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 first detection part capable of sensing the torque borne by the support framework, the first detection part comprises a first fixed part and a second fixed part capable of respectively embodying the torque generated at two ends of the support framework, a gap is reserved between the first fixed part and the second fixed part, a sensor is arranged at the gap between the first fixed part and the second fixed part, and the sensor is capable of detecting the relative displacement between the first fixed part and the second fixed part. Through the arrangement of the detection part, the torsion of the support framework can be converted into the displacement between the first fixed part and the second fixed part, so that the turning intention of a user can be accurately judged, and the balance car can be controlled to make corresponding turning actions.

Description

Technical Field

[0001] This application belongs to the field of self-balancing scooter technology, specifically relating to a self-balancing scooter and its support frame. Background Technology

[0002] Self-balancing electric vehicles, or simply balance bikes, are 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 balance bikes, but different types of vehicles have different turning control methods.

[0003] Existing two-wheeled self-balancing scooters include those with left and right pedals and a supporting frame that can rotate relative to each other, controlling turns by the difference in the rotation angles of the left and right parts. There are also self-balancing scooters with non-rotating supporting frame structures; their turning principle differs from that of the twist scooter. They also include both pole-less and pole-mounted turning control methods. Self-balancing scooters with poles determine the turning intention based on the pole's position, thus achieving a 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. Summary of the Invention

[0005] To address one of the aforementioned technical problems, the purpose of this application is to provide a simple and highly controllable self-balancing scooter support frame and self-balancing scooter.

[0006] To achieve the above objectives, this application provides the following technical solution:

[0007] A self-balancing scooter support frame is provided, wherein the support frame is provided with a first detection part capable of sensing the torque on the support frame. The first detection part includes a first fixing part and a second fixing part capable of respectively reflecting the torque generated at both ends of the support frame. A gap is reserved between the first fixing part and the second fixing part. A sensor is provided at the gap between the first fixing part and the second fixing part, and the sensor is capable of detecting the relative displacement between the first fixing part and the second fixing part.

[0008] Optionally, the first detection unit is located on the side of the supporting frame.

[0009] Optionally, the positions of the first fixing part and the second fixing part are matched so that the effective detection direction of the sensor after it is fixed is the vertical direction of the supporting frame.

[0010] Optionally, the sensor includes a mounting portion fixed on a first fixing portion and a second fixing portion, the mounting portion spanning the gap between the first fixing portion and the second fixing portion, and a strain gauge is provided on the mounting portion.

[0011] Optionally, the mounting part is provided with a fitting part, which is a plane; the strain gauge is pasted on the plane of the fitting part.

[0012] Optionally, the location of the first detection part on the support frame is tubular.

[0013] Optionally, the support frame is divided into a first fixing part and a second fixing part by an "S"-shaped through hole.

[0014] Optionally, the support frame is further provided with a second detection part with the same structure as the first detection part, and the second detection part is located on a different side of the first detection part.

[0015] Optionally, the first detection unit and the second detection unit are located at corresponding positions at the front and rear of the support frame.

[0016] This application also provides a self-balancing scooter, including any of the self-balancing scooter support frames described above.

[0017] Optionally, the aforementioned self-balancing scooter also includes a power module and a controller mounted on the support frame, wheels mounted on both ends of the support frame, a drive motor for driving the wheels, and a foot pedal assembly mounted on the support frame; the controller is electrically connected to the power module, sensors, and drive motor; the foot pedal assembly is used to transmit the user's weight and posture information to the support frame.

[0018] Optionally, the aforementioned self-balancing scooter also includes a top cover and a bottom cover, a power module disposed between the top cover and the bottom cover, a controller, 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 power module, controller, and drive motor are electrically connected; the top cover is provided with a footrest that transmits the user's weight and posture information to the support frame.

[0019] By setting a first detection unit, the torsion of the support frame can be converted into displacement between the first fixed part and the second fixed part. The gap between the first fixed part and the second fixed part makes it easier to measure the deformation of the support frame, thereby accurately judging the user's turning intention. The controller makes the balance bike make corresponding turning actions, realizing the flexible turning of the balance bike. The structure is simple and the cost is low. Attached Figure Description

[0020] Figure 1 This is a perspective view of the self-balancing scooter used in this application;

[0021] Figure 2 This is a perspective view of the supporting framework of this application;

[0022] Figure 3 This is a front view of the "S"-shaped hole in the first detection section of this application;

[0023] Figure 4 This is a structural diagram of the sensor used in this application;

[0024] Figure 5 This is an exploded view of the supporting skeleton in this application;

[0025] Figure 6 This is a rear view of the supporting frame in Example 4;

[0026] Figure 7 This is a rear view of the supporting frame in Example 7;

[0027] In the figure, the reference numerals are as follows: 1-First detection part, 2-Second detection part, 11-First fixing part, 12-Second fixing part, 13-Installation part, 14-Fitting part, 15-Top cover, 16-Bottom cover, 17-Third fixing part, 18-Fourth fixing part, 3-Power module, 4-Controller, 5-Wheel, 6-Strain gauge, 7-Gap, 8-Fixing seat, 81-Pressure cover, 9-Support bar, 10-Support frame. Detailed Implementation

[0028] The embodiments of this application are described in detail below. Examples of these embodiments 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 this application.

[0029] In the description of this application, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "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.

[0030] 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, unless otherwise stated, "a plurality of" means two or more, unless otherwise expressly defined.

[0031] 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.

[0032] In this application, unless otherwise expressly specified and limited, "above" or "below" the second feature can include direct contact between the first and second features, or, according to the concept of this application, indirect contact via a third feature. Furthermore, "above," "on top of," and "over" 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.

[0033] 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.

[0034] 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 side with the power switch on the scooter is the rear side of the scooter. The horizontal direction, which is perpendicular to the front-to-back direction of the self-balancing scooter, is the left-to-right direction. The vertical direction, which is perpendicular to the front-to-back direction of the self-balancing scooter, is the up-down direction.

[0035] Example 1

[0036] like Figure 1-4 The diagram shows a self-balancing scooter support frame 10. The support frame 10 is equipped with a first detection unit 1 capable of sensing the torque applied to it. The first detection unit 1 includes a first fixing part 11 and a second fixing part 12, which respectively detect the torque generated at both ends of the support frame 10. A gap 7 is provided between the first fixing part 11 and the second fixing part 12. A sensor is installed at the gap 7 between the first fixing part 11 and the second fixing part 12, and the sensor can detect the relative displacement between the first fixing part 11 and the second fixing part 12. In this embodiment, the detection unit is located in the middle of the support frame 10. In this configuration, during use, the force applied by the user's foot when turning causes the support frame 10 of the self-balancing scooter to twist. The detection unit converts the twisting into displacement between the first fixing part 11 and the second fixing part 12. The sensor detects the displacement change and thus obtains the turning data of the self-balancing scooter. This configuration transforms the inconspicuous and difficult-to-measure twisting data of the support frame 10 into easily measurable distance data, enabling accurate perception of the deformation data of the support frame 10 and judgment of the user's turning intention, making the self-balancing scooter more flexible to control. In other embodiments, the detection unit can be located at other positions on the support frame 10.

[0037] The first detection unit 1 is located on the side of the support frame 10, and the first fixing part 11 and the second fixing part 12 are located on the side of the support frame 10 and are arranged along the length direction of the support frame 10. The side of the support frame 10 is the surface of the main body of the support frame 10, including the upper side, the lower side, the front side, and the rear side. In this embodiment, the first detection unit 1 is arranged on the front side of the support frame 10. Therefore, the bending of the support frame 10 caused by the user's own weight will not have a significant impact on the sensor, reducing the error in judging the turn and improving the handling sensitivity of the balance vehicle. In other embodiments, the first detection unit 1 can be arranged on the upper side or the lower side of the support frame 10.

[0038] The first fixing part 11 and the second fixing part 12 are positioned to cooperate, so that the effective detection direction of the sensor after fixing is the vertical direction. In this embodiment, when the user makes a turning motion, the torsion of the support frame 10 will cause the first fixing part 11 and the second fixing part 12 to move up and down, thereby causing the gap 7 between the first fixing part 11 and the second fixing part 12 to increase or decrease. The sensor will detect this change. Therefore, the torsional deformation of the support frame 10 can be converted into the displacement change of the first fixing part and the second fixing part, which makes the sensor measurement more convenient. It should be noted that in this embodiment, the vertical direction is roughly vertical and is not limited to overlapping with the vertical direction. In other embodiments, the first detection part 1 is located on the upper or lower part of the support frame 10, so that the effective detection direction of the sensor after fixing is the front and back direction.

[0039] The sensor includes a mounting portion 13 fixed to a first fixing portion 11 and a second fixing portion 12. The mounting portion 13 spans the gap 7 between the first fixing portion 11 and the second fixing portion 12. A strain gauge 6 is attached to the mounting portion 13. In this embodiment, the mounting portion 13 is a metal or rubber part with a certain elasticity. It is installed in the gap 7 between the first fixing portion 11 and the second fixing portion 12. The strain gauge 6 is attached to the mounting portion 13 along the fixing direction of the mounting portion 13. When the gap 7 between the first fixing portion 11 and the second fixing portion 12 changes, the mounting portion 13 will deform sufficiently, and the strain gauge 6 will change accordingly. In other embodiments, the mounting portion 13 can be an adhesive layer formed by the curing of glue. The strain gauge 6 can have different installation angles. In other embodiments, the sensor can be other types of sensors that can achieve the purpose of this application.

[0040] The mounting part 13 is provided with a fitting part 14, which is a plane; the strain gauge 6 is pasted on the plane of the fitting part 14; in this embodiment, the fitting part 14 is located in the middle of the mounting part 13, and the strain gauge 6 is pasted on the plane of the fitting part 14. With this setting, the strain gauge 6 will not deform during the pasting process, which can ensure that the strain gauge 6 can only be changed by turning action, reduce the generation of interference data, and improve the control accuracy of the balance vehicle.

[0041] The support frame 10 has a tubular position where the first detection part is located. In this embodiment, the support frame 10 is a circular tube with a certain wall thickness. In other embodiments, from the perspective of cross-sectional shape, the tubular shape 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 tubular shape 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 support frame 10 can also be a combination mechanism with a tubular middle part and plate-like sides.

[0042] The support frame 10 is divided into the first fixing part 11 and the second fixing part 12 by an "S"-shaped hole. An "S"-shaped hole is located in the middle of the pipe wall, penetrating one side of the pipe wall. The area divided by the "S"-shaped hole is the first fixing part 11 and the second fixing part 12, with a certain gap 7 between them. Due to the division by the "S"-shaped hole, when the support frame 10 undergoes torsional deformation, the first fixing part 11 and the second fixing part 12 will not twist, but will instead undergo displacement in a certain direction, thereby increasing or decreasing the gap 7 between them. This design allows torsional deformation to be converted into displacement, facilitating strain gauge data acquisition and improving data accuracy. Simultaneously, the "S"-shaped hole can also act as a stress concentration point, reducing stress concentration near the "S"-shaped hole during the deformation of the support frame 10. The increased strain amplifies the deformation of the support frame 10 caused by road bumps and user operation during vehicle use. This makes the strain gauge changes more noticeable and facilitates the elimination of data generated by the strain gauge during road bumps, preventing erroneous data from causing the balance scooter to turn incorrectly and improving the scooter's handling sensitivity and riding stability. Furthermore, the stress concentration effect reduces the material requirements of the support frame 10, allowing for a wider range of choices. In other embodiments, the first fixing part 11 and the second fixing part 12 can be strip-shaped components fixed to the surface of the support frame 10 by welding or fasteners, producing the same effect as in this embodiment. The gap 7 can be a simple gap between the first fixing part and the second fixing part, or a through hole, groove, or circumferential cut that amplifies the strain of the support frame 10.

[0043] Example 2

[0044] A self-balancing scooter includes the self-balancing scooter support frame 10 of Embodiment 1.

[0045] The self-balancing scooter also includes a power module 3 and a controller 4 mounted on the support frame 10. The controller 4 is equipped with a gyroscope and an accelerometer (not shown in the figure); wheels 5 are mounted at both ends of the support frame 10; drive motors drive the wheels; and foot pedals are mounted on the support frame 10. The controller 4 is electrically connected to the power module 3, the sensor, and the drive motor. The foot pedals are used to transmit the user's weight and posture information to the support frame 10.

[0046] In this embodiment, the foot pedal assembly is a foot pedal part directly or indirectly installed on the support frame 10, and the drive motor is a wheel hub motor built into the wheel. The user places his left and right feet on the foot pedal assembly of the support frame 10, and the human body weight information is transmitted to the support frame 10 through the foot pedal assembly. The support frame 10 is provided with fixing seats 8 on the left and right sides, and each fixing seat 8 is provided with a pressure cover 81. The pressure cover 81 cooperates with the fixing seat 8 to fix the wheel axle to the support frame 10. The support frame 10 is also provided with a support strip 9. In this embodiment, fixing seats are welded to the left and right ends of the support frame 10. In other embodiments, the fixing seats can be fixed to the support frame 10 by fasteners.

[0047] Example 3

[0048] A self-balancing scooter includes a self-balancing scooter support frame 10 as described in Embodiment 1; it also includes a top cover 15 and a bottom cover 16, a power module 3 disposed between the top cover 15 and the bottom cover 16, a controller 4, wheels 5 mounted at both ends of the support frame 10, and drive motors driving the wheels 5; the controller is electrically connected to the power module 3, sensors, and drive motors; the controller 4 is equipped with a gyroscope and an accelerometer (not shown in the figure); the top cover is provided with footrests that transmit the user's weight and posture information to the support frame 10; in this embodiment, the top cover 15 is fixed to the support frame 10, the bottom cover 16 is fixed to the top cover 15, and the bottom cover is provided with... A power switch 161 is provided. The controller 4 is electrically connected to the power module 3. The drive motor is a hub motor, and the controller 4 is electrically connected to the hub motor. The support frame 10 has fixing seats 8 on both sides. Each fixing seat 8 has a pressure cover 81. The pressure cover 81 cooperates with the fixing seat 8 to fix the wheel axle to the support frame 10. The support frame 10 is also provided with a support strip 9. In other embodiments, the middle part of the support frame 10 is tubular, and the two sides are one or a combination of top cover and bottom cover to form a structure connecting the wheel axle. In this embodiment, fixing seats are welded to the left and right ends of the support frame 10. In other embodiments, the fixing seats can be fixed to the support frame 10 by fasteners.

[0049] Example 4

[0050] like Figure 1-6The diagram illustrates a self-balancing scooter support frame 10. The support frame 10 is equipped with a first detection unit 1 capable of sensing the torque applied to it. The first detection unit 1 includes a first fixing part 11 and a second fixing part 12, each capable of detecting the torque generated at both ends of the support frame 10. A gap 7 is provided between the first fixing part 11 and the second fixing part 12. A sensor is installed at the gap 7 between the first fixing part 11 and the second fixing part 12, and the sensor can detect the relative displacement between the first fixing part 11 and the second fixing part 12. In this embodiment, the first detection unit 1 is located at the middle of the support frame 10. During the use of the self-balancing scooter, the force applied by the user's foot when turning causes the support frame 10 of the scooter to twist. The first detection unit 1 converts the twist into displacement between the first fixing part 11 and the second fixing part 12. The sensor detects the displacement change and thus obtains the turning data of the self-balancing scooter. With this configuration, the inconspicuous and difficult-to-measure twist data of the support frame 10 is converted into easily measurable distance data, which can accurately sense the deformation data of the support frame 10 and judge the user's turning intention, making the control of the self-balancing scooter more flexible. In other embodiments, the first detection unit 1 can be set at other positions of the support frame 10.

[0051] The first detection unit 1 is located on the side of the support frame 10, and the first fixing part 11 and the second fixing part 12 are located on the side of the support frame 10 and are arranged along the length direction of the support frame 10. The side of the support frame 10 is the surface of the main body of the support frame 10, including the upper side, lower side, front side, and rear side. In this embodiment, the first detection unit 1 is arranged on the front side or the rear side of the support frame 10. Therefore, the bending of the support frame 10 caused by the user's own weight will not have a significant impact on the sensor, reducing the error in judging the turn and improving the handling sensitivity of the balance vehicle. In other embodiments, the first detection unit 1 can be arranged on the upper side or the lower side of the support frame 10.

[0052] The first fixing part 11 and the second fixing part 12 are positioned to cooperate so that the effective detection direction of the sensor after fixing is the vertical direction. In this embodiment, when the user makes a turning motion, the torsion of the support frame 10 will cause the first fixing part 11 and the second fixing part 12 to move up and down, thereby causing the gap 7 between the first fixing part 11 and the second fixing part 12 to increase or decrease. The sensor will detect this change. Therefore, the torsional deformation of the support frame 10 can be converted into the displacement change of the first fixing part 11 and the second fixing part 12, which makes it easier for the sensor to measure. It should be noted that in this embodiment, the vertical direction is roughly vertical and is not limited to overlapping with the vertical direction. In other embodiments, the first detection part 1 is located on the upper or lower part of the support frame 10, so that the effective detection direction of the sensor after fixing is the front and back direction.

[0053] The sensor includes a mounting portion 13 fixed to a first fixing portion 11 and a second fixing portion 12. The mounting portion 13 spans the gap 7 between the first fixing portion 11 and the second fixing portion 12. A strain gauge 6 is attached to the mounting portion 13. In this embodiment, the mounting portion 13 is a metal or rubber part with a certain elasticity. It is installed in the gap 7 between the first fixing portion 11 and the second fixing portion 12. The strain gauge 6 is attached to the mounting portion 13 along the fixing direction of the mounting portion 13. When the gap 7 between the first fixing portion 11 and the second fixing portion 12 changes, the mounting portion 13 will deform sufficiently, and the strain gauge 6 will change accordingly. In other embodiments, the mounting portion 13 can be an adhesive layer formed by the curing of glue. The strain gauge 6 can have different installation angles. In other embodiments, the sensor can be other types of sensors that can achieve the purpose of this application.

[0054] The mounting part 13 is provided with a fitting part 14, which is a plane; the strain gauge 6 is pasted on the plane of the fitting part 14; in this embodiment, the fitting part 14 is located in the middle of the mounting part 13, and the strain gauge 6 is pasted on the plane of the fitting part 14. With this setting, the strain gauge 6 will not deform during the pasting process, which can ensure that the strain gauge 6 can only be changed by turning action, reduce the generation of interference data, and improve the control accuracy of the balance vehicle.

[0055] The support frame 10 has a tubular position where the first detection part 1 is located. In this embodiment, the support frame 10 is a circular tube with a certain wall thickness. In other embodiments, from the perspective of cross-sectional shape, the tubular shape 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 tubular shape 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 support frame 10 can also be a combination mechanism with a tubular middle part and plate-like sides.

[0056] The support frame 10 is divided into the first fixing part 11 and the second fixing part 12 by an "S"-shaped hole. An "S"-shaped hole is located in the middle of the pipe wall, penetrating one side of the pipe wall. The area divided by the "S"-shaped hole is the first fixing part 11 and the second fixing part 12, with a certain gap 7 between them. Due to the division by the "S"-shaped hole, when the support frame 10 undergoes torsional deformation, the first fixing part 11 and the second fixing part 12 will not twist, but will instead undergo displacement in a certain direction, thereby increasing or decreasing the gap 7 between them. This design allows torsional deformation to be converted into displacement, facilitating strain gauge data acquisition and improving data accuracy. Simultaneously, the "S"-shaped hole can act as a stress concentration point, increasing the strain near the "S"-shaped hole during vehicle use due to road bumps and user operation. The deformation of the support frame 10 will be amplified to a certain extent, and the changes of the strain gauge will be more obvious. It is easier to eliminate the data generated by the strain gauge when the road surface is bumpy, so as to avoid the erroneous data generated by the road surface bumps that cause the balance bike to turn wrong, thereby improving the sensitivity of the balance bike's handling and the stability of riding. In addition, the stress concentration effect can reduce the material requirements of the support frame 10, and the support frame 10 has a wide range of choices. In other embodiments, the first fixing part 11 and the second fixing part 12 can be strip-shaped components fixed to the surface of the support frame 10 by welding or fasteners, which can produce the same effect as in this embodiment. The gap 7 can be a gap simply set between the first fixing part and the second fixing part, or a through hole, groove, or circumferential cut that can amplify the strain of the support frame 10. In other embodiments, the "S"-shaped hole can be other holes with similar shapes to the "S"-shaped hole in this application that can achieve the purpose of this application.

[0057] The support frame 10 is also provided with a second detection part 2, which has the same structure as the first detection part 1. The second detection part 2 is located on a different side from the first detection part 1. In this embodiment, the first detection part 1 and the second detection part 2 have the same structure, including a third fixing part 17 and a fourth fixing part 18. A gap 7 is reserved between the third fixing part 17 and the fourth fixing part 18. A sensor is provided at the gap 7 between the third fixing part 17 and the fourth fixing part 18. The sensor can detect the relative displacement between the third fixing part 17 and the fourth fixing part 18. The first detection part and the second detection part are located on the front and rear sides of the middle position of the support frame 10. In other embodiments, the first detection part 1 and the second detection part 2 can be located on the upper and lower sides of the middle position, or in other positions other than the middle position.

[0058] The first detection unit 1 and the second detection unit 2 are located at corresponding positions at the front and rear of the support frame 10. In this embodiment, the first detection unit 1 is located at the front or rear of the support frame 10, so the user's own weight has little effect on the detection unit and will not affect turning. In other embodiments, the first detection unit 1 can be located at other positions of the support frame 10.

[0059] like Figure 6 As shown, in this embodiment, the "S"-shaped holes of the first detection unit 1 and the second detection unit 2 are oriented in opposite directions, i.e., the second detection unit is an inverted "S"-shaped hole. When turning, the changes in the states of the first detection unit 1 and the second detection unit 2 are opposite. When the gap 7 between the first fixing part and the second fixing part decreases, the gap 7 between the third detection unit and the fourth detection unit will increase. The changes in the strain gauge 6 of the first detection unit 1 and the strain gauge 6 of the second detection unit 2 are opposite (one is compressed, then the other is stretched), one resistance increases, and the other resistance decreases; (taking a right turn as an example), when the user steps forward with their left foot and backward with their right foot, a torsional force will be generated at both ends of the support frame 10. The supporting frame 10 undergoes torsional deformation, causing the first fixing part 11 to rotate downwards and the second fixing part 12 to rotate upwards, narrowing the gap between them. Simultaneously, the third fixing part 17 rotates upwards and the fourth fixing part 18 rotates downwards, widening the gap between them. The mounting part 13 of the first detection part 1 is compressed, causing the resistance of the strain gauge 6 to decrease. The mounting part 13 of the second detection part 2 is stretched, causing the resistance of the strain gauge 6 to increase. The controller senses this change and controls the left wheel to rotate faster than the right wheel, causing the scooter to turn right. This design allows each turn to be controlled by two sets of signals, resulting in more precise control, higher fault tolerance, and effective resistance to the influence of posture fluctuations during riding, thus optimizing the riding experience. Furthermore, this design converts torsional deformation into displacement, reducing irregular deformation of the strain gauges, extending their lifespan, and improving data accuracy.

[0060] Example 5

[0061] A self-balancing scooter includes a self-balancing scooter support frame 10 as described in Embodiment 4; it also includes a power module 3 and a controller 4 disposed on the support frame 10, the controller 4 being equipped with a gyroscope and an accelerometer (not shown in the figure); wheels 5 mounted at both ends of the support frame 10, a drive motor driving the wheels, and a foot pedal assembly disposed on the support frame 10; the controller 4 is electrically connected to the power module 3, the sensor, and the drive motor; the foot pedal assembly is used to transmit the user's weight and posture information to the support frame 10; in this embodiment, the foot pedal assembly is directly or indirectly mounted on the support frame. The foot pedal on the frame 10 is driven by a hub motor built into the wheel. The user places their left and right feet on the foot pedal assembly of the supporting frame 10, and the weight information of the human body is transmitted to the supporting frame 10 through the foot pedal assembly. The supporting frame 10 has fixing seats 8 on the left and right sides, and each fixing seat 8 has a pressure cover 81. The pressure cover 81 cooperates with the fixing seat 8 to fix the wheel axle to the supporting frame 10. The supporting frame 10 is also provided with a support bar 9. In this embodiment, fixing seats are welded to the left and right ends of the supporting frame 10. In other embodiments, the fixing seats can be fixed to the supporting frame 10 by fasteners.

[0062] Example 6

[0063] A self-balancing scooter includes a self-balancing scooter support frame 10 as described in Embodiment 4; it also includes a top cover 15 and a bottom cover 16, a power module 3 disposed between the top cover 15 and the bottom cover 16, a controller 4, wheels 5 installed at both ends of the support frame 10, and drive motors driving the wheels 5; the controller is electrically connected to the power module 3, sensors, and drive motors; the controller 4 is equipped with a gyroscope and an accelerometer (not shown in the figure); the top cover is provided with footrests that transmit the user's weight and posture information to the support frame 10; in this embodiment, the top cover 15 is fixed to the support frame 10, the bottom cover 16 is fixed to the top cover 15, and the bottom cover is provided with... A power switch 161 is provided. The controller 4 is electrically connected to the power module 3. The drive motor is a hub motor, and the controller 4 is electrically connected to the hub motor. The support frame 10 has fixing seats 8 on both sides. Each fixing seat 8 has a pressure cover 81. The pressure cover 81 cooperates with the fixing seat 8 to fix the wheel axle to the support frame 10. The support frame 10 is also provided with a support strip 9. In other embodiments, the middle part of the support frame 10 is tubular, and the two sides are one or a combination of top cover and bottom cover to form a structure connecting the wheel axle. In this embodiment, fixing seats are welded to the left and right ends of the support frame 10. In other embodiments, the fixing seats can be fixed to the support frame 10 by fasteners.

[0064] Example 7

[0065] like Figure 1-5 and Figure 7The diagram shows a self-balancing scooter support frame 10. The support frame 10 is equipped with a first detection unit 1 capable of sensing the torque applied to it. The first detection unit 1 includes a first fixing part 11 and a second fixing part 12, which respectively detect the torque generated at both ends of the support frame 10. A gap 7 is provided between the first fixing part 11 and the second fixing part 12. A sensor is installed at the gap 7 between the first fixing part 11 and the second fixing part 12, and the sensor can detect the relative displacement between the first fixing part 11 and the second fixing part 12. In this embodiment, the detection unit is located in the middle of the support frame 10. In this configuration, during use, the force applied by the user's foot when turning causes the support frame 10 of the self-balancing scooter to twist. The detection unit converts the twisting into displacement between the first fixing part 11 and the second fixing part 12. The sensor detects the displacement change and thus obtains the turning data of the self-balancing scooter. This configuration transforms the inconspicuous and difficult-to-measure twisting data of the support frame 10 into easily measurable distance data, enabling accurate perception of the deformation data of the support frame 10 and judgment of the user's turning intention, making the self-balancing scooter more flexible to control. In other embodiments, the detection unit can be located at other positions on the support frame 10.

[0066] The first detection unit 1 is located on the side of the support frame 10, and the first fixing part 11 and the second fixing part 12 are located on the side of the support frame 10 and are arranged along the length direction of the support frame 10. The side of the support frame 10 is the surface of the main body of the support frame 10, including the upper side, the lower side, the front side, and the rear side. In this embodiment, the first detection unit 1 is arranged on the front side of the support frame 10. Therefore, the bending of the support frame 10 caused by the user's own weight will not have a significant impact on the sensor, reducing the error in judging the turn and improving the handling sensitivity of the balance vehicle. In other embodiments, the first detection unit 1 can be arranged on the upper side or the lower side of the support frame 10.

[0067] The first fixing part 11 and the second fixing part 12 are positioned to cooperate so that the effective detection direction of the sensor after fixing is the vertical direction. In this embodiment, when the user makes a turning motion, the torsion of the support frame 10 will cause the first fixing part 11 and the second fixing part 12 to move up and down, thereby causing the gap 7 between the first fixing part 11 and the second fixing part 12 to increase or decrease. The sensor will detect this change. Therefore, the torsional deformation of the support frame 10 can be converted into the displacement change of the first fixing part 11 and the second fixing part 12, which makes it easier for the sensor to measure. It should be noted that in this embodiment, the vertical direction is roughly vertical and is not limited to overlapping with the vertical direction. In other embodiments, the first detection part 1 is located on the upper or lower part of the support frame 10, so that the effective detection direction of the sensor after fixing is the front and back direction.

[0068] The sensor includes a mounting portion 13 fixed to a first fixing portion 11 and a second fixing portion 12. The mounting portion 13 spans the gap 7 between the first fixing portion 11 and the second fixing portion 12. A strain gauge 6 is attached to the mounting portion 13. In this embodiment, the mounting portion 13 is a metal or rubber part with a certain elasticity. It is installed in the gap 7 between the first fixing portion 11 and the second fixing portion 12. The strain gauge 6 is attached to the mounting portion 13 along the fixing direction of the mounting portion 13. When the gap 7 between the first fixing portion 11 and the second fixing portion 12 changes, the mounting portion 13 will deform sufficiently, and the strain gauge 6 will change accordingly. In other embodiments, the mounting portion 13 can be an adhesive layer formed by the curing of glue. The strain gauge 6 can have different installation angles. In other embodiments, the sensor can be other types of sensors that can achieve the purpose of this application.

[0069] The mounting part 13 is provided with a fitting part 14, which is a plane; the strain gauge 6 is pasted on the plane of the fitting part 14; in this embodiment, the fitting part 14 is located in the middle of the mounting part 13, and the strain gauge 6 is pasted on the plane of the fitting part 14. With this setting, the strain gauge 6 will not deform during the pasting process, which can ensure that the strain gauge 6 can only be changed by turning action, reduce the generation of interference data, and improve the control accuracy of the balance vehicle.

[0070] The position where the first detection part is located on the support frame 10 is tubular; in this embodiment, the support frame 10 is a circular tube with a certain wall thickness; in other embodiments, from the perspective of cross-sectional shape, the tubular shape may 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 tubular shape is not limited to a proportionally extended tube, but may also be a tube with various irregular extensions, such as partially enlarged, partially reduced, rotated, or displaced; the support frame 10 may also be a combination mechanism in which the middle part is tubular and the two sides are plate-like.

[0071] The support frame 10 is divided into the first fixing part 11 and the second fixing part 12 by an "S"-shaped through hole. In this embodiment, an "S"-shaped hole is provided on the pipe wall at the middle position of the support frame 10, penetrating one side of the pipe wall. The area divided by the "S"-shaped hole is the first fixing part 11 and the second fixing part 12, respectively, and there is a certain gap 7 between the first fixing part 11 and the second fixing part 12. Through the division by the "S"-shaped hole, when the support frame 10 undergoes torsional deformation, the first fixing part 11 and the second fixing part 12 will not twist, but will displace in a certain direction, thereby increasing or decreasing the gap 7 between the first fixing part 11 and the second fixing part 12. This design can convert torsional deformation into displacement, which facilitates the acquisition of data by strain gauges and improves the accuracy of the data. At the same time, the "S"-shaped hole can play a role in stress concentration, increasing the strain near the "S"-shaped hole during the deformation of the support frame 10, which is beneficial for the vehicle during use due to road bumps and stress. The deformation of the support frame 10 caused by user operation will be amplified to a certain extent, making the changes of the strain gauge more obvious and making it easier to eliminate the data generated by the strain gauge when the road surface is bumpy. This avoids the erroneous data caused by road bumps that may cause the balance bike to turn incorrectly, thus improving the sensitivity of the balance bike's handling and the stability of riding. In addition, the stress concentration effect can reduce the material requirements of the support frame 10, and the selection range of the support frame 10 is wide. In other embodiments, the first fixing part 11 and the second fixing part 12 can be strip-shaped components that are fixed to the surface of the support frame 10 by welding or fasteners, which can produce the same effect as in this embodiment. The gap 7 can be a gap simply set between the first fixing part and the second fixing part, or a through hole, groove, or circumferential cut that can amplify the strain of the support frame 10. In other embodiments, the "S"-shaped hole can be other holes of similar shape to the "S"-shaped hole in this application that can achieve the purpose of this application.

[0072] The support frame 10 is also provided with a second detection part 2, which has the same structure as the first detection part 1. The second detection part 2 is located on a different side from the first detection part 1. In this embodiment, the first detection part 1 and the second detection part 2 have the same structure, including a third fixing part 17 and a fourth fixing part 18. A gap 7 is reserved between the third fixing part 17 and the fourth fixing part 18. A sensor is provided at the gap 7 between the third fixing part 17 and the fourth fixing part 18. The sensor can detect the relative displacement between the third fixing part 17 and the fourth fixing part 18. The first detection part and the second detection part are located on the front and rear sides of the middle position of the support frame 10. In other embodiments, the first detection part 1 and the second detection part 2 can be located on the upper and lower sides of the middle position, or in other positions other than the middle position.

[0073] The first detection unit 1 and the second detection unit 2 are located at corresponding positions at the front and rear of the support frame 10. In this embodiment, the first detection unit 1 is located at the front or rear of the support frame 10, so the user's own weight has little effect on the detection unit and will not affect turning. In other embodiments, the first detection unit 1 can be located at other positions of the support frame 10.

[0074] like Figure 7 As shown, in this embodiment, the "S"-shaped holes of the first detection unit 1 and the second detection unit 2 are oriented in the same direction. When turning, the first detection unit 1 and the second detection unit 2 change in the same state. When the gap 7 between the first fixing part and the second fixing part decreases, the gap 7 between the third detection unit and the fourth detection unit will also decrease. The strain gauge 6 of the first detection unit 1 and the strain gauge 6 of the second detection unit 2 change in the same way (compressed and stretched simultaneously), and the resistance values ​​increase and decrease simultaneously. With this setting, each turning action will be controlled by two sets of signals, making the control more precise and the fault tolerance rate higher. It can effectively resist the influence of posture fluctuations during riding on the turning signal and optimize the driving experience. With this setting, torsional deformation can be converted into displacement, reducing the irregular deformation of the strain gauge, extending the service life of the strain gauge 6, and improving the accuracy of the data.

[0075] Example 8

[0076] A self-balancing scooter includes a support frame 10 as described in Embodiment 7; it also includes a power module 3 and a controller 4 disposed on the support frame 10, the controller 4 being equipped with a gyroscope and an accelerometer (not shown in the figure); wheels 5 mounted at both ends of the support frame 10; a drive motor driving the wheels; and foot pedals mounted on the support frame 10; the controller 4 is electrically connected to the power module 3, the sensor, and the drive motor; the foot pedals are used to transmit the user's weight and posture information to the support frame 10; in this embodiment, the foot pedals are directly or indirectly mounted on the support frame. The foot pedal on the frame 10 is driven by a hub motor built into the wheel. The user places their left and right feet on the foot pedal assembly of the supporting frame 10, and the weight information of the human body is transmitted to the supporting frame 10 through the foot pedal assembly. The supporting frame 10 has fixing seats 8 on the left and right sides, and each fixing seat 8 has a pressure cover 81. The pressure cover 81 cooperates with the fixing seat 8 to fix the wheel axle to the supporting frame 10. The supporting frame 10 is also provided with a support bar 9. In this embodiment, fixing seats are welded to the left and right ends of the supporting frame 10. In other embodiments, the fixing seats can be fixed to the supporting frame 10 by fasteners.

[0077] Example 9

[0078] A self-balancing scooter includes a self-balancing scooter support frame 10 as described in Embodiment 7; it also includes a self-balancing scooter support frame 10 as described in Embodiment 1, and further includes a top cover 15 and a bottom cover 16, a power module 3 disposed between the top cover 15 and the bottom cover 16, a controller 4, wheels 5 installed at both ends of the support frame 10, and a drive motor driving the wheels 5; the controller is electrically connected to the power module 3, sensors, and drive motor; the controller 4 is equipped with a gyroscope and an accelerometer (not shown in the figure); the top cover is provided with a footrest portion that transmits the user's weight and posture information to the support frame 10; in this embodiment, the top cover 15 is fixed to the support frame 10, and the bottom cover 16 is fixed to the top cover 15. The wheel axle is fixed to the support frame 10. A power switch 161 is provided on the bottom cover. The controller 4 is electrically connected to the power module 3. The drive motor is a hub motor. The controller 4 is electrically connected to the hub motor. Fixing seats 8 are provided on the left and right sides of the support frame 10. Each fixing seat 8 is provided with a pressure cover 81. The pressure cover 81 cooperates with the fixing seat 8 to fix the wheel axle to the support frame 10. The support frame 10 is also provided with a support strip 9. In other embodiments, the middle part of the support frame 10 is tubular, and the two sides are one or a combination of top cover and bottom cover to form a structure connecting the wheel axle. In this embodiment, fixing seats are welded to the left and right ends of the support frame 10. In other embodiments, the fixing seats can be fixed to the support frame 10 by fasteners.

[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 (10) is provided with a first detection part (1) capable of sensing the torque on the support frame (10). The first detection part (1) includes a first fixing part (11) and a second fixing part (12) capable of respectively reflecting the torque generated at both ends of the support frame (10). A gap (7) is reserved between the first fixing part (11) and the second fixing part (12). A sensor is provided at the gap (7) between the first fixing part (11) and the second fixing part (12). The sensor can detect the relative displacement between the first fixing part (11) and the second fixing part (12). The first detection part (1) is located on the side of the support frame (10). The positions of the first fixing part (11) and the second fixing part (12) are matched so that the effective detection direction of the sensor after fixing is the up and down direction of the support frame (10). The support frame (10) is divided into the first fixing part and the second fixing part by an "S" shaped through hole.

2. The self-balancing scooter support frame according to claim 1, characterized in that, The sensor includes a mounting part (13) fixed on a first fixing part (11) and a second fixing part (12), the mounting part (13) spanning the gap (7) between the first fixing part (11) and the second fixing part (12), and a strain gauge (6) is provided on the mounting part (13).

3. The self-balancing scooter support frame according to claim 2, characterized in that, The mounting part (13) is provided with a fitting part (14), which is a plane; the strain gauge (6) is pasted on the plane of the fitting part (14).

4. The self-balancing scooter support frame according to claim 1, characterized in that, The first detection part on the support frame (10) is tubular.

5. The self-balancing scooter support frame according to any one of claims 1 to 4, characterized in that, The support frame (10) is also provided with a second detection part (2) with the same structure as the first detection part, and the second detection part (2) is located on a different side of the first detection part (1).

6. The self-balancing scooter support frame according to claim 5, characterized in that, The first detection unit (1) and the second detection unit (2) are located at corresponding positions on the front and back of the support frame (10).

7. A self-balancing scooter, characterized in that, The self-balancing scooter support frame includes any one of claims 1 to 6.

8. A self-balancing scooter according to claim 7, characterized in that, It also includes a power module (3) and a controller (4) located on the support frame (10); wheels installed at both ends of the support frame (10), a drive motor driving the wheels, and a foot pedal assembly located on the support frame (10); the controller is electrically connected to the power module (3), the sensor, and the drive motor; the foot pedal assembly is used to transmit the user's weight and posture information to the support frame (10).

9. A self-balancing scooter according to claim 7, characterized in that, It also includes a top cover (15) and a bottom cover (16), a power module (3) located between the top cover (15) and the bottom cover (16), a controller (4), wheels (5) installed at both ends of the support frame (10), and a drive motor that drives the wheels (5); the controller (4) is equipped with a gyroscope and an acceleration sensor; the controller is electrically connected to the power module (3), the sensor, and the drive motor; the top cover is equipped with a footrest that transmits the user's weight and posture information to the support frame (10).

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