A balance car and a support framework thereof

Abstract

The application discloses a balance car and a support framework thereof, wherein the support framework is provided with a strain sensor, the strain sensor comprises a first mounting portion and a second mounting portion which are respectively arranged at left and right sides of the support framework, a first horizontal strip for detecting deformation of the support framework is arranged between the first mounting portion and the second mounting portion, and the first horizontal strip is provided with a first strain gauge capable of sensing deformation of the first horizontal strip. Through the arrangement of the first mounting portion and the second mounting portion in the inductive sensor, a force arm with a certain length is formed, the torsional deformation on the support framework is enlarged, the data signal measured by the first strain gauge is increased, the first strain gauge is more likely to detect the torsion of the support framework more accurately, the turning control is more sensitive, and the turning experience of the balance car is good.

Description

Technical Field

[0001] This application relates to a self-balancing scooter, specifically to a self-balancing scooter and its supporting frame. Background Technology

[0002] Self-balancing electric vehicles (SPPs), also known as balance bikes, are well-known to those skilled in the art for their balancing principles and straight-line control (including forward and backward movement). Turning is a basic function required by most SPPs, but different types of vehicles have different turning control methods.

[0003] Existing two-wheeled self-balancing scooters include scooters with left and right pedals and a supporting frame that can rotate relative to each other. Turning is controlled by the difference in the rotation angle of the left and right parts. There are also self-balancing scooters with left and right supporting frame structures that cannot rotate relative to each other. The turning principle is different from that of scooters. There are also two turning control methods: one with a pole and one without. Self-balancing scooters with poles determine the turning intention by the state of the pole, thereby achieving the turn.

[0004] There are several ways to detect a user's turning intention in a pole-less two-wheeled self-balancing scooter. These methods involve controlling the scooter's turning by observing changes in the state of the pedals or related components caused by the rider's actions. For example, adjusting the rider's center of gravity applies different forces to the left and right pedals, controlling the scooter's turn based on this weight difference. Alternatively, at least two strain gauges can be attached to the support frame. The torque transmitted from the scooter to the pedals can cause minute torsional deformations in the support frame, which are detected by the strain gauges. The difference in data from the two strain gauges is used to control the scooter's turn. However, the measurement of these minute torsional deformations caused by the rider's torque on the support frame is susceptible to interference from various factors, such as the choice of support frame structure and materials. The measurement range and accuracy of the strain gauges are also significantly limited, making it difficult to detect data changes or resulting in small data changes that are difficult to distinguish from other fluctuations, and complicating data processing. Furthermore, the load-bearing capacity of the support frame must be considered, leading to a narrow range of structural designs and material choices, thus limiting its widespread use.

[0005] The disadvantages of existing technology are:

[0006] The torque generated by turning is insufficient to cause significant elastic torsional deformation of the support frame. The strain gauges directly attached to the support frame show weak and unstable changes, which would lead to a large error if used as a signal to determine turning. Summary of the Invention

[0007] To address the aforementioned technical problems, the purpose of this application is to provide a simple and highly controllable support frame for a self-balancing scooter and a self-balancing scooter itself.

[0008] To achieve the above objectives, this application provides the following technical solution:

[0009] A self-balancing scooter support frame is provided, the support frame being equipped with a strain sensor. The strain sensor includes a first mounting part and a second mounting part respectively located on the left and right sides of the support frame. A first horizontal bar for detecting deformation of the support frame is provided between the first mounting part and the second mounting part. The first horizontal bar is used to mount a first strain gauge capable of sensing the deformation of the first horizontal bar.

[0010] Optionally, the connection between the first horizontal bar and the first and second mounting parts is such that at least one end is fixedly connected, and the other end is either fixedly connected or abuts against each other. The abutting relationship described in this solution means that when the first and second mounting parts are subjected to force and rotate, at least one end of the first horizontal bar abuts against each other. This refers to abutting occurring during the deformation process, not limiting it to an initial abutting state. Specifically, the initial state could be contact or non-contact.

[0011] Optionally, the first strain gauge is located at the middle of the first horizontal bar.

[0012] Optionally, the first mounting part and the second mounting part are symmetrically arranged on the support frame.

[0013] Optionally, the strain sensor further includes a third mounting portion and a fourth mounting portion disposed on the support frame, and a second horizontal bar for detecting the deformation of the support frame is provided between the third mounting portion and the fourth mounting portion. The second horizontal bar is used to provide a second strain gauge capable of sensing the deformation of the second horizontal bar.

[0014] Optionally, the second horizontal bar is characterized in that the connection between the second horizontal bar and the third and fourth mounting parts is such that at least one end is fixedly connected and the other end is fixedly connected or abutted.

[0015] Optionally, the second strain gauge is located at the middle of the second horizontal bar.

[0016] Optionally, the third mounting part and the fourth mounting part are symmetrically arranged on the support frame.

[0017] Optionally, the first mounting part and the third mounting part are an integral structure and / or the second mounting part and the fourth mounting part are an integral structure.

[0018] Optionally, a third strain gauge is also provided on the support frame.

[0019] Optionally, the support frame is tubular, plate-shaped, or a combination of both.

[0020] This application also discloses a self-balancing scooter, including any of the self-balancing scooter support frames described above.

[0021] Optionally, the self-balancing scooter support frame further includes a top cover and a bottom cover, a power supply and a controller located between the top cover and the bottom cover, wheels installed at both ends of the support frame, and a drive motor driving the wheels; the controller is equipped with a gyroscope and an acceleration sensor; the controller is electrically connected to the power supply, strain sensor, and drive motor.

[0022] Optionally, at least one of the first mounting part, the second mounting part, the third mounting part, and the fourth mounting part is fixedly connected to the top cover and / or the bottom cover.

[0023] Optionally, it also includes two wheels and a drive motor fixedly connected to the support frame. The support frame is an integral structure with a power supply, controller, and sensor inside. The controller controls the drive motor to drive the wheels according to the signal sensed by the strain sensor, so as to realize the turning of the vehicle.

[0024] By setting the first mounting part and the second mounting part in the sensing sensor, a lever arm with a certain length is formed, which amplifies the torsional deformation on the support frame, increases the data signal measured by the first strain gauge, and makes it easier for the first strain gauge to detect the torsion of the support frame more accurately, making the turning control more sensitive and the turning experience of the balance scooter better. Attached Figure Description

[0025] Figure 1 This is an exploded view of Example 1;

[0026] Figure 2 The three-dimensional support frame of Example 1 Figure 1 ;

[0027] Figure 3 The three-dimensional support frame in Example 1 Figure 2 ;

[0028] Figure 4 for Figure 3 A schematic diagram of the torsion of the central support frame (the arrows in the diagram indicate the direction of torsion of the support frame).

[0029] Figure 5 This is a partial assembly diagram of the self-balancing scooter in Example 2;

[0030] Figure 6 The three-dimensional support frame in Example 4 Figure 1 (The corresponding strain gauges have been attached);

[0031] Figure 7 This is a front view of the supporting frame in Example 4;

[0032] Figure 8 for Figure 7 Enlarged view of point A in the middle;

[0033] Figure 9The three-dimensional support frame in Example 4 Figure 2 (The corresponding strain gauges have been attached);

[0034] Figure 10 This is a partial assembly diagram of the self-balancing scooter in Example 5;

[0035] In the figure, the reference numerals are as follows: 1-first mounting part, 2-second mounting part, 3-first strain gauge, 11-first horizontal bar, 12-second horizontal bar, 21-third mounting part, 22-fourth mounting part, 23-second strain gauge, 24-third strain gauge, 4-top cover, 5-bottom cover, 6-power supply, 7-controller, 41-wheel, 81-foot pedal, 82-fixed seat, 83-pressure cover, 9-support frame. Detailed Implementation

[0036] The embodiments of this application are described in detail below, examples of which are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and intended to explain this application, and should not be construed as limiting the application.

[0037] In the description of this application, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "vertical", "horizontal", "top", "bottom", "inner", "clockwise", "counterclockwise", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this application.

[0038] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this application, "multiple" means two or more, unless otherwise expressly defined.

[0039] In this application, unless otherwise expressly specified and limited, the terms "installation," "connection," "linking," "fixed connection," and "holding" should be interpreted broadly. For example, a fixed connection can be a detachable connection or an integral connection, including integral molding; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium; it can be a connection within two components. Those skilled in the art can understand the specific meaning of the above terms in this application according to the specific circumstances.

[0040] In the application, unless otherwise expressly specified and limited, "above" or "below" the second feature can include direct contact between the first and second features, or contact between the first and second features through another feature between them. Furthermore, "above," "over," and "on top" of the second feature includes the first feature directly above or diagonally above the second feature, or simply indicates that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature includes the first feature directly below or diagonally below the second feature, or simply indicates that the first feature is at a lower horizontal level than the second feature.

[0041] To make the objectives, technical solutions, and advantages of this application clearer, the following detailed description is provided in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the scope of this application.

[0042] For the sake of convenience, this application uses Figure 1 The straight-line direction of the self-balancing scooter is the front-to-back direction. The direction where the power switch of the self-balancing scooter is located is the rear of the vehicle. The horizontal direction perpendicular to the straight-line direction of the self-balancing scooter is the left-to-right direction. The vertical direction perpendicular to the straight-line direction of the self-balancing scooter is the up-down direction.

[0043] The meaning of "abutment" as described in this application is that when the first mounting part and the second mounting part are subjected to force and rotate, the first horizontal bar abuts with at least one end of the first mounting part and the second mounting part; when the third mounting part and the fourth mounting part are subjected to force and rotate, the second horizontal bar abuts with at least one end of the third mounting part and the fourth mounting part. It refers to the abutment that occurs during the deformation process under force, rather than limiting the initial state to abutment. Specifically, the initial state is either contact or non-contact.

[0044] Example 1

[0045] like Figures 1-4 The self-balancing scooter support frame 9 is provided with a strain sensor. The strain sensor includes a first mounting part 1 and a second mounting part 2 respectively located on the left and right sides of the support frame 9. A first horizontal bar 11 for detecting the deformation of the support frame 9 is provided between the first mounting part 1 and the second mounting part 2. The first horizontal bar 11 is used to mount a first strain gauge 3 capable of sensing the deformation of the first horizontal bar. In this embodiment, the first mounting part 1 and the second mounting part 2 are welded to the support frame 9. The first horizontal bar 11 is a rigid material capable of deformation and can be in the form of a thin sheet. The first strain gauge 3 for detecting the deformation of the first horizontal bar 11 is attached and fixed to the horizontal bar. The first strain gauge 3 is attached to the upper part of the first horizontal bar 11. In other embodiments, the first horizontal bar 11 can be made of other elastic materials in the form of a sheet, strip, or rod, and the first strain gauge 3 can be attached to the lower part of the first horizontal bar 11.

[0046] The first horizontal bar 11 is connected to the first mounting part and the second mounting part in such a way that at least one end is fixedly connected and the other end is fixedly connected or abutted. In this embodiment, the first horizontal bar 11 is welded and fixed to the lower end of the first mounting part, and the other end abuts against the lower part of the second mounting part, which is one way of abutting, that is, the initial state is abutting. In other embodiments, the first horizontal bar 11 can be fixed to the lower part of the first mounting part in other ways, and the other end is fixedly connected to the upper or lower part of the second mounting part. The first horizontal bar 11 can be fixed to the upper part of the first mounting part in other ways, and the other end abuts against or is fixedly connected to the upper or lower part of the second mounting part.

[0047] The first strain gauge 3 is located at the middle position of the first horizontal bar 11; in this embodiment, the middle position is the middle area between the left and right ends of the first horizontal bar 11, and the first strain gauge is pasted above the middle position of the first horizontal bar 11; in other embodiments, the first strain gauge 3 can be pasted below the middle position of the first horizontal bar 11.

[0048] The first mounting part 1 and the second mounting part 2 are symmetrically arranged on the support frame 9. In this embodiment, the first mounting part 1 and the second mounting part 2 are metal plates or rods fixed to the upper part of the support frame 9 by welding. The first mounting part 1 is closer to the right side of the balance vehicle, and the second mounting part 2 is closer to the left side of the balance vehicle. In actual use, they are connected to the top cover 4 of the balance vehicle and can play a certain role in bearing weight. In other embodiments, the first mounting part 1 and the second mounting part 2 can be fixed to the lower or middle part of the support frame 9 by fasteners or integral molding. In other embodiments, the first mounting part 1 and the second mounting part 2 may not bear weight. In other embodiments, the first mounting part and the second mounting part may be asymmetrically arranged.

[0049] In this embodiment, one end of the first horizontal bar 11 abuts against the lower part of the second mounting part 2, i.e., there is compression between them. The first horizontal bar 11 is in a pre-bent state when the balance scooter is not turning. The first strain gauge 3 is attached to the upper part of the first horizontal bar 11. When the user controls the balance scooter to turn right, the left foot steps forward and the right foot naturally steps backward. The support frame 9 will twist under the influence of force, causing the first mounting part 1 to rotate forward and the second mounting part 2 to rotate backward. Furthermore, the elastic bending deformation of the first horizontal bar 11 is reduced under the combined action of the first mounting part 1 and the second mounting part 2. The resistance of the first strain gauge 3 will decrease accordingly. The controller 7 controls the rotation speed of the two wheels 41 according to the change in the resistance of the first strain gauge 3. When the first mounting part 1 turns right, the second mounting part 2 turns forward, and the first horizontal bar 11 begins to bend and deform more intensely under the action of the first mounting part 1 and the second mounting part 2. The resistance of the first strain gauge 3 increases accordingly. The controller 7 controls the balance vehicle to turn left based on the change in the resistance of the first strain gauge 3. By setting the first mounting part 1 and the first horizontal bar 11, the torsional deformation of the support frame 9 can be converted into the bending deformation of the first horizontal bar 11, which can effectively amplify the deformation. The change of the first strain gauge 3 is more obvious, and the controller 7 can sense more subtle turning movements, thus improving the controllability of the balance vehicle. In other embodiments, the first strain gauge 3 can be attached to the lower part of the first horizontal bar 11.

[0050] The support frame 9 is also provided with a third strain gauge 24; in this embodiment, a third strain gauge 24 is attached to the surface of the middle position of the support frame 9, which can sense whether the user is standing on the balance vehicle, thereby controlling whether the balance vehicle (hub motor) is powered on and enters the running state.

[0051] The supporting frame 9 is tubular, plate-shaped, or a combination of both. In this embodiment, the supporting frame 9 is a circular tube, which can improve the load-bearing capacity of the balance vehicle. In other embodiments, from the perspective of cross-sectional shape, the tube can include a circular tube, a polygonal tube, or a tube with any other cross-sectional shape. From the perspective of the extension method in the left and right direction, the tube is not limited to a proportionally extended tube, but can also be a tube with various irregular extensions, such as partially enlarged, partially reduced, rotated, or displaced. The supporting frame 9 can also be a combination mechanism with a tubular middle part and plate-shaped sides. In other embodiments, the supporting frame 9 can be integrally formed with the top cover 4 as a single structure in the form of ribs.

[0052] Example 2

[0053] This application also discloses a self-balancing scooter, including the self-balancing scooter support frame 9 of the above embodiment 1.

[0054] like Figure 4As shown, the self-balancing scooter also includes a top cover 4 and a bottom cover 5, a power supply 6 located between the top cover 4 and the bottom cover 5, a controller 7, wheels 41 mounted at both ends of the support frame 9, and a drive motor driving the wheels 41. The controller 7 is equipped with a gyroscope and an accelerometer (the gyroscope and accelerometer are actually located within the controller 7, not shown in the figure). In this embodiment, the top cover 4 also has a footrest 81, which is directly or indirectly mounted on the support frame 9. The drive motor is a wheel hub motor. The drive motor, controller 7, and first strain gauge 3, second strain gauge 23, and third strain gauge 24 are electrically connected. The user places their left and right feet on the footrest assembly of the support frame 9, and the user's weight information is transmitted to the support frame 9 via the footrest assembly. The support frame 9 has fixed seats 82 on both sides, each fixed seat 82 having a pressure cover 83. The pressure cover 83 cooperates with the fixed seat 82 to fix the wheel axle to the support frame 9. The bottom cover has a power switch 51.

[0055] Example 3

[0056] This application also discloses a self-balancing scooter, including the self-balancing scooter support frame 9 of the above embodiment 1.

[0057] The self-balancing scooter also includes two wheels and a drive motor fixedly connected to the support frame 9. The support frame 9 is an integral structure, which contains a power supply 6, a controller 7, and a strain sensor. The controller 7 is electrically connected to the power supply 6, the strain sensor, and the drive motor. The controller controls the drive motor to drive the wheels according to the signal sensed by the strain sensor, so as to realize the turning of the vehicle.

[0058] Example 4

[0059] like Figures 5-7 As shown, a self-balancing scooter support frame 9 is characterized in that the support frame 9 is provided with a strain sensor. The strain sensor includes a first mounting part 1 and a second mounting part 2 respectively located on the left and right sides of the support frame 9. A first horizontal bar 11 for detecting the deformation of the support frame 9 is provided between the first mounting part 1 and the second mounting part 2. The first horizontal bar 11 is used to mount a first strain gauge 3 capable of sensing the deformation of the first horizontal bar 11. In this embodiment, the first mounting part 1 and the second mounting part 2 are welded to the support frame 9. The first horizontal bar 11 is a rigid material capable of deformation and can be in the form of a thin sheet. The first strain gauge 3 for detecting the deformation of the first horizontal bar 11 is pasted and fixed on the horizontal bar. The first strain gauge 3 is pasted on the upper part of the first horizontal bar 11. In other embodiments, the first horizontal bar 11 can be made of other elastic materials in the form of a sheet, strip, or rod, and the first strain gauge 3 can be pasted on the lower part of the first horizontal bar 11.

[0060] The first horizontal bar 11 is connected to the first mounting part 1 and the second mounting part 2 in such a way that at least one end is fixedly connected and the other end is fixedly connected or abuts against it. In this embodiment, the first horizontal bar 11 is welded and fixed to the lower end of the first mounting part 1, and the other end is not in contact with the lower part of the second mounting part 2. In other embodiments, the first horizontal bar 11 can be fixed to the lower part of the first mounting part 1 in other ways, and the other end is fixedly connected to the upper or lower part of the second mounting part 2. The first horizontal bar 11 can be fixed to the upper part of the first mounting part 1 in other ways, and the other end abuts against or is fixedly connected to the upper or lower part of the second mounting part 2.

[0061] The first strain gauge 3 is located at the middle position of the first horizontal bar 11; in this embodiment, the middle position is the middle area between the left and right ends of the first horizontal bar 11, and the first strain gauge 3 is pasted below the middle position of the first horizontal bar 11; in other embodiments, the first strain gauge 3 can be pasted above the middle position of the first horizontal bar 11.

[0062] The first mounting part 1 and the second mounting part 2 are symmetrically arranged on the support frame 9. In this embodiment, the first mounting part 1 and the second mounting part 2 are metal plates or rods fixed to the upper part of the support frame 9 by welding. The first mounting part 1 is closer to the right side of the balance vehicle, and the second mounting part 2 is closer to the left side of the balance vehicle. In actual use, they are connected to the top cover 4 of the balance vehicle and can play a certain role in bearing weight. In other embodiments, the first mounting part 1 and the second mounting part 2 can be fixed to the lower or middle part of the support frame 9 by fasteners or integral molding. In other embodiments, the first mounting part 1 and the second mounting part 2 may not bear weight. In other embodiments, the first mounting part 1 and the second mounting part 2 may be asymmetrically arranged.

[0063] The strain sensor further includes a third mounting portion 21 and a fourth mounting portion 22 disposed on the support frame 9. A second horizontal bar 12 for detecting the deformation of the support frame 9 is provided between the third mounting portion 21 and the fourth mounting portion 22. The second horizontal bar 12 is used to mount a second strain gauge 23 capable of sensing the deformation of the second horizontal bar 12. In this embodiment, the second horizontal bar 12 is located on the rear side of the self-balancing vehicle and is fixed to the lower part of the third mounting portion 21 by welding or fasteners. The second strain gauge 23 is attached to the lower part of the second horizontal bar 12. In other embodiments, the second horizontal bar 12 may be located on the front side of the self-balancing vehicle. The second horizontal bar 12 may be fixed to the upper part of the first mounting portion 1. The second strain gauge 23 may be attached to the upper part of the second horizontal bar 12.

[0064] The second horizontal bar 12 is connected to the third mounting part 21 and the fourth mounting part 22 in such a way that at least one end is fixedly connected and the other end is fixedly connected or abuts against it. In this embodiment, one end of the second horizontal bar 12 is fixed to the lower part of the third mounting part 21, and the other end is at the lower part of the fourth mounting part 22, forming a non-contact relationship with the fourth mounting part 22. In this embodiment, one end of the second horizontal bar 12 is located at the lower part of the fourth mounting part 22, forming a very small gap with the lower part of the fourth mounting part 22 when the self-balancing vehicle is not turning, so as not to generate squeezing force. The strain gauges are not pre-stressed. When the user turns the balance scooter to the right, stepping forward with the left foot and backward with the right foot, the support frame 9 twists under the influence of the force, causing the third mounting part 21 to rotate forward and the fourth mounting part 22 to rotate backward. Furthermore, the second horizontal bar 12 begins to undergo elastic bending deformation under the combined action of the third mounting part 21 and the fourth mounting part 22, and the resistance of the second strain gauge 23 increases accordingly. The first horizontal bar 11 does not undergo bending deformation. The controller 7 controls the two... The speed difference of the wheels 41 causes the self-balancing scooter to turn right; when turning left, the first mounting part 1 turns backward and the second mounting part 2 turns forward. The first horizontal bar 11 begins to bend under the action of the first mounting part 1 and the second mounting part 2, and the resistance of the first strain gauge attached to the first horizontal bar 11 increases accordingly. The second horizontal bar 12 does not bend. The controller 7 controls the self-balancing scooter to turn left based on the change in the resistance of the first strain gauge 3. Through the arrangement of the first mounting part 1, the first horizontal bar 11, the second mounting part 2, and the second horizontal bar 12, the support frame can be... The torsional deformation of 9 is transformed into the bending deformation of the first horizontal bar 11 and the second horizontal bar 12, which can effectively amplify the deformation. The change of the first strain gauge 3 is more obvious, and the controller 7 can sense more subtle turning movements, improving the handling of the balance vehicle. In addition, the first horizontal bar 11 and the second horizontal bar 12 have a low usage rate and a low frequency of bending deformation, making them less prone to fatigue, effectively extending the service life of the first horizontal bar 11 and the second horizontal bar 12 and reducing errors. In other embodiments, the second horizontal bar 12 can be fixedly connected to or abut against the fourth mounting part 22.

[0065] The second strain gauge 23 is located at the middle position of the second horizontal bar 12; in this embodiment, the middle position is the middle area between the left and right ends of the second horizontal bar 12, and the second strain gauge 23 is pasted below the middle position of the second horizontal bar 12; in other embodiments, the second strain gauge 23 can be pasted above the middle position of the second horizontal bar 12.

[0066] The third mounting part 21 and the fourth mounting part 22 are symmetrically arranged on the support frame 9. In this embodiment, the third mounting part 21 and the fourth mounting part 22 are metal plates or rods fixed to the upper part of the support frame 9 by welding. The third mounting part 21 is closer to the left side of the balance vehicle, and the fourth mounting part 22 is closer to the right side of the balance vehicle. In actual use, they are connected to the top cover 4 of the balance vehicle and can play a certain role in bearing weight. In other embodiments, the third mounting part 21 and the fourth mounting part 22 can be fixed to the lower or middle part of the support frame 9 by fasteners or integral molding. In other embodiments, the third mounting part 21 and the fourth mounting part 22 may not bear weight. In other embodiments, the third mounting part 21 and the fourth mounting part 22 may be asymmetrically arranged.

[0067] The first mounting part 1 and the third mounting part 21 are an integral structure and / or the second mounting part 2 and the fourth mounting part 22 are an integral structure; in this embodiment, the first mounting part 1 and the third mounting part 21 are an integral structure, and the second mounting part 2 and the fourth mounting part 22 are an integral structure; in other embodiments, the first mounting part 1 and the third mounting part 21 can be separately arranged, and the second mounting part 2 and the fourth mounting part 22 can be separate structures.

[0068] The support frame 9 is also provided with a third strain gauge 24; in this embodiment, a third strain gauge 24 is attached to the surface of the middle position of the support frame 9, which can sense whether the user is standing on the balance vehicle, thereby controlling whether the balance vehicle (hub motor) is powered on and enters the running state.

[0069] The supporting frame 9 is tubular, plate-shaped, or a combination of both. In this embodiment, the supporting frame 9 is a circular tube, which can improve the load-bearing capacity of the balance vehicle. In other embodiments, from the perspective of cross-sectional shape, the tube can include a circular tube, a polygonal tube, or a tube with any other cross-sectional shape. From the perspective of the extension method in the left and right direction, the tube is not limited to a proportionally extended tube, but can also be a tube with various irregular extensions, such as partially enlarged, partially reduced, rotated, or displaced. The supporting frame 9 can also be a combination mechanism with a tubular middle part and plate-shaped sides. In other embodiments, the supporting frame 9 can be integrally formed with the top cover 4 as a single structure in the form of ribs.

[0070] Example 5

[0071] This application also discloses a self-balancing scooter, including the self-balancing scooter support frame 9 of the above embodiment 3.

[0072] like Figure 7As shown, the self-balancing scooter also includes a top cover 4 and a bottom cover 5, a power supply 6 located between the top cover 4 and the bottom cover 5, a controller 7, wheels 41 installed at both ends of the support frame 9, and a drive motor driving the wheels 41; the controller 7 is equipped with a gyroscope and an acceleration sensor (the gyroscope and acceleration sensor are actually located in the controller 7, not shown in the figure); the drive motor, the controller 7, and the first strain gauge 3, the second strain gauge 23, and the third strain gauge 24 are electrically connected; in this embodiment, the top cover 4 is also provided with a foot pedal 81, which is directly or indirectly installed on the support frame 9, and the drive motor is a wheel hub motor built into the wheel; the user places their left and right feet on the foot pedal assembly of the support frame 9, and the human body weight information is transmitted to the support frame 9 through the foot pedal assembly; the support frame 9 has fixed seats 82 on the left and right sides, each fixed seat 82 has a pressure cover 83, and the pressure cover 83 cooperates with the fixed seat 82 to fix the wheel axle to the support frame 9; the bottom cover is provided with a power switch 51.

[0073] At least one of the first mounting part 1, the second mounting part 2, the third mounting part 21, and the fourth mounting part 22 is fixedly connected to the top cover 4 and / or the bottom cover 5; in this embodiment, the first mounting part 1, the second mounting part 2, the third mounting part 21, and the fourth mounting part 22 are all fixedly connected to the top cover 4; in other embodiments, at least one of the first mounting part 1, the second mounting part 2, the third mounting part 21, and the fourth mounting part 22 is fixedly connected to the top cover 4 and / or the bottom cover 5.

[0074] Example 6

[0075] This application also discloses a self-balancing scooter, including the self-balancing scooter support frame 9 of the above embodiment 1.

[0076] The self-balancing scooter also includes two wheels and a drive motor fixedly connected to the support frame 9. The support frame 9 is an integral structure, which contains a power supply 6, a controller 7, and a strain sensor. The controller 7 is electrically connected to the power supply 6, the strain sensor, and the drive motor. The controller controls the drive motor to drive the wheels according to the signal sensed by the strain sensor, so as to realize the turning of the vehicle.

[0077] The first strain gauge 3, the second strain gauge 23, and the third strain gauge 24 mentioned in this specification are all existing technologies, and their structures will not be described in detail.

[0078] It should be noted that the terms "abutting," "colliding," and "non-contacting" in this application are used only to define the connection relationship in the vertical direction.

[0079] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of this application. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

[0080] Although embodiments of this application have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting this application. Those skilled in the art can make changes, modifications, substitutions, and variations to the above embodiments within the scope of this application without departing from the principles and spirit of this application. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the protection scope of this application.

Claims

1. A support frame for a self-balancing scooter, characterized in that, The support frame (9) is provided with a strain sensor. The strain sensor includes a first mounting part (1) and a second mounting part (2) respectively located on the left and right sides of the support frame (9). A first horizontal bar (11) for detecting the deformation of the support frame (9) is provided between the first mounting part (1) and the second mounting part (2). The first horizontal bar (11) is used to provide a first strain gauge (3) capable of sensing the deformation of the first horizontal bar. The first horizontal bar (11) is connected to the first mounting part and the second mounting part in such a way that at least one end is fixedly connected and the other end is fixedly connected or abutted. The first strain gauge (3) is located in the middle of the first horizontal bar (11). The first mounting part (1) and the second mounting part (2) are symmetrically arranged on the support frame (9). The strain sensor also includes a third mounting part (21) and a fourth mounting part (22) provided on the support frame (9). A second horizontal bar (12) for detecting the deformation of the support frame (9) is provided between the third mounting part and the fourth mounting part. The second horizontal bar (12) is used to provide a second strain gauge (23) capable of sensing the deformation of the second horizontal bar.

2. The self-balancing scooter support frame according to claim 1, characterized in that, The second horizontal bar (12) is connected to the third mounting part (21) and the fourth mounting part (22) in such a way that at least one end is fixedly connected and the other end is fixedly connected or abutted.

3. The self-balancing scooter support frame according to claim 1, characterized in that, The second strain gauge (23) is located in the middle of the second horizontal bar (12).

4. The self-balancing scooter support frame according to claim 1 or 3, characterized in that, The third mounting part (21) and the fourth mounting part (22) are symmetrically arranged on the left and right sides of the support frame (9).

5. The self-balancing scooter support frame according to claim 1, characterized in that, The first mounting part (1) and the third mounting part (21) are an integral structure and / or the second mounting part (2) and the fourth mounting part (22) are an integral structure.

6. The self-balancing scooter support frame according to claim 1, characterized in that, The support frame (9) is also provided with a third strain gauge (24).

7. The self-balancing scooter support frame according to claim 1, characterized in that, The supporting frame (9) is tubular, plate-shaped, or a combination of both.

8. A self-balancing scooter, characterized in that, Includes the self-balancing scooter support frame (9) as described in any one of claims 1 to 7.

9. A self-balancing scooter according to claim 8, characterized in that, It also includes a top cover (4) and a bottom cover (5), a power supply (6) located between the top cover (4) and the bottom cover (5), a controller (7), wheels (8) installed at both ends of the support frame (9), and a drive motor that drives the wheels (8); the controller (7) is equipped with a gyroscope and an acceleration sensor; the controller (7) is electrically connected to the power supply (6), the strain sensor, and the drive motor.

10. A self-balancing scooter according to claim 9, characterized in that, At least one of the first mounting part (1), the second mounting part (2), the third mounting part (21), and the fourth mounting part (22) is fixedly connected to the top cover (4) and / or the bottom cover.

11. A self-balancing scooter according to claim 8, characterized in that, It also includes two wheels (8) fixedly connected to the support frame (9) and a drive motor. The support frame (9) is an integral structure, which contains a power supply (6), a controller (7) and a sensor. The controller (7) controls the drive motor to drive the wheels according to the signal sensed by the strain sensor, so as to realize the turning of the vehicle.

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