CN106976512A - A kind of twin type self-balancing wheelbarrow - Google Patents
A kind of twin type self-balancing wheelbarrow Download PDFInfo
- Publication number
- CN106976512A CN106976512A CN201610025829.6A CN201610025829A CN106976512A CN 106976512 A CN106976512 A CN 106976512A CN 201610025829 A CN201610025829 A CN 201610025829A CN 106976512 A CN106976512 A CN 106976512A
- Authority
- CN
- China
- Prior art keywords
- wheel
- balance
- wheelbarrow
- controller
- twin type
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
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Classifications
-
- 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
- B62K3/00—Bicycles
- B62K3/002—Bicycles without a seat, i.e. the rider operating the vehicle in a standing position, e.g. non-motorized scooters; non-motorized scooters with skis or runners
-
- 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
- B62K2204/00—Adaptations for driving cycles by electric motor
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Handcart (AREA)
Abstract
The invention discloses a kind of twin type self-balancing wheelbarrow, including car housing, wheel, wheel drive motors, power supply, balance regulator and controller, car housing both sides level is provided with two pedals, and wheel is arranged on the bottom of car housing, and wheel is twin type wheel；Power supply, wheel drive motors, balance regulator are electrically connected with the controller, wheel drive motors and power electric connection, balance regulator includes the balance sensor assembly module for detecting wheelbarrow poised state and the speed input for inputting the wheelbarrow speed of service, balance sensor assembly module, speed input are respectively electrically connected with the controller, and balance sensor assembly module includes the wheel speed sensor for determining vehicle wheel rotational speed and the balance measuring device for detecting wheelbarrow balance angle.By being twin type by the wheel design of wheelbarrow so that wheelbarrow is not during travelling, and without external force, just can be steadily stand on the ground is easy to beginner to drive.
Description
Technical field
The invention belongs to self-balancing wheelbarrow technical field, and in particular to a kind of twin type self-balancing wheelbarrow.
Background technology
Self-balancing electronic wheelbarrow is a kind of driven by power, the walking-replacing tool with homeostasis function；Social at full speed
Today of development, traffic congestion is also into universal phenomenon, and electric unicycle, which replaces bicycle and electric car as the vehicles, is
The development of fashion, it is deep to be liked by big people as related technology continues to develop maturation, it is equally also deep by child children's
Like.At present, balance car mainly includes tire, wheel hub motor, Self-balance Control System, balanced signal sensor cluster and electricity
Source.
When riding of existing most of electric unicycles, by user's standing operation, controls according to the front and rear center of gravity of human body
The advance and braking of car processed, for the user of control ability difference, the angle and strength whard to control tilted forward and back, from
And cause the presence of risk of riding, in addition, most of single wheel wheels are contacted with ground and contacted for point so that can not during normal placement
Uprightly put, when riding up, wheelbarrow need to be kept upright balance by external force, be not easy to ride.
The content of the invention
Present invention aims at provide a kind of twin type self-balancing wheelbarrow, it is therefore intended that solves present in prior art
Technical problem.
To achieve the above object, the invention provides a kind of twin type self-balancing wheelbarrow, including car housing, wheel, car
Wheel drive motor, power supply, balance regulator and controller, the car housing both sides level is provided with two pedals, the wheel
Installed in the bottom of the car housing, the wheel drive motors are arranged in the wheel, and the wheel is twin type car
Wheel；The power supply, balance regulator, controller are arranged on the upper end of the car housing, the power supply, wheel driving electricity
Machine, balance regulator are electrically connected with the controller, the wheel drive motors and the power electric connection,
The balance regulator includes being used to detect the balance sensor assembly module of wheelbarrow poised state and for inputting
The speed input of the wheelbarrow speed of service, the balance sensor assembly module, speed input respectively with it is described
Controller is electrically connected,
The balance sensor assembly module includes wheel speed sensor and balance measuring device, the wheel speed sensor
For determining vehicle wheel rotational speed, the balance measuring device is used to detect that wheelbarrow balances angle.
Further, the wheelbarrow also includes temperature detecting unit, and the temperature detecting unit is arranged on the car shell
The upper end of body, the temperature for detecting the controller.
Further, the pedal upper surface is provided with anti-slip veins.
Further, the upper-end outer surface of the car housing is provided with rubber fender.
Present invention has the advantages that：By using this new twin type wheelbarrow of the present invention, by by wheelbarrow
Wheel design be twin type, wheel is contacted with ground has two contact points so that wheelbarrow during for traveling, without
By external force, just can be steadily stand on the ground；Rate signal is inputed to by controller, controller control by speed input
Wheel drive motors, which are rotated, drives wheelbarrow vehicle wheel rotation, wheel speed sensor detection vehicle wheel rotational speed, by speed feedback signal
To controller, the gyroscope in balance measuring device determines the balance angle of wheelbarrow, and balance angle signal is fed back into control
Device, controller by the way that two signals to be carried out to the position of the gyroscope in processing computings, automatic adjustable balance measurement apparatus so that
Wheelbarrow reaches self-balancing, effectively solve control ability difference driver's angle tilted forward and back whard to control and strength and
Cause the presence of the problem of riding risk；By setting temperature detecting unit, controller in the process of moving can be effectively monitored
Temperature, prevents temperature is too high from burning out the wiring board of controller, so that cause the potential problem of driving safety,.
Brief description of the drawings
Fig. 1 is a kind of twin type self-balancing wheelbarrow structural representation provided in an embodiment of the present invention；
In figure, 1- wheels, 2- pedals, 3- car housings, 4- rubber fenders.
Embodiment
To make the object, technical solutions and advantages of the present invention of greater clarity, with reference to embodiment and join
According to accompanying drawing, the present invention is described in more detail.It should be understood that these descriptions are merely illustrative, and it is not intended to limit this hair
Bright scope.In addition, in the following description, the description to known features and technology is eliminated, to avoid unnecessarily obscuring this
The concept of invention.
Embodiment
As shown in figure 1, the embodiments of the invention provide a kind of twin type self-balancing wheelbarrow, including car housing 3, wheel 1,
Wheel drive motors, power supply, balance regulator and controller, the upper-end outer surface of the car housing 3 are provided with rubber fender
4, the both sides level of car housing 3 is provided with two pedals 2, and the upper surface of pedal 2 is provided with anti-slip veins, and the wheel is arranged on institute
The bottom of car housing is stated, the wheel drive motors are arranged in the wheel, the wheel is twin type wheel；The electricity
Source, balance regulator, controller are installed in the upper end of the car housing, the power supply, wheel drive motors, balance adjustment
Device is electrically connected with the controller, described and the power electric connection, wheel drive motors
The balance regulator includes being used to detect the balance sensor assembly module of wheelbarrow poised state and for inputting
The speed input of the wheelbarrow speed of service, the balance sensor assembly module, speed input respectively with it is described
Controller is electrically connected,
The balance sensor assembly module includes wheel speed sensor and balance measuring device, the wheel speed sensor
For determining vehicle wheel rotational speed, the balance measuring device is used to detect that wheelbarrow balances angle.
The wheelbarrow also includes temperature detecting unit, and the temperature detecting unit is arranged on the upper end of the car housing
Portion, the temperature for detecting the controller.
The operation principle of the twin type self-balancing wheelbarrow is as follows：Driver before and after center-of-gravity regulating by controlling single wheel
The speed of service of car and direction, when center of gravity turns forward, wheelbarrow is travelled forward, when center of gravity retreats, wheelbarrow Reduced Speed Now, car
Wheel speed sensor detects vehicle wheel rotational speed, by speed feedback signal to controller, and the gyroscope in balance measuring device determines only
The balance angle of car is taken turns, balance angle signal controller is fed back into, controller by two signals by carrying out processing computing, certainly
The position of gyroscope in dynamic adjustment balance measuring device, for example, it is 10KM/H that wheel speed sensor, which measures speed per hour, now puts down
Gyroscope in the measurement apparatus that weighs determines the balance angle of wheelbarrow, detects center of gravity reach, and will balance angle signal transmission
To controller, it is 1KM/SS that controller, which calculates the acceleration that center of gravity can be allowed to return to the strong point, and then controller drives the wheel
Motor accelerated to 11KM/H in one second, so that wheelbarrow reaches self-balancing.
It should be appreciated that the above-mentioned embodiment of the present invention is used only for exemplary illustration or explains the present invention's
Principle, without being construed as limiting the invention.Therefore, that is done without departing from the spirit and scope of the present invention is any
Modification, equivalent substitution, improvement etc., should be included in the scope of the protection.In addition, appended claims purport of the present invention
Covering the whole changes fallen into scope and border or this scope and the equivalents on border and repairing
Change example.
Claims (4)
1. a kind of twin type self-balancing wheelbarrow, it is characterised in that including car housing, wheel, wheel drive motors, power supply, flat
The adjusting means that weighs and controller, the car housing both sides level are arranged on the car housing provided with two pedals, the wheel
Bottom, the wheel drive motors are arranged in the wheel, and the wheel is twin type wheel；The power supply, balance are adjusted
Regulating device, controller are arranged on the upper end of the car housing, the power supply, wheel drive motors, balance regulator and institute
State controller electrical connection, the wheel drive motors and the power electric connection；
The balance regulator includes being used to detect the balance sensor assembly module of wheelbarrow poised state and for inputting
The speed input of the wheelbarrow speed of service, the balance sensor assembly module, speed input respectively with it is described
Controller is electrically connected；
The balance sensor assembly module includes wheel speed sensor and balance measuring device, the wheel speed sensor
For determining vehicle wheel rotational speed, the balance measuring device is used to detect that wheelbarrow balances angle.
2. a kind of twin type self-balancing wheelbarrow according to claim 1, it is characterised in that the wheelbarrow also includes temperature
Detection unit is spent, the temperature detecting unit is arranged on the upper end of the car housing, the temperature for detecting the controller.
3. a kind of twin type self-balancing wheelbarrow according to claim 1, it is characterised in that the pedal upper surface is provided with
Anti-slip veins.
4. a kind of twin type self-balancing wheelbarrow according to claim 1, it is characterised in that the upper end of the car housing
Outer surface is provided with rubber fender.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610025829.6A CN106976512A (en) | 2016-01-15 | 2016-01-15 | A kind of twin type self-balancing wheelbarrow |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610025829.6A CN106976512A (en) | 2016-01-15 | 2016-01-15 | A kind of twin type self-balancing wheelbarrow |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106976512A true CN106976512A (en) | 2017-07-25 |
Family
ID=59339993
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610025829.6A Pending CN106976512A (en) | 2016-01-15 | 2016-01-15 | A kind of twin type self-balancing wheelbarrow |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106976512A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2018140979A1 (en) * | 2017-01-30 | 2018-08-02 | Shane Chen | Central wheel structure auto-balancing device |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN201165299Y (en) * | 2007-11-19 | 2008-12-17 | 宋宇宁 | Self-balance electric vehicle |
| US20110191013A1 (en) * | 2010-02-02 | 2011-08-04 | Leeser Karl F | Monowheel Type Vehicle |
| CN103253328A (en) * | 2012-02-21 | 2013-08-21 | 何志波 | Combined type single-wheel electric balance vehicle |
| CN103612696A (en) * | 2013-12-12 | 2014-03-05 | 左国刚 | Intelligent somatosensory fully-balanced electric motorcycle |
| CN104512502A (en) * | 2014-12-29 | 2015-04-15 | 南京快轮智能科技有限公司 | Double-wheel self-balancing electric vehicle without handle using gravity center to control direction and control method thereof |
| CN104787187A (en) * | 2015-04-17 | 2015-07-22 | 浙江联宜电机股份有限公司 | Single-wheel electric balance trolley |
-
2016
- 2016-01-15 CN CN201610025829.6A patent/CN106976512A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN201165299Y (en) * | 2007-11-19 | 2008-12-17 | 宋宇宁 | Self-balance electric vehicle |
| US20110191013A1 (en) * | 2010-02-02 | 2011-08-04 | Leeser Karl F | Monowheel Type Vehicle |
| CN103253328A (en) * | 2012-02-21 | 2013-08-21 | 何志波 | Combined type single-wheel electric balance vehicle |
| CN103612696A (en) * | 2013-12-12 | 2014-03-05 | 左国刚 | Intelligent somatosensory fully-balanced electric motorcycle |
| CN104512502A (en) * | 2014-12-29 | 2015-04-15 | 南京快轮智能科技有限公司 | Double-wheel self-balancing electric vehicle without handle using gravity center to control direction and control method thereof |
| CN104787187A (en) * | 2015-04-17 | 2015-07-22 | 浙江联宜电机股份有限公司 | Single-wheel electric balance trolley |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2018140979A1 (en) * | 2017-01-30 | 2018-08-02 | Shane Chen | Central wheel structure auto-balancing device |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20170725 |
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| RJ01 | Rejection of invention patent application after publication |