TW201914890A - Intelligent electric balance vehicle and intelligent control device thereof capable of controlling the direction of moving forward, moving backward and turning of an intelligent electric balance vehicle according to a shifting position and direction of a gravity center of a gravity device - Google Patents

Abstract

An intelligent electric balance vehicle and an intelligent control device thereof are provided. An electric balance vehicle is disposed under a fixed rack, and a gravity device is universally pivoted to the fixed rack. An intelligent controller is disposed on the fixed rack to control a shifting position and direction of a gravity center of the gravity device, such that the intelligent electric balance vehicle can control the direction of moving forward, moving backward and turning of the intelligent electric balance vehicle according to the shifting position and direction of the gravity center of the gravity device. Therefore, the present invention can plan and instruct an article transportation path of the intelligent electric balance vehicle according to the requirements of different application occasions, so as to meet the requirements of the application function of the modern industrial automation.

Description

 Intelligent electric balance car and its intelligent control device  

The invention relates to a smart vehicle, and in particular to an intelligent electric balance vehicle and an intelligent control device thereof.

With the evolution of social civilization, human life has become more and more busy, and it has also created more frequent traffic. In the early days, the power source of transportation vehicles was nothing more than steam and diesel engines, which caused the deterioration of urban air pollution.

In order to improve the air pollution situation, electric vehicles such as electric bicycles, electric motors or electric vehicles that do not emit exhaust gas are springing up. Since the energy source of an electric vehicle such as an electric bicycle, an electric motor vehicle, or an electric vehicle is a rechargeable battery that is carried in the vehicle, the miniaturization of the rechargeable battery and the increase in the storage capacity are achieved.

Thus, a small and convenient electric balance car came into being. The person who is loaded by the electric balance car is usually in a standing posture, and the way of maneuvering forward, backward and turning is operated by the person who is riding by the tilting direction of the body, for example, when the body of the passenger is in front of the body. When tilting, the electric balance car can travel forward, and it can travel backwards when leaning backwards. If you want to turn, you can just go forward or backward to maintain the direction of the electric balance car. One side of the turn you want to turn can be tilted. As for the speed of the electric balance car, it can also be manipulated by its inclination, so its operation is very convenient.

However, as described above, since the conventional electric balance vehicle must be operated by a person who is riding on it, its use is limited by the carrying of personnel, and it is not possible to expand the demand for other aspects such as transportation of articles. Moreover, the conventional electric balance car also has no intelligent control function, and it does not meet the application function requirements of industrial automation.

In view of this, the present invention provides an intelligent electric balance vehicle and an intelligent control device thereof, which can meet the requirements of industrial automation application functions in addition to the requirements for item transportation.

The invention provides an intelligent electric balance vehicle and an intelligent control device thereof. In addition to the electric balance vehicle, the intelligent electric balance vehicle is further provided with an intelligent control device for intelligently controlling the direction of forward, backward and cornering of the electric balance vehicle.

The intelligent control device comprises a fixed frame, a gravity device and an intelligent controller. The gravity device is universally pivoted on the fixed frame to provide gravity which can change the position and direction of the center of gravity deviation, and the intelligent controller is disposed on the fixed frame. To control the position and direction of the gravity center offset of the gravity device. The electric balance car is disposed under the fixed frame to drive the direction of the forward, backward and turning of the intelligent electric balance car according to the offset position and direction of the center of gravity of the gravity device.

In an embodiment, the gravity device of the intelligent electric balance vehicle comprises a steel ball box and a carrier plate, and the steel ball box has a tapered base, an upper cover and a plurality of steel balls disposed in the accommodating space between the tapered base and the upper cover, and the carrier plate It is used to carry a steel ball box, which has a spherical universal rotating shaft and a plurality of universal joint shaft holes.

In an embodiment, the intelligent controller of the intelligent electric balance vehicle comprises two power telescopic rods and a main controller, each of the power telescopic rods has a long rod and a power machine, and one end of the long rod has a universal bearing, and the universal bearing system is configured. In the one-way shaft hole of the carrier plate, the power machine is used to drive the long rod lifting of the power telescopic rod, and the main controller is used to control the power of the two-power telescopic rod to operate the lifting.

In an embodiment, the fixing frame of the intelligent electric balance vehicle comprises an upper plate, a lower plate, a plurality of base pillars and two side brackets, and the upper plate is used for installing the two kinds of power telescopic rods, and the ball type universal shaft shaft seat Therefore, the ball type universal rotating shaft of the carrier plate is disposed in the spherical universal rotating shaft seat to form a universal pivoting structure. The two ends of each of the pillars are respectively connected and fixed to the upper plate and the lower plate, and the two side brackets are respectively connected and fixed to the left and right sides and the lower plate of the electric balance car, thereby combining the intelligent control device with the electric balance car. Above.

In an embodiment, the intelligent electric balance vehicle further comprises a rotary table and a variable speed motor. One side of the rotary table has a weight member, and the variable speed motor is disposed at a center of the upper plate for receiving the control of the main controller. When the intelligent electric balance car is stationary, the rotating table is rotated to maintain the static balance of the intelligent electric balance car.

In an embodiment, the intelligent electric balance vehicle further comprises two elastic telescopic rods, each of the elastic telescopic rods has an upper rod, a lower rod and a compression spring, and one of the upper rod and the lower rod respectively has a universal bearing, and the upper rod has a top bearing The universal bearing is disposed in one of the universal shaft holes of the carrier plate, and the universal bearing of the lower rod is used for pivotally connecting the lower rod to the upper plate, and the upper rod and the lower rod are sleeved with each other, and the compression spring is used. Provides a compression force between the upper and lower rods.

In one embodiment, the long rods and power mechanisms of the two power telescopic rods of the intelligent electric balance vehicle are provided by a linear stepping motor to receive control of the main controller to operate the lifting and lowering of the long rods of the power telescopic rod.

In summary, the intelligent electric balance vehicle and the intelligent control device provided by the invention can plan and command the lifting operation of the intelligent controller according to the requirements of different application occasions, thereby controlling the intelligent electric balance vehicle to advance. , retreat and turn direction, so in addition to the needs of different applications, to achieve the purpose of goods delivery, it can meet the requirements of modern industrial automation application functions.

The above and other objects, features, and advantages of the present invention will become more apparent and understood.

10, 20‧‧‧Intelligent electric balance car

11‧‧‧Intelligent control device

111‧‧‧Upper board

1111, 1112‧‧‧ perforation

112‧‧‧ Lower board

113‧‧‧ pillar

114‧‧‧ side bracket

115‧‧‧Steel box

1151‧‧‧Conical base

1152‧‧‧Upper cover

1153‧‧‧ steel balls

116‧‧‧ Carrier Board

1161‧‧‧Spherical universal shaft

1162‧‧‧ universal shaft hole

117, 217‧‧‧Power telescopic rod

1171‧‧‧Power machine

1172‧‧‧Long pole

1173‧‧‧Couplings

1174, 12111, 12121‧‧‧ universal bearing

118‧‧‧Master controller

119‧‧‧Rotary table

1191‧‧‧weight parts

120‧‧‧ Variable speed motor

121, 221‧‧‧ elastic telescopic rod

1211, 2211‧‧‧Upper

1212, 2212‧‧‧Lower

1213, 2213‧‧‧ compression spring

1215‧‧‧ bearing housing

1216‧‧‧Hexagonal pillar

125‧‧‧Spherical universal shaft seat

12‧‧‧Electric balance car

13‧‧‧Chain spindle

1 is a perspective view showing an intelligent electric balance vehicle according to a first embodiment of the present invention.

2 is a partially exploded view showing the intelligent electric balance car of FIG. 1.

Figure 3 is an exploded view showing the gravity device of Figure 2.

4 is an exploded view showing a portion of the intelligent controller of FIG. 2.

Fig. 5 is a perspective view showing an intelligent electric balance vehicle according to a second embodiment of the present invention.

Figure 6 is a partially exploded view showing the intelligent electric balance car of Figure 5.

Figure 7 is an exploded view showing the gravity device of Figure 6.

Figure 8 is an exploded view showing the components of the intelligent controller of Figure 6.

1 to 4, which are perspective and exploded views of an intelligent electric balance vehicle according to a first embodiment of the present invention. As shown in the figure, in addition to the electric balancer 12, the intelligent electric balance vehicle 10 is further provided with an intelligent control device 11 for controlling the direction in which the electric balance vehicle 12 is advanced, retracted, and turned.

The intelligent control device 11 includes a fixing frame composed of an upper plate 111, a lower plate 112, a pillar 113 and two side brackets 114, a gravity device composed of a steel ball box 115 and a carrier plate 116, and a power expansion rod 117 and The intelligent controller formed by the main controller 118. The intelligent control device 11 is connected to the electric balance car 12 by the two hinged spindles 13 passing through the shaft holes of the two side brackets 114 and the electric balance vehicle 12 respectively, so that the electric balance vehicle 12 can be based on the gravity device. The offset position and direction of the center of gravity drive the direction in which the intelligent electric balance vehicle 10 advances, retreats, and turns.

In addition, in order to allow the intelligent electric balance vehicle 10 to operate more stably, the intelligent electric balance vehicle 10 is further configured with a rotary table 119, a variable speed motor 120, and two elastic forces including an upper rod 1211, a lower rod 1212 and a compression spring 1213. Telescopic rod 121. One side of the rotary table 119 is provided with a weight member 1191, and the variable speed motor 120 is disposed at a central position of the upper plate 111 for receiving the control of the main controller 118 for a single wheel of intelligent electric motor not equipped with the auxiliary wheel. When the balancer 10 is stationary, the rotary table 119 is rotated by the variable speed motor 120 to maintain the static balance of the intelligent electric balance vehicle 10.

In the figure, the lower plate 112 is used to install the above-mentioned main controller 118, and the upper plate 111 is used to install the above two power telescopic rods 117 and the two elastic telescopic rods 121, and the spherical universal shaft base 125 is disposed above the upper plate 111. The two ends of each of the pillars 113 are respectively connected and fixed to the upper plate 111 and the lower plate 112, and the two side brackets 114 are respectively connected and fixed under the lower plate 112.

The steel ball box 115 of the gravity device has a tapered base 1151, an upper cover 1152, and a plurality of steel balls 1153 disposed in the accommodating space between the tapered base 1151 and the upper cover 1152. The number and diameter of the steel balls 1153 can be designed differently. The demand varies. Preferably, a plurality of types of steel balls 1153 of varying sizes and sizes can be used to reduce the gap between the steel balls 1153 and to improve the control of the center of gravity change of the gravity device.

The carrier plate 116 is configured to carry a steel ball box 115 having a spherical universal rotating shaft 1161 and a plurality of universal joint shafts 1162 so that the spherical universal rotating shaft 1161 of the carrier plate 116 is disposed in the spherical universal direction of the upper plate 111. In the rotating shaft seat 125, the gravity device is pivotally connected to the fixed frame to provide a gravity which can change the position and direction of the center of gravity deviation.

The two power telescopic rods 117 of the intelligent controller are symmetrically arranged in the direction of the 45 degree angles of the right and left axes D1 of the intelligent electric balance vehicle 10, and each of the power telescopic rods 117 is a straight line having the long rods 1172 and the power machine 1171. Stepper motor. The power machine 1171 is fixed below the upper plate 111, and the long rod 1172 passes through one end of the through hole 1111 of the upper plate 111, and the universal bearing 1174 is connected via the coupling 1173. The universal bearing 1174 is disposed on one of the universal shafts of the carrier plate 116. In the hole 1162, the power machine 1171 receives the power control of the main controller 118 to drive the long rod 1172 of the power telescopic rod 117 to lift and lower to control the inclination and direction of the gravity device, thereby changing the position and direction of the center of gravity offset.

The two elastic telescopic rods 121 are symmetrically disposed in opposite directions of the two power telescopic rods 117 to provide an auxiliary supporting force for the tilt of the gravity device. Each of the upper rod 1211 and the lower rod 1212 of each elastic telescopic rod 121 has a universal bearing 12111, 12121, and the universal bearing 12111 of the upper rod 1211 is disposed in one of the universal shaft holes 1162 of the carrier 116. The universal bearing 12121 of the lower rod 1212 is disposed on the bearing housing 1215 below the upper plate 111 to pivotally connect the lower rod 1212 to the upper plate 111. The bearing block 1215 is suspended and fixed under the upper plate 111 by a plurality of hexagonal struts 1216. The upper rod 1211 and the lower rod 1212 are sleeved with each other in the through hole 1112 of the upper plate 111, and are sleeved on the upper rod 1211 and below. The compression spring 1213 on the outer side of the rod 1212 and abutting against the upper end flange of the upper rod 1211 and the lower end flange of the lower rod 1212 respectively provides a compressive elastic force between the upper rod 1211 and the lower rod 1212.

The main controller 118 has a processor that can be programmed to operate according to the requirements of different applications, to plan the travel path of the intelligent electric balance vehicle 10 in advance, and to meet the application requirements of the industrial automation, and can also be equipped with A communication transmission device such as WIFI, infrared or blue bud to receive a numerical control command from a computer or a mobile device, thereby operating the lifting and lowering of the power telescopic rod 117, thereby controlling the forward, backward and turning directions of the intelligent electric balance vehicle 10 to achieve The purpose of remote operation.

Please refer to FIG. 5 to FIG. 8 , which are perspective and exploded views of an intelligent electric balance vehicle according to a second embodiment of the present invention. Since the intelligent electric balance vehicle 20 is very similar to the intelligent electric balance vehicle 10 of the first embodiment, its detailed structural composition will not be described again, and only the differences will be briefly described as follows.

In the first embodiment, the two power telescopic rods 117 of the intelligent controller of the intelligent electric balance vehicle 10 are symmetrically arranged in the direction of the 45 degree angles of the right and left axes D1 of the intelligent electric balance vehicle 10, and the two elastic forces are The telescopic rods 121 are symmetrically disposed in opposite directions of the two power telescopic rods 117. As shown in the figure, the positions of the two power telescopic rods 217 of the present embodiment are respectively disposed in the direction of the front axis D2 of the intelligent electric balance vehicle 20 and the 90 degree angle of the right side thereof, and the two elastic telescopic rods. The position of 221 is cooperatively changed to be symmetrical in the opposite direction of the two-power telescopic rod 217.

In addition, the compression spring 1213 of the first embodiment is sleeved on the outer side of the upper rod 1211 and the lower rod 1212 of the elastic telescopic rod 121, and is a design mode in which the compression spring 1213 is exposed. As shown in the figure, the compression spring 2213 in this embodiment is sleeved in the hollow space of the upper rod 2211 and the lower rod 2212 of the elastic telescopic rod 221, and becomes a design mode embedded in the compression spring 2213, and The first embodiment is slightly different.

While the invention has been described above by way of a preferred embodiment, it is not intended to limit the invention, and it is intended to be within the scope of the invention. . Therefore, the scope of the invention is defined by the scope of the appended claims.

Claims (14)

 An intelligent electric balance vehicle includes: a fixing frame; a gravity device pivotally connected to the fixing frame for providing a gravity; and an intelligent controller disposed on the fixing frame for controlling the gravity device The center of gravity is offset from the position and direction; and an electric balance vehicle is disposed under the fixed frame for driving the forward, backward and turning directions according to the offset position and direction of the center of gravity of the gravity device.    The intelligent electric balance car according to claim 1, wherein the gravity device comprises: a steel ball box having a tapered base, an upper cover and an accommodation space disposed between the tapered base and the upper cover; A plurality of steel balls; and a carrier plate for carrying the steel ball box, having a spherical universal shaft and a plurality of cardan shaft holes.    The intelligent electric balance car according to claim 2, wherein the intelligent controller comprises: two power telescopic rods, each of the power telescopic rods has a long rod and a power machine, and one end of the long rod has a universal bearing The universal bearing is disposed in one of the plurality of gimbal holes of the carrier, the power machine is configured to drive the long rod to lift, and a main controller is configured to control the power of the two power telescopic rods to operate the lifting.    The intelligent electric balance car according to claim 3, wherein the fixing frame comprises: an upper plate for mounting the two power telescopic rods, and a ball type universal rotating shaft seat, the spherical type of the carrier plate a universal rotating shaft is disposed in the spherical universal rotating shaft seat; a lower plate; a plurality of root pillars, each of which is respectively connected and fixed to the upper plate and the lower plate; and two side brackets respectively connected and fixed to the electric balance The left and right sides of the car and the lower plate.    The intelligent electric balance car according to claim 4, further comprising: a rotary table, a side of the rotary table has a weight member; and a variable speed motor, the device is located at a center of the upper plate, To accept the control of the main controller to drive the rotation of the rotary table.    The intelligent electric balance car according to claim 4, further comprising two elastic telescopic rods, each elastic telescopic rod having an upper rod, a lower rod and a compression spring, wherein the upper rod and the lower rod respectively have one end a universal bearing, the universal bearing of the upper rod is disposed in one of the gimbal shaft holes of the carrier, and the universal bearing of the lower rod is used for pivoting the lower rod to the upper shaft a plate, the upper rod and the lower rod are sleeved with each other, and the compression spring is used to provide a compressive elastic force between the upper rod and the lower rod.    The intelligent electric balance car according to claim 3, wherein the long rod of the two-power telescopic rod and the power machine are provided by a linear stepping motor.    An intelligent control device is configured to be disposed on an electric balance vehicle to control the direction of forward, backward and cornering of the electric balance vehicle, comprising: a fixed frame; a gravity device, the universal joint is pivoted on the fixed frame, and To provide a gravity; and an intelligent controller disposed on the fixing frame for controlling the position and direction of the gravity center offset of the gravity device.    The intelligent control device of claim 8, wherein the gravity device comprises: a steel ball box having a tapered base, an upper cover and a majority disposed in the accommodating space between the tapered base and the upper cover a steel ball; and a carrier plate for carrying the steel ball box, having a ball type universal rotating shaft and a plurality of universal joint shaft holes.    The intelligent control device of claim 9, wherein the intelligent controller comprises: two power telescopic rods, each of the power telescopic rods has a long rod and a power machine, and one end of the long rod has a universal bearing, The universal bearing is disposed in one of the plurality of gimbal holes of the carrier, the power machine is configured to drive the long rod to lift, and a main controller is configured to control the power of the two power telescopic rods to operate the lifting.    The intelligent control device of claim 10, wherein the fixing frame comprises: an upper plate for mounting the two power telescopic rods, and a ball type universal rotating shaft seat, the spherical type of the carrier board The rotating shaft is disposed in the ball type universal rotating shaft seat; a lower plate; a plurality of supporting legs, each of which is respectively connected and fixed to the upper plate and the lower plate; and two side brackets, one end of which is fixedly connected to the lower plate, The other end is connected and fixed to the left and right sides of the electric balance vehicle.    The intelligent electric balance vehicle according to claim 11, further comprising: a rotary table, a side of the rotary table has a weight member; and a variable speed motor, the device is located at a center of the upper plate, To accept the control of the main controller to drive the rotation of the rotary table.    The intelligent control device of claim 11, further comprising two elastic telescopic rods, each elastic telescopic rod having an upper rod, a lower rod and a compression spring, wherein the upper rod and the lower rod respectively have one The universal bearing, the universal bearing of the upper rod is disposed in one of the plurality of gimbal holes of the carrier, and the universal bearing of the lower rod is used for pivotally connecting the lower rod to the upper plate The upper rod and the lower rod are sleeved with each other, and the compression spring is used to provide a compressive elastic force between the upper rod and the lower rod.    The intelligent control device of claim 10, wherein the long rod of the two-power telescopic rod and the power machine are provided by a linear stepping motor.