehicle body, a supporting rod capable of extending out is arranged inside one side of the pedals, a hollow groove capable of being inserted into the supporting rod is arranged inside the other side of the pedals, two flexible electrode connecting devices are arranged on the outer end face of one side of each pedal, two magnets are arranged on the outer end face of the other side of each pedal, a serial port sending port and a serial port receiving port are arranged on the end face of one end of the handle, and a serial port receiving port and a serial port sending port are correspondingly arranged on the end face of the other end at the same horizontal height positions as.

Description

Combinable unicycle balance bike

technical field

The invention relates to a combinable single-wheel balance vehicle, which belongs to the technical field of new electric vehicles.

Background technique

At present, electric balance vehicles are divided into two types: unicycles and two-wheeled vehicles. In terms of balance: the unicycle balance vehicle uses a gyroscope to detect the forward and backward tilt of the body, controls acceleration and deceleration, and maintains the balance of the front and rear of the body, but it cannot keep upright itself, requiring the user to control the left and right balance while driving; two-wheeled vehicles There is no need to control the lateral balance, and the upright can be realized only by the control of forward and backward tilt. In terms of steering: the user controls the left and right lateral balance of the body of the unicycle, and uses the left and right inclination angles to generate lateral reaction forces with the road surface when driving to achieve steering. The steering of the unicycle is different from that of the two-wheeled balance car. The two-wheeled vehicle uses the left and right tilt of the control lever to control the left and right wheels to generate a speed difference, thereby realizing the steering. The principle is similar to the steering of a tank. In terms of features: the unicycle is small in size, easy to carry, and sporty, but it is difficult to get started; the two-wheeled balance bike is easy to learn and can carry loads, but it is large and heavy. Both have their own advantages and disadvantages.

Because the two are fundamentally different in principle, if the user wants to experience the fun of the two balance cars, they must purchase them separately, which is expensive and not flexible enough to use. There have been utility models that used some mechanical connection devices to combine two single-wheel balance vehicles to form parallel connections, front-to-back connections, and multiple balance vehicle connections, such as utility model CN 203975082 U and utility model CN 203958483 U. But this type of invention does not solve the rotational speed difference problem of each self-balancing car. Affected by various factors such as sensors, motor quality, battery power, etc., even the same brand and the same batch of unicycle self-balancing vehicles have different speeds at the same time. The simple mechanical connection will cause straight-line deviation and steering deviation of the combined vehicle, which requires high driving skills. After testing, two wheelbarrows that are simply mechanically connected will cause a fall accident during high-speed driving, which has serious potential safety hazards and cannot be practical. Existing utility model CN 203698535 U discloses a two-wheeled balance car with dual adjustable rotating shafts, but the car body cannot be separated into two independent one-wheeled balance cars.

Contents of the invention

The purpose of the present invention is to provide a combinable single-wheel balance car, which can realize the free combination and split of the single-wheel balance car and the double-wheel balance car, and solve the problem of the rotation speed of each balance car after the single-wheel balance car is combined. Poor problem, it has the characteristics of simple structure, safe use, convenient connection and so on.

The present invention is realized by adopting the following technical solutions: a combinable single-wheel balance car, including a vehicle body, wheels, pedals, control levers and handles, the vehicle body includes a drive circuit, and the drive circuit includes a battery and a motor. The wheels are installed on the vehicle body, and the pedals are divided into left pedals and right pedals. The left pedals and right pedals are symmetrically installed on both sides of the vehicle body. The control rod is hollow, and its lower end is connected to the front end of the vehicle body through the control rod connecting shaft. , the upper end is connected with a handle through the handle connecting shaft. The pedal on both sides of the vehicle body is provided with a support rod that can be extended inside one side, and a hollow groove that can be inserted into the support rod is provided inside the other side. One side of the pedal Two flexible electrode connection devices are arranged on the outer end surface of the other side, and two magnets are arranged on the outer end surface of the other side, and the two flexible electrode connection devices and the two magnets are connected to the drive circuit through wires; The end face of one end of the handle is provided with a serial port sending port and a serial port receiving port, and on the end face of the other end, a serial port receiving port and a serial port sending port are correspondingly arranged at the same level as the serial port sending port and the serial port receiving port; The vehicle body is provided with a single-chip microcomputer, the single-chip microcomputer is connected with the driving circuit in the vehicle body, the two serial port sending ports on the two ends of the handle and the single-chip microcomputer are connected in series through the sending end line, and the two serial ports on the two ends of the handle receive The port and the single-chip microcomputer are connected in series through the receiving end line, and the sending end line and the receiving end line are both arranged inside the handle, and then pass through the inside of the control rod to lead to the vehicle body.

The support rods and the corresponding hollow grooves are arranged on the outer ends of the pedals on both sides, and the support rods and the hollow grooves can be arranged on the left side or the right side. The two flexible electrode connection devices and the two magnets, similarly, only need to be arranged on both sides, no matter the left side or the right side. The two groups of ports at both ends of the handle are similarly irrespective of left or right. However, once the above-mentioned structure is determined to be at the specific position (that is, whether it is determined to be set on the left side or the right side), then all subsequent products must be manufactured according to this template, so that any two wheelbarrows can be connected, and the two wheelbarrows must be connected. The left (right) side of one wheelbarrow is connected to the right (left) side of another wheelbarrow. The invention arranges all the lines inside the corresponding structure, so that the structure is compact and the appearance is beautiful.

The support rod is a telescopic or foldable rod, so that when the two unicycles are not connected, the support rod can be hidden inside the pedal, and when it needs to be connected, the support rod is stretched out and inserted into the hollow of another unicycle Groove to realize the connection of two vehicles.

Both ends of the handle and the two ends of the pedal are provided with locking devices. After the two wheelbarrows are connected, it is mainly the connection between the handle and the pedal. Therefore, the setting of the locking device is to ensure the reliability of the connection.

The locking device can be a metal buckle, a socket nut or a strong magnet to ensure the firmness of the connection, and these connection methods are convenient for disassembly and assembly.

The upper surface of the vehicle body is provided with a solar photovoltaic electric panel capable of supplying power to the battery, and the battery of the present invention can be charged by using solar energy, which is environmentally friendly and can also be used for emergency use.

The beneficial effects of the present invention are:

1. The setting of the support bar and the hollow groove on the pedal of the present invention cleverly connects the two wheelbarrows together, and the disassembly and assembly are simple and convenient, and the setting of the locking device at the handle and the pedal makes the connection of the two wheelbarrows easier. For reliable and firm.

2. The present invention sets the serial port receiving port and the serial port sending port at the handle so that when the two wheelbarrows are combined, the corresponding ports are docked, and through the corresponding communication lines, the corresponding signals are transmitted to the single-chip microcomputer, which is controlled by the single-chip microcomputer. Intelligent control of the reference voltage, differential voltage and steering voltage of the combined two-wheeled vehicle.

3. The arrangement of the flexible electrode connection device and the magnet of the present invention enables the magnet of one unicycle to attract the flexible electrode connection device of the other unicycle when two unicycles are combined, so that the originally independently powered batteries are connected in parallel to form a battery pack, which simultaneously serves as a battery pack for two unicycles. The two motors supply power to achieve voltage synchronization. At the same time, when one battery is out of power and cannot be started, the battery of another balance car can be used to drive for short distances.

4. The present invention is equipped with a solar photovoltaic panel, which can use solar energy to charge the battery. On the one hand, it is energy-saving and environmentally friendly. On the other hand, when there is no charging facility around, it can be charged by solar energy, which plays an emergency role.

5. The present invention realizes the free combination and disassembly of the single-wheel balance car and the double-wheel balance car, and truly solves the problem of speed difference between each balance car after the single-wheel balance car is combined, and has the advantages of simple structure, safe use, and easy connection. Features such as convenience.

Description of drawings

Fig. 1 is a structural schematic diagram of the present invention.

Fig. 2 is a structural schematic diagram of the combination of two unicycle balancing vehicles.

Figure 3 is a schematic diagram of the connection of the communication part after the combination of two unicycle balancing vehicles.

Figure 4 is a schematic diagram of the parallel connection of batteries after the combination of two unicycle balance vehicles.

In the figure: 1. Handle 2. Handle connecting shaft 3. Control rod connecting shaft 4. Support rod 5. Wheel 6. Control rod 7. Body 8. Pedal 9. Serial sending port 10. Serial receiving port 11. Single-chip microcomputer 12. Sending End circuit 13, receiving end circuit 14, battery 15, motor 16, magnet 17, flexible electrode connection device.

Detailed ways

The present invention will be further described below in conjunction with the accompanying drawings.

As shown in Fig. 1, Fig. 3 and Fig. 4, the combinable unicycle balancing vehicle of the present invention includes a vehicle body 7, wheels 5, pedals 8, control lever 6 and handle 1, and the vehicle body 7 includes a driving circuit , the drive circuit includes a battery 14 and a motor 15, the wheels 5 are installed on the vehicle body 7, the pedal 8 is divided into a left pedal and a right pedal, and the left pedal and the right pedal are symmetrically installed on both sides of the vehicle body 7, the control Rod 6 is hollow, and the lower end is connected with vehicle body 7 front end by control rod connecting shaft 3, and control rod 6 upper end is connected with handle 1 by handle connecting shaft 2, described pedal 8 on both sides of vehicle body 7, the interior of one side is provided with There is a support rod 4 that can be stretched out, and the other side is provided with a hollow groove that can be inserted into the support rod 4. Two flexible electrode connection devices 17 are provided on the outer end surface of one side of the pedal 8, and two flexible electrode connection devices 17 are provided on the outer end surface of the other side. Two magnets 16, the two flexible electrode connection devices 17 and the two magnets 16 are all connected to the drive circuit through wires; the end surface of one end of the handle 1 is provided with a serial port 9 and a serial port receiving port 10. On the end face of the other end, a serial port receiving port 10 and a serial port sending port 9 are correspondingly arranged at the same horizontal height position as the serial port sending port 9 and the serial port receiving port 10; It is connected with the driving circuit in the vehicle body 7, the two serial port sending ports 9 on the two ends of the handle 1 and the single chip microcomputer 11 are connected in series through the sending end line 12, and the two serial port receiving ports 10 on the two ends of the handle 1 and the The single-chip microcomputer 11 is connected in series through the receiving end line 13 , and the sending end line 12 and the receiving end line 13 are both arranged inside the handle 1 , and then pass through the inside of the control rod 6 and lead to the vehicle body 7 .

The support rod 4 is a telescopic or foldable rod, and the two ends of the handle 1 and the two ends of the pedal 8 are provided with locking devices, and the locking devices can be metal buckles, sleeve nuts or A strong magnet, the upper surface of the vehicle body 7 is provided with a solar photovoltaic panel (not shown) that can supply power to the battery 14 .

Its working principle is as follows: because the driving principle of the single-wheel balancing car and the double-wheel balancing car are essentially different, so the present invention adopts two sets of control procedures. When the wheelbarrow is used alone, the single-chip microcomputer 11 of the wheelbarrow continuously sends the current speed of the car to the serial port sending port 9, and continuously reads the data from the serial port receiving port 10 at the same time, and the communication interval is milliseconds. Because the wheelbarrow runs alone, the serial port receiving port 10 cannot read data, and the vehicle is considered to be running in the single-wheel mode. At this time, the gyroscope installed in the vehicle body 7 detects the front and rear tilt angles and generates a reference voltage. The reference voltage controls the speed of the wheel 5 to realize the driving, acceleration and deceleration of the unicycle. Left-right balance requires the user to adjust the body. To steer, the user leans their body to steer.

As shown in Figure 2, Figure 3 and Figure 4, when two wheelbarrows are combined, the handle 1 and the pedal 8 are connected respectively, and the two sets of serial port sending ports are connected to the two ends of the handle 1 of the two wheelbarrows. 9 is docked with the serial port receiving port 10, and locked by a locking device. At pedal 8, extend the support rod 4 of a unicycle, insert it into the hollow groove of another unicycle, and realize the positioning connection. The connecting device 17 is docked, the magnet 16 attracts the flexible electrode connecting device 17, the batteries 14 of the two vehicles are connected in parallel to form a battery pack, and power is supplied at the same time, and finally the locking device is used for locking to realize the combined connection of the two wheelbarrows.

When the two vehicles are merged to form a two-wheeled vehicle, the serial port receiving port 10 can read the wheel 5 speed data sent by the serial port sending port 9 of another wheelbarrow, and the vehicle will switch to the two-wheeled mode and start another set of control programs. At this time, the operation of the two-wheeled vehicle depends on three factors:

The first is the reference voltage: the gyroscope detects the fore and aft tilt angle and generates a reference voltage to control the main speed of the wheel 5 .

The second is the differential voltage: the single-chip microcomputer 11 will calculate the rotation speed of its own wheel 5 and the rotation speed of the opposite wheel 5 to obtain the average rotation speed, and calculate the differential voltage according to the average rotation speed. If the rotation speed of the self-wheel 5 is lower than the average rotation speed, the differential voltage is slightly increased according to the difference; if the rotation speed of the own wheel 5 is greater than the average rotation speed, the differential voltage is slightly decreased according to the difference. The reference voltage and the differential voltage are summed to obtain the straight-forward voltage, that is, the combined two-wheeled vehicle does not produce a left-right deflection voltage. This moment, the combination two-wheeled vehicle can keep running in a straight line, retreat, or stand still upright.

The third is the steering voltage: when turning, the user translates the control lever 6 to the left or right, and the single-chip microcomputer 11 calculates the steering voltage according to the translation angle. The user pushes the control lever 6 horizontally to the left, the combined two-wheeler turns left, the steering voltage of the left wheelbarrow is negative, and the speed slows down. The user pushes the control lever 6 horizontally to the right, and the combined two-wheel vehicle turns right, and the steering voltage of the right unicycle is negative, and the speed slows down. The steering voltage is added to the straight-forward voltage to realize the actual running voltage of the two wheels 5, thereby realizing the driving action of the combined two-wheeled vehicle.

In the two-wheeler mode, the left and right balance does not need to be adjusted by the user.

What needs to be specially explained here is: the above content is only a preferred embodiment of the present invention, and cannot be considered as limiting the scope of the embodiments of the present invention, and the present invention is not limited to the above examples. The equal changes and improvements made within the essential scope of the invention shall all belong to the scope covered by the invention patent.

Claims (5)

1. a single wheel balance truck capable of being combined, comprise vehicle body (7), wheel (5), pedal (8), control stalk (6) and handle (1), described vehicle body comprises driving circuit in (7), driving circuit comprises battery (14) and motor (15), described wheel (5) is arranged on vehicle body (7), described pedal (8) is divided into left-hand tread plate and right-hand tread plate, left-hand tread plate and right-hand tread plate symmetry are arranged on the both sides of vehicle body (7), described control stalk (6) is hollow, its lower end is connected with vehicle body (7) front end by control stalk adapter shaft (3), upper end is connected with handle (1) by handle adapter shaft (2), it is characterized in that: the described pedal (8) in vehicle body (7) both sides, the inside of its side is provided with the strut bar (4) that can stretch out, opposite side inside is provided with the groove that can insert strut bar (4), the outer face of pedal (8) side is provided with two flexible electrode connecting devices (17), the outer face of opposite side is provided with two magnet (16), two described flexible electrode connecting devices (17) and two magnet (16) all accessed by wire described in driving circuit,

The end face of described handle (1) one end is provided with serial ports transmit port (9) and serial ports receiving port (10), on the end face of the other end, the level height position identical with serial ports receiving port (10) with serial ports transmit port (9) is corresponding is provided with serial ports receiving port (10) and serial ports transmit port (9);

Micro controller system (11) is provided with in described vehicle body (7), micro controller system (11) is connected with the driving circuit in described vehicle body (7), two serial ports transmit ports (9) in described handle (1) both ends of the surface and micro controller system (11) are cascaded by sending end circuit (12), two serial ports receiving ports (10) in handle (1) both ends of the surface and micro controller system (11) are cascaded by receiving end circuit (13), it is inner that described sending end circuit (12) and receiving end circuit (13) are arranged in handle (1), then inner through control stalk (6), lead to vehicle body (7).

2. single wheel balance truck capable of being combined according to claim 1, is characterized in that: described strut bar (4) is scalable or folding rod member.

3. single wheel balance truck capable of being combined according to claim 1, is characterized in that: described handle (1) two ends and pedal (8) two ends are equipped with latching device.

4. single wheel balance truck capable of being combined according to claim 3, is characterized in that: described latching device can be buckle, cover connected nut or strong magnet.

5. single wheel balance truck capable of being combined according to claim 1, is characterized in that: described vehicle body (7) upper surface is provided with the photovoltaic electroplax can powered for battery (14).