CN107010164A - A kind of slim balance car - Google Patents
A kind of slim balance car Download PDFInfo
- Publication number
- CN107010164A CN107010164A CN201710340175.0A CN201710340175A CN107010164A CN 107010164 A CN107010164 A CN 107010164A CN 201710340175 A CN201710340175 A CN 201710340175A CN 107010164 A CN107010164 A CN 107010164A
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- China
- Prior art keywords
- tread plate
- hand tread
- memory circuit
- vehicle frame
- balance car
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- 230000008878 coupling Effects 0.000 claims abstract description 4
- 238000010168 coupling process Methods 0.000 claims abstract description 4
- 238000005859 coupling reaction Methods 0.000 claims abstract description 4
- 210000000548 hind-foot Anatomy 0.000 claims description 37
- 210000001699 lower leg Anatomy 0.000 claims description 35
- 210000002683 foot Anatomy 0.000 claims description 32
- 238000007493 shaping process Methods 0.000 claims description 21
- 230000001133 acceleration Effects 0.000 claims description 20
- 210000004744 fore-foot Anatomy 0.000 claims description 16
- 230000005611 electricity Effects 0.000 claims description 10
- XAGFODPZIPBFFR-UHFFFAOYSA-N aluminium Chemical compound [Al] XAGFODPZIPBFFR-UHFFFAOYSA-N 0.000 claims description 9
- 229910052782 aluminium Inorganic materials 0.000 claims description 9
- 239000004411 aluminium Substances 0.000 claims description 9
- 230000006870 function Effects 0.000 claims description 3
- 238000009434 installation Methods 0.000 claims 2
- 238000005452 bending Methods 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 238000010586 diagram Methods 0.000 description 1
- 230000005713 exacerbation Effects 0.000 description 1
- 230000002045 lasting effect Effects 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 1
- 238000005303 weighing Methods 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62M—RIDER PROPULSION OF WHEELED VEHICLES OR SLEDGES; POWERED PROPULSION OF SLEDGES OR SINGLE-TRACK CYCLES; TRANSMISSIONS SPECIALLY ADAPTED FOR SUCH VEHICLES
- B62M6/00—Rider propulsion of wheeled vehicles with additional source of power, e.g. combustion engine or electric motor
- B62M6/40—Rider propelled cycles with auxiliary electric motor
- B62M6/45—Control or actuating devices therefor
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62K—CYCLES; CYCLE FRAMES; CYCLE STEERING DEVICES; RIDER-OPERATED TERMINAL CONTROLS SPECIALLY ADAPTED FOR CYCLES; CYCLE AXLE SUSPENSIONS; CYCLE SIDE-CARS, FORECARS, OR THE LIKE
- B62K23/00—Rider-operated controls specially adapted for cycles, i.e. means for initiating control operations, e.g. levers, grips
- B62K23/08—Rider-operated controls specially adapted for cycles, i.e. means for initiating control operations, e.g. levers, grips foot actuated
Landscapes
- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Mechanical Engineering (AREA)
- Transportation (AREA)
- Electric Propulsion And Braking For Vehicles (AREA)
Abstract
A kind of slim balance car, including vehicle frame, front-wheel, trailing wheel, left-hand tread plate, right-hand tread plate, Hall sensor, fulcrum of spring, left neck and right neck, left neck and right neck are installed on the vehicle frame, left-hand tread plate is installed in left neck, right-hand tread plate is installed in right neck, vehicle frame each side installs front wheels and rear wheels, the front-wheel of vehicle frame both sides is respectively connected by shaft coupling with motor, motor is arranged in vehicle frame, left-hand tread plate and right-hand tread plate rear end are located on vehicle frame, left-hand tread plate and right-hand tread plate use lever principle, fulcrum of spring is respectively provided with the middle of below left-hand tread plate and right-hand tread plate；It is an advantage of the invention that：With four wheels, smooth ride.
Description
Technical field
The present invention relates to a kind of slim balance car, belong to balance car technical field.
Background technology
With the development of science and technology, more and more trip instrument enters in the life of people, such as Electric Scooter and balance
Car etc., the balance car of in the market includes two-wheeled balance car and single-wheel balance car, the characteristics of balance car has light and handy flexible.But work as
When gyroscope in two-wheeled balance car goes wrong, balance car can not be just set normally to keep balance.In order to solve above-mentioned difficulties, need
Develop the slim balance car of a four wheels.
The content of the invention
It is an object of the invention to provide a kind of slim balance car.
When the problem to be solved in the present invention is that gyroscope in the two-wheeled balance car of prior art goes wrong, it can not just make
The problem of balance car normally keeps balance.
To realize the purpose of the present invention, the technical solution adopted by the present invention is：
A kind of slim balance car, including vehicle frame, front-wheel, trailing wheel, left-hand tread plate, right-hand tread plate, Hall sensor, fulcrum of spring, Zuo Ka
Installed on groove and right neck, the vehicle frame and left-hand tread plate is installed in left neck and right neck, left neck, the interior right side of installing of right neck is stepped on
Plate, vehicle frame each side installs front wheels and rear wheels, and the front-wheel of vehicle frame both sides is respectively connected by shaft coupling with motor, driving
Motor is arranged in vehicle frame, and left-hand tread plate and right-hand tread plate rear end are located on vehicle frame, and left-hand tread plate and right-hand tread plate use lever principle,
Fulcrum of spring is respectively provided with the middle of below left-hand tread plate and right-hand tread plate, fulcrum of spring is arranged on vehicle frame, before left-hand tread plate and right-hand tread plate
End lower section is respectively provided with Hall sensor, and the magnet arrangement being engaged corresponding with Hall sensor, and magnet arrangement is U-shaped aluminium
Groove, U-shaped aluminium groove upper end is N grades, and U-shaped aluminium groove lower end is generation and the voltage being directly proportional on pedal in S poles, Hall sensor, suddenly
You are connected at sensor by wire with shaping circuit, and shaping circuit is connected by wire with memory circuit, and memory circuit output is high
Level " 1 " and low level " 0 ", when the shaping circuit of both sides is respectively low level " 0 ", during memory circuit output low level " 0 ", are represented
On the balance car nobody, when the shaping circuit of side is low level " 0 ", the shaping circuit of opposite side is high level " 1 ", memory electricity
When road exports low level " 0 ", nobody is represented on the balance car, when the shaping circuit of both sides is respectively high level " 1 ", memory circuit is defeated
When going out high level " 1 " and persistently holding 5 seconds and the above, someone on the balance car is represented, memory circuit passes through wire and adder
It is connected, adder is arranged in vehicle frame, and adder is connected by wire with controller, controller is arranged in vehicle frame, left side
The motor that controller control is connected with right side front wheel, the controller on right side controls the motor being connected with left side front-wheel,
When memory circuit output high level " 1 " and persistently holding 5 seconds and the above, controller control motor starts；It is whole when both sides
Shape circuit output is changed into low level " 0 " from high level " 1 ", when, memory circuit is cleared output low level " 0 ", represents that this is put down
People on weighing apparatus car has got off, and controller stops motor rotation；Memory circuit is connected by wire with turning circuit, electricity of turning
Road is connected by wire with adder, and 3-axis acceleration sensor is connected by wire with adder, 3-axis acceleration sensor
For suppressing liquidating during acceleration or deceleration, 3-axis acceleration sensor has XYZ axles, can be detected when the balance car is travelled
Whether travelled on a horizontal to balance car, 3-axis acceleration sensor monitors that the balance car is not to travel on a horizontal
When, 3-axis acceleration sensor does not give adder input signal, and 3-axis acceleration sensor is arranged in vehicle frame, and adder passes through
Wire is connected with controller, when memory circuit output high level " 1 " and persistently holding 5 seconds and the above, the hind paw of the left foot of people
The dynamics stepped on is aggravated, the hind paw of right crus of diaphragm also aggravates the dynamics stepped on, and the dynamics that the hind paw of right crus of diaphragm is aggravated is more than after left foot
The dynamics that sole is aggravated, the Hall sensor of the left and right sides is changed into left Hall sensor for high voltage from identical voltage, right side
Hall sensor is low-voltage, and memory circuit triggering turning circuit, memory circuit output signal enters turning circuit, makes both sides
The voltage of adder output voltage all adder output in step-down and left side simultaneously is higher than the voltage that right side adder is exported, and makes two
The controller control motor of side slows down simultaneously and right side drive motors rotating speed is more than left side drive motor rotating speed, vehicle frame traveling
Speed is turned to the left while slowing down, and is completed after turning, is made while making the forefoot of left foot and the forefoot of right crus of diaphragm all aggravate
The dynamics stepped on, and the pressure for making to be applied on left-hand tread plate and right-hand tread plate is changed into identical, memory circuit output signal is directly entered
Adder, controller control motor speed is gone up to same rotational speed, and vehicle frame keeps straight-line travelling；The high electricity of memory circuit output
When flat " 1 " and persistently holding 5 seconds and the above, the hind paw of the left foot of people aggravates the dynamics stepped on, and the hind paw of right crus of diaphragm is also aggravated
The dynamics stepped on, the dynamics that the hind paw of left foot is aggravated is more than the dynamics that right crus of diaphragm hind paw is aggravated, the hall sensing of the left and right sides
It is high voltage that device is changed into right side Hall sensor from identical voltage, and left Hall sensor is low-voltage, and memory circuit triggering turns
Curved circuit, memory circuit output signal enters turning circuit, makes the adder output voltage of both sides while all step-down and right side
Adder output voltage be higher than left side adder export voltage, make both sides controller control motor and meanwhile slow down and
Left side drive motor rotating speed is more than right side drive motors rotating speed, and vehicle frame travel speed bends to right while slowing down, and completes to turn
After curved, make while making the forefoot of left foot and the forefoot of right crus of diaphragm all aggravate the dynamics stepped on, and make to be applied to left-hand tread plate and the right side
Pressure on pedal is changed into identical, and memory circuit output signal is directly entered adder, and controller control motor speed is returned
Same rotational speed is risen to, vehicle frame keeps straight-line travelling；When needing parking, left foot heel aggravates the pressure being applied on left-hand tread plate
The heel of right crus of diaphragm also aggravates the pressure being applied on right-hand tread plate simultaneously, and left-hand tread plate is identical with the pressure applied on right-hand tread plate,
Controller control motor gradually reduces rotating speed simultaneously, and the both feet to people are left after left-hand tread plate and right-hand tread plate, the shaping of both sides
Circuit output is changed into low level " 0 " from high level " 1 ", and motor stops the rotation completely.
The memory circuit is made up of operational amplifier, NOT gate and trigger, and trigger, which has, pins function, memory electricity
When road two ends are all 1, the balance car is started running；After balance car traveling, memory circuit one end is 0, balance car traveling；Only
Have memory circuit two ends all be 0 when the balance car it is out of service.
Signal for turn talk-back circuit is provided between the turning circuit of the both sides.
The vehicle frame is provided with many gear rotary switchs, and many gear rotary switchs have high, medium and low three gears, multi gear
Position rotary switch is connected by wire with motor.
The diameter of the front-wheel is more than the diameter of trailing wheel.
The Hall sensor in the left side is located in left neck, and the Hall sensor on right side is located in right neck.
It is an advantage of the invention that：Before traveling, many gear rotary switchs are rotated, during the straight-line travelling of setting motor
Rotating speed, to set the speed of the balance car straight-line travelling, left foot is stepped on left-hand tread plate, and right crus of diaphragm is stepped on right-hand tread plate, is controlled after 5 seconds
Device control motor rotation, makes front-wheel promote vehicle frame to move forward；When wanting to turn to the left, the hind paw of the left foot of people is aggravated
The dynamics stepped on, the hind paw of right crus of diaphragm also aggravates the dynamics stepped on, and the dynamics that the hind paw of right crus of diaphragm is aggravated is more than left foot hind paw
The dynamics of exacerbation, the front-wheel of the left and right sides slows down simultaneously, but the rotating speed of right side front wheel be more than left side front-wheel rotating speed, realize to
Turn left；When bending to right, the hind paw of the left foot of people aggravates the dynamics stepped on, and the hind paw of right crus of diaphragm also aggravates the power stepped on
Degree, the dynamics that the hind paw of left foot is aggravated is more than the dynamics that right crus of diaphragm hind paw is aggravated, and the front-wheel of the left and right sides slows down simultaneously, still
The rotating speed of left side front-wheel is more than the rotating speed of right side front wheel, and realization bends to right；Complete after turning, bipod is laid flat, while making a left side
The forefoot of pin and the forefoot of right crus of diaphragm all aggravate the dynamics stepped on, and it is identical with the pressure on right-hand tread plate to make to be applied to left-hand tread plate,
Controller control motor rotating speed gos up to the same rotational speed initially set, makes vehicle frame continue to move forward；When needing to get off,
Right crus of diaphragm heel simultaneously is also heavy steps down on right-hand tread plate for heavy the stepping down on left-hand tread plate of left foot heel, steps on left-hand tread plate and the right side
Plate increases identical pressure, and controller control motor gradually reduces rotating speed simultaneously, facilitates people to get off, and the both feet of people all leave
After left-hand tread plate and right-hand tread plate, controller control motor stops the rotation completely, the balance car is stopped traveling.
Brief description of the drawings
Fig. 1 is a kind of slim balance car overall structure figure of the present invention；
Fig. 2 is a kind of circuit diagram of slim balance car of the present invention；
In figure：1st, vehicle frame 2, front-wheel 3, trailing wheel 4, left-hand tread plate 5, right-hand tread plate 6, Hall sensor 7, fulcrum of spring
8th, left neck 9, right neck.
Embodiment
Below in conjunction with the accompanying drawings and embodiment the present invention is further illustrated.
A kind of slim balance car of the present invention, including vehicle frame 1, front-wheel 2, trailing wheel 3, left-hand tread plate 4, right-hand tread plate 5, Hall sensor
6th, installed on fulcrum of spring 7, left neck 8 and right neck 9, the vehicle frame 1 and install left in left neck 8 and right neck 9, left neck 8
Right-hand tread plate 5 is installed, vehicle frame 1 each side installs front-wheel 2 and trailing wheel 3, and the front-wheel 2 of the both sides of vehicle frame 1 is each in pedal 4, right neck 9
It is connected by shaft coupling with motor, the diameter of front-wheel 2 is more than the diameter of trailing wheel 3, the Hall sensor 6 in left side is located at left card
In groove 8, the Hall sensor 6 on right side is located in right neck 9, and motor is arranged in vehicle frame 1, after left-hand tread plate 4 and right-hand tread plate 5
End is located on vehicle frame 1, and left-hand tread plate 4 and right-hand tread plate 5 are used and be respectively provided with the middle of lever principle, left-hand tread plate 4 and the lower section of right-hand tread plate 5
Fulcrum of spring 7, fulcrum of spring 7 is arranged on vehicle frame 1, and Hall sensor 6 is respectively provided with below the front end of left-hand tread plate 4 and right-hand tread plate 5,
And the magnet arrangement being engaged corresponding with Hall sensor 6, magnet arrangement is U-shaped aluminium groove, and U-shaped aluminium groove upper end is N grades, U
Type aluminium groove lower end be produce in S poles, Hall sensor 6 and pedal on the voltage that is directly proportional, Hall sensor 6 by wire with it is whole
Shape circuit is connected, and shaping circuit is connected by wire with memory circuit, memory circuit output high level " 1 " and low level " 0 ", when
The shaping circuit of both sides is respectively low level " 0 ", during memory circuit output low level " 0 ", represents on the balance car nobody, works as side
Shaping circuit be low level " 0 ", the shaping circuit of opposite side is high level " 1 ", during memory circuit output low level " 0 ", table
Show on the balance car nobody, when the shaping circuit of both sides is respectively high level " 1 ", memory circuit output high level " 1 " and lasting protect
When holding 5 seconds and the above, someone on the balance car is represented, memory circuit is connected by wire with adder, adder is arranged on car
In frame 1, adder is connected by wire with controller, and controller is arranged in vehicle frame 1, before the controller control in left side and right side
The connected motor of wheel 2, the controller on right side controls the motor being connected with left side front-wheel 2, the high electricity of memory circuit output
When flat " 1 " and persistently holding 5 seconds and the above, controller control motor starts；When the shaping circuit output of both sides is by high electricity
Flat " 1 " is changed into low level " 0 ", when, memory circuit is cleared output low level " 0 ", represents that the people on the balance car has got off,
Controller stops motor rotation；Memory circuit is connected by wire with turning circuit, and turning circuit passes through wire and addition
Device is connected, and 3-axis acceleration sensor is connected by wire with adder, and 3-axis acceleration sensor is used for suppressing to accelerate or subtracting
Liquidating when fast, 3-axis acceleration sensor has XYZ axles, and balance car can be detected when the balance car is travelled whether in water
Travelled on horizontal line, 3-axis acceleration sensor monitors that the balance car is not 3-axis acceleration sensing when travelling on a horizontal
Device does not give adder input signal, and 3-axis acceleration sensor is arranged in vehicle frame 1, and adder passes through wire and controller phase
Even, when memory circuit exports high level " 1 " and persistently holding 5 seconds and the above, the hind paw of the left foot of people aggravates the dynamics stepped on,
The hind paw of right crus of diaphragm also aggravates the dynamics stepped on, and the dynamics that the hind paw of right crus of diaphragm is aggravated is more than the dynamics that left foot hind paw is aggravated,
The Hall sensor 6 of the left and right sides is changed into left Hall sensor 6 for high voltage from identical voltage, and right side Hall sensor 6 is
Low-voltage, memory circuit triggering turning circuit, memory circuit output signal enters turning circuit, the adder of both sides is exported electricity
The voltage of pressure all adder output in step-down and left side simultaneously is higher than the voltage that right side adder is exported, and makes the controller control of both sides
Motor processed slows down simultaneously and right side drive motors rotating speed is more than left side drive motor rotating speed, and the travel speed of vehicle frame 1 is being slowed down
While turn to the left, complete after turning, make while make the forefoot of left foot and the forefoot of right crus of diaphragm all aggravate the dynamics stepped on,
And the pressure being applied on left-hand tread plate 4 and right-hand tread plate 5 is changed into identical, memory circuit output signal is directly entered adder, control
Device control motor speed processed is gone up to same rotational speed, and vehicle frame 1 keeps straight-line travelling；Memory circuit output high level " 1 " and
Persistently kept for 5 seconds and during the above, the hind paw of the left foot of people aggravates the dynamics stepped on, the hind paw of right crus of diaphragm also aggravates the power stepped on
Degree, the dynamics that the hind paw of left foot is aggravated is more than the dynamics that right crus of diaphragm hind paw is aggravated, and the Hall sensor 6 of the left and right sides is by identical
It is high voltage that voltage, which is changed into right side Hall sensor 6, and left Hall sensor 6 is low-voltage, and memory circuit triggers turning circuit,
Memory circuit output signal enters turning circuit, makes the adder output voltage of both sides while the adder on all step-down and right side is defeated
The voltage gone out makes the controller of both sides control motor while slowing down and left side driving higher than the voltage that left side adder is exported
Motor speed is more than right side drive motors rotating speed, and the travel speed of vehicle frame 1 bends to right while slowing down, and completes after turning, makes
The forefoot of left foot and the forefoot of right crus of diaphragm is all aggravated the dynamics stepped on simultaneously, and make to be applied on left-hand tread plate 4 and right-hand tread plate 5
Pressure be changed into identical, memory circuit output signal is directly entered adder, and controller control motor speed is gone up to phase
Same rotating speed, vehicle frame 1 keeps straight-line travelling；When needing parking, left foot heel aggravates the pressure being applied on left-hand tread plate 4 simultaneously
The heel of right crus of diaphragm also aggravates the pressure being applied on right-hand tread plate 5, and left-hand tread plate 4 is identical with the pressure applied on right-hand tread plate 5, control
Device control motor processed gradually reduces rotating speed simultaneously, and the both feet to people are left after left-hand tread plate 4 and right-hand tread plate 5, the shaping of both sides
Circuit output is changed into low level " 0 " from high level " 1 ", and motor stops the rotation completely.
The memory circuit is made up of operational amplifier, NOT gate and trigger, and trigger, which has, pins function, memory electricity
When road two ends are all 1, the balance car is started running；After balance car traveling, memory circuit one end is 0, balance car traveling；Only
Have memory circuit two ends all be 0 when the balance car it is out of service.
Signal for turn talk-back circuit is provided between the turning circuit of the both sides.
The vehicle frame 1 is provided with many gear rotary switchs, and many gear rotary switchs have high, medium and low three gears, multi gear
Position rotary switch is connected by wire with motor.
The present invention application method be：Before traveling, many gear rotary switchs are rotated, the straight-line travelling of motor is set
When rotating speed, to set the speed of the balance car straight-line travelling, left foot is stepped on left-hand tread plate 4, and right crus of diaphragm is stepped on right-hand tread plate 5,5 seconds
The rotation of controller control motor, makes front-wheel 2 promote vehicle frame 1 to move forward afterwards；When wanting to turn to the left, after the left foot of people
Sole aggravates the dynamics stepped on, and the hind paw of right crus of diaphragm also aggravates the dynamics stepped on, and the dynamics that the hind paw of right crus of diaphragm is aggravated is more than a left side
The dynamics that pin hind paw is aggravated, the front-wheel 2 of the left and right sides slows down simultaneously, but the rotating speed of right side front wheel 2 is more than left side front-wheel 2
Rotating speed, realization is turned to the left；When bending to right, the hind paw of the left foot of people aggravates the dynamics stepped on, and the hind paw of right crus of diaphragm also adds
The dynamics stepped on again, the dynamics that the hind paw of left foot is aggravated is more than the dynamics that right crus of diaphragm hind paw is aggravated, and the front-wheel 2 of the left and right sides is same
When slow down, but the rotating speed of left side front-wheel 2 is more than the rotating speed of right side front wheel 2, and realization bends to right；Complete after turning, by bipod
It is laid flat, while making the forefoot of left foot and the forefoot of right crus of diaphragm all aggravate the dynamics stepped on, makes to be applied to left-hand tread plate 4 and right-hand tread plate
Pressure on 5 is identical, and controller control motor rotating speed gos up to the same rotational speed initially set, vehicle frame 1 is continued forward
Traveling；When needing to get off, right crus of diaphragm heel simultaneously is also heavy steps down in right-hand tread plate for heavy the stepping down on left-hand tread plate 4 of left foot heel
On 5, left-hand tread plate 4 and right-hand tread plate 5 is set to increase identical pressure, controller control motor gradually reduces rotating speed simultaneously, convenient
People is got off, and the both feet of people are all left after left-hand tread plate 4 and right-hand tread plate 5, and controller control motor stops the rotation completely, puts down this
The car that weighs stops traveling.
Claims (6)
1. a kind of slim balance car, including vehicle frame（1）, front-wheel（2）, trailing wheel（3）, left-hand tread plate（4）, right-hand tread plate（5）, hall sensing
Device（6）, fulcrum of spring（7）, left neck（8）With right neck（9）, it is characterized in that：The vehicle frame（1）It is upper that left neck is installed（8）With
Right neck（9）, left neck（8）Interior installation left-hand tread plate（4）, right neck（9）Interior installation right-hand tread plate（5）, vehicle frame（1）Each side
Front-wheel is installed（2）And trailing wheel（3）, vehicle frame（1）The front-wheel of both sides（2）Respectively it is connected by shaft coupling with motor, motor
Installed in vehicle frame（1）It is interior, left-hand tread plate（4）And right-hand tread plate（5）Rear end is located in vehicle frame（1）On, left-hand tread plate（4）And right-hand tread plate（5）
Use lever principle, left-hand tread plate（4）And right-hand tread plate（5）Fulcrum of spring is respectively provided with the middle of lower section（7）, fulcrum of spring（7）Install
In vehicle frame（1）On, left-hand tread plate（4）And right-hand tread plate（5）Front end below be respectively provided with Hall sensor（6）, and and hall sensing
Device（6）The corresponding magnet arrangement being engaged, magnet arrangement is U-shaped aluminium groove, and U-shaped aluminium groove upper end is N grades, and U-shaped aluminium groove lower end is S
Pole, Hall sensor（6）The voltage being directly proportional in middle generation and pedal, Hall sensor（6）Pass through wire and shaping circuit phase
Even, shaping circuit is connected by wire with memory circuit, and memory circuit exports high level " 1 " and low level " 0 ", whole when both sides
Shape circuit is respectively low level " 0 ", during memory circuit output low level " 0 ", represents on the balance car nobody, when the shaping electricity of side
Road is low level " 0 ", and the shaping circuit of opposite side is high level " 1 ", during memory circuit output low level " 0 ", represents the balance
On car nobody, when both sides shaping circuit respectively be high level " 1 ", memory circuit output high level " 1 " and persistently keep 5 seconds and with
When upper, someone on the balance car was represented, memory circuit is connected by wire with adder, adder is arranged on vehicle frame（1）It is interior, plus
Musical instruments used in a Buddhist or Taoist mass is connected by wire with controller, and controller is arranged on vehicle frame（1）It is interior, the controller control in left side and right side front wheel（2）
Connected motor, controller control and the left side front-wheel on right side（2）Connected motor, memory circuit output high level
When " 1 " and persistently holding 5 seconds and the above, controller control motor starts；When the shaping circuit of both sides is exported by high level
" 1 " is changed into low level " 0 ", when, memory circuit is cleared output low level " 0 ", represents that the people on the balance car has got off, and controls
Device processed stops motor rotation；Memory circuit is connected by wire with turning circuit, and turning circuit passes through wire and adder
It is connected, 3-axis acceleration sensor is connected by wire with adder, 3-axis acceleration sensor is used for suppressing acceleration or deceleration
When liquidate, 3-axis acceleration sensor has XYZ axles, and balance car can be detected when the balance car is travelled whether in level
Travelled on line, 3-axis acceleration sensor monitors that the balance car is not 3-axis acceleration sensor when travelling on a horizontal
Adder input signal is not given, 3-axis acceleration sensor is arranged on vehicle frame（1）Interior, adder passes through wire and controller phase
Even, when memory circuit exports high level " 1 " and persistently holding 5 seconds and the above, the hind paw of the left foot of people aggravates the dynamics stepped on,
The hind paw of right crus of diaphragm also aggravates the dynamics stepped on, and the dynamics that the hind paw of right crus of diaphragm is aggravated is more than the dynamics that left foot hind paw is aggravated,
The Hall sensor of the left and right sides（6）Left Hall sensor is changed into from identical voltage（6）For high voltage, right side Hall sensor
（6）For low-voltage, memory circuit triggering turning circuit, memory circuit output signal enters turning circuit, makes the adder of both sides
The voltage of output voltage all adder output in step-down and left side simultaneously is higher than the voltage that right side adder is exported, and makes the control of both sides
Device control motor processed slows down simultaneously and right side drive motors rotating speed is more than left side drive motor rotating speed, vehicle frame（1）Traveling speed
Degree is turned to the left while slowing down, and is completed after turning, is made while making the forefoot of left foot and the forefoot of right crus of diaphragm all aggravate to step on
The dynamics, and make to be applied to left-hand tread plate（4）And right-hand tread plate（5）On pressure be changed into identical, memory circuit output signal is direct
Into adder, controller control motor speed is gone up to same rotational speed, vehicle frame（1）Keep straight-line travelling；Memory circuit
When exporting high level " 1 " and persistently holding 5 seconds and the above, the hind paw of the left foot of people aggravates the dynamics stepped on, the rear foot of right crus of diaphragm
The palm also aggravates the dynamics stepped on, and the dynamics that the hind paw of left foot is aggravated is more than the dynamics that right crus of diaphragm hind paw is aggravated, the left and right sides
Hall sensor（6）Right side Hall sensor is changed into from identical voltage（6）For high voltage, left Hall sensor（6）For low electricity
Pressure, memory circuit triggering turning circuit, memory circuit output signal enters turning circuit, makes the adder output voltage of both sides same
When all step-down and right side adder output voltage be higher than left side adder export voltage, make both sides controller control drive
Dynamic motor slows down simultaneously and left side drive motor rotating speed is more than right side drive motors rotating speed, vehicle frame（1）Travel speed is in deceleration
Bend to right simultaneously, complete after turning, make while make the forefoot of left foot and the forefoot of right crus of diaphragm all aggravate the dynamics stepped on, and
Make to be applied to left-hand tread plate（4）And right-hand tread plate（5）On pressure be changed into identical, memory circuit output signal is directly entered adder,
Controller control motor speed is gone up to same rotational speed, vehicle frame（1）Keep straight-line travelling；When needing parking, left foot pin
Followed by aggravate to be applied to left-hand tread plate（4）On pressure the heel of right crus of diaphragm also aggravates to be applied to right-hand tread plate simultaneously（5）On pressure,
And left-hand tread plate（4）And right-hand tread plate（5）The pressure of upper application is identical, and controller control motor gradually reduces rotating speed simultaneously, arrives
The both feet of people leave left-hand tread plate（4）And right-hand tread plate（5）Afterwards, the shaping circuit output of both sides is changed into low level from high level " 1 "
" 0 ", motor stops the rotation completely.
2. a kind of slim balance car according to claim 1, it is characterized in that：The memory circuit be by operational amplifier,
NOT gate and trigger composition, trigger, which has, pins function, and when memory circuit two ends are all 1, the balance car is started running；This is put down
After the car traveling that weighs, memory circuit one end is 0, balance car traveling；Balance car when only memory circuit two ends are all 0
It is out of service.
3. a kind of slim balance car according to claim 1, it is characterized in that：It is provided with and turns between the turning circuit of the both sides
Curved signal talk-back circuit.
4. a kind of slim balance car according to claim 1, it is characterized in that：The vehicle frame（1）Provided with the rotation of many gears
Switch, many gear rotary switchs have high, medium and low three gears, and many gear rotary switchs are connected by wire with motor.
5. a kind of slim balance car according to claim 1, it is characterized in that：The front-wheel（2）Diameter be more than trailing wheel（3）
Diameter.
6. a kind of slim balance car according to claim 1, it is characterized in that：The Hall sensor in the left side（6）It is located at
Left neck（8）It is interior, the Hall sensor on right side（6）Positioned at right neck（9）It is interior.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710340175.0A CN107010164A (en) | 2017-05-15 | 2017-05-15 | A kind of slim balance car |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710340175.0A CN107010164A (en) | 2017-05-15 | 2017-05-15 | A kind of slim balance car |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107010164A true CN107010164A (en) | 2017-08-04 |
Family
ID=59449887
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710340175.0A Pending CN107010164A (en) | 2017-05-15 | 2017-05-15 | A kind of slim balance car |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107010164A (en) |
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Application publication date: 20170804 |