A balance vehicle capable of wading

Abstract

The application relates to a water-wading balance car, which comprises a frame, a bottom support, wheels supporting the frame, a standing platform connected to the frame, a power system driving the wheels to rotate, and a balance system maintaining the standing platform in a horizontal state, wherein the bottom support is connected to the frame through a lifting system, the power system comprises a driving motor and a power supply supplying power to the driving motor, the driving motor is connected to the frame, the driving motor is a waterproof motor, the power supply is arranged on the bottom support, and the power supply is connected to the driving motor through an electric wire. The first purpose of the application is to provide the water-wading balance car with a liftable standing platform, which solves the problem of poor water-wading ability caused by the unliftable standing platform of the existing balance car.

Description

TECHNICAL FIELD

[0001] The present application relates to a balance car, in particular to a balance car capable of wading. BACKGROUND

[0002] Balance car (electric balance car), also known as somatosensory car, thinking car, camera car, etc. There are mainly two types of single wheel and double wheel on the market. Its operation principle is mainly based on a basic principle called "dynamic stabilization". The change of vehicle posture is detected by using the gyroscope and acceleration sensor inside the vehicle body, and the corresponding adjustment is driven by the servo control system to keep the balance of the system. It is a new type of green and environmentally friendly product used as a means of transportation, leisure and entertainment for modern people. The existing balance car has the following shortcomings: only when the platform on which the person stands is equivalent to the frame system to produce imbalance (tilt) can the balance action be triggered, when the frame system does not produce tilt with the platform on which the person stands and the whole car tilts (to avoid the tilt of the road), the platform on which the person stands cannot be maintained horizontal. However, the balance car has a small planar area, and when the whole car tilts, the center of gravity of the person will exceed the car, resulting in the person falling off the car. At this time, the person needs to balance the body to avoid falling off the car. Therefore, the existing balance car requires high level of riding of the user, which leads to the fact that the user needs to practice several times before being able to use the balance car, and the existing balance car requires high skill of the user, not everyone can drive the balance car; when there is water on the road, the platform on which the person stands is easily flooded and the user's shoes are wet, that is, the wading ability is poor. SUMMARY

[0003] The first object of the present application aims to provide a balance car capable of wading with a platform on which a person stands capable of lifting, solving the problem of poor wading ability caused by the fact that the platform of the existing balance car cannot be lifted.

[0004] The second object of the present application aims to further provide a balance car capable of wading with the platform on which the person stands capable of resetting when tilting, solving the problem that the platform of the existing balance car cannot be reset when tilting together with the frame.

[0005] The above technical problem is solved by the following technical scheme: a balance car capable of wading is provided, which comprises a frame, wheels supporting the frame, a standing platform connected to the frame, a power system driving the wheels to rotate, and a balancing system maintaining the standing platform in a horizontal state, characterized in that the balance car further comprises a bottom support connected to the frame through a lifting system, the power system comprises a driving motor and a power supply supplying power to the driving motor, the driving motor is connected to the frame, the driving motor is a waterproof motor, the power supply is arranged on the bottom support, and the power supply is connected to the driving motor through a wire. When there is water, the lifting system drives the bottom support to rise to lift the standing platform, so that the standing platform is not submerged by water, thereby improving the wading capability of the balance car.

[0006] As a preferred embodiment, the lifting system comprises a vertical positioning rod, a plurality of horizontal rack gears slidably connected to the frame, a plurality of gears meshing with the rack gears, an inclination adjusting motor driving the gears to rotate, and a plurality of height adjusting lifting cylinders, the upper end of the vertical positioning rod is fixed to the standing platform, the lower end of the vertical positioning rod is arranged in a vertical sliding hole of the frame, the height adjusting lifting cylinders are parallel to each other and have equal lengths, one of the rack gears is connected to one row of the height adjusting lifting cylinders, the upper end of each of the height adjusting lifting cylinders is hingedly connected to the standing platform through an upper hinge shaft, the lower end of each of the height adjusting lifting cylinders is hingedly connected to the rack gear through a lower hinge shaft, the upper hinge shaft and the lower hinge shaft are parallel to each other, and the lower hinge shaft is perpendicular to the rack gear, and the inclination adjusting motor is fixed to the frame. The height adjusting lifting cylinders can reduce the increase in the height of the standing platform caused by the height adjusting lifting cylinders. The frame of the balance car is very low from the ground, and the lifting cylinders cannot be installed. When the standing platform is directly lifted by the lifting cylinders, the standing platform is lifted by a distance at least equal to the length of the lifting cylinders, thereby causing the center of gravity to be too high when not wading, and the balance car is not easy to balance. The technical scheme can ensure that the center of gravity is low when not wading, and can improve the water depth that can be waded by using long lifting cylinders.

[0007] As a preferred embodiment, a plurality of supporting blocks are arranged on the frame, and the standing platform is supported on the supporting blocks when the lifting system drives the standing platform to the lowest position. When not wading, the standing platform is supported by the supporting blocks, thereby avoiding long-term work of the height adjusting lifting cylinders, and prolonging the service life of the lifting cylinders.

[0008] As a preferred embodiment, the method for driving the standing platform to rise by the lifting system is that the inclination adjusting motor drives the gears to rotate, the gears drive the rack gears to translate, the rack gears drive the height adjusting lifting cylinders to swing upward when the rack gears translate, and the height adjusting lifting cylinders are elongated when the height adjusting lifting cylinders swing to a vertical state. The method for driving the standing platform to descend by the lifting system is that the height adjusting lifting cylinders are contracted to the shortest, then the inclination adjusting motor drives the gears to rotate, the gears drive the rack gears to translate, and the rack gears drive the height adjusting lifting cylinders to swing downward. When the lifting distance is constant, the translation distance of the rack gears can be minimized, thereby facilitating large lifting in a small space.

[0009] As preferred, the balance system comprises an unbalance reset mechanism and an unbalance position detection mechanism, the unbalance reset mechanism comprises a central column and a plurality of platform lifting cylinders, the lower end of the central column is fixed with the bottom support together, the upper end is spherical jointed with the lower surface of the standing platform, the platform lifting cylinders are distributed on a circle with the central column as the center, the lower end of the platform lifting cylinders is fixed with the frame together, the upper end is jointed with the standing platform together; the unbalance position detection mechanism is used for detecting the inclination angle and the inclination direction of the standing platform; when the unbalance position detection mechanism detects that the standing platform is inclined, the platform lifting cylinders below the plane determined by the central line of the central column and the plane perpendicular to the inclination direction line of the standing platform are extended, and the platform lifting cylinders above the plane are contracted, so that the standing platform is restored to the balance state; the plane determined by the central line of the central column and the plane perpendicular to the inclination direction line of the standing platform is called the boundary plane. When the inclination is detected, the platform lifting cylinders are extended and contracted, so that the standing platform is adjusted to be horizontal.

[0010] As preferred, the unbalance position detection mechanism comprises a swing rod and an angle sensor, one end of the swing rod is provided with a connecting sleeve capable of rotating on the central column, the other end is provided with a sliding hole extending along the radial direction of the central column, the sliding hole is provided with a load sensor and a weight ball, the load sensor is located on the side away from the central column, the load sensor is used for detecting the force of the weight ball rolling away from the central column, and the angle sensor is used for detecting the angle A of the swing rod rotating around the central column, so that the standing platform is restored to be horizontal. The method for restoring the standing platform to be horizontal is that the platform lifting cylinders below the boundary plane are extended by a distance H, the platform lifting cylinders above the boundary plane are contracted by a distance H, H=R*sin(D-A)*tan(arcsinW / G) H=L*tanB, D is the initial value of the angle between the plane of the platform lifting cylinder and the central column and the boundary plane, that is, the angle between the plane of the platform lifting cylinder and the boundary plane when A is 0°, W is the weight detected by the load sensor, and G is the weight of the weight ball. A new technical scheme for detecting the inclination is provided, that is, the inclination angle is obtained by the weighing method. The inclination direction can be conveniently obtained, so that corresponding lifting adjustment is performed to maintain the standing platform to be horizontal. The adjustment can be performed when the inclination is in any direction of 360°.

[0011] The present application has the following advantages: the balance can be performed when the inclination is in any direction of 360°, the overall inclination caused by the inclination inside can be adjusted to maintain the standing platform to be horizontal, and the wading ability is good. BRIEF DESCRIPTION OF DRAWINGS

[0012] Figure 1 The figure is a schematic view of the present application; the swing rod is in the initial state (that is, the rotating angle is 0° and the standing platform is horizontal);

[0013] Figure 2 Figure 1 is a schematic view of the present application. Figure 1 Figure 2 is a partial enlarged view of A in figure 1.

[0014] Figure 3 Figure 3 is a schematic view of B-B section of figure 1. Figure 1

[0015] Figure 4 Figure 4 is a partial enlarged view of C in figure 3. Figure 1

[0016] Figure 5 is a schematic view of the present application. Figure 5 Figure 6 is a schematic view of the present application.

[0017] Figure: frame 1, wheel 2, standing platform 3, front wheel 11, rear wheel 12, center column 13, platform lifting cylinder 14, interface 15, swing rod 16, connecting sleeve 18, bearing 22, sliding hole 19, weighing sensor 20, heavy ball 21, bottom support 24, vertical positioning rod 25, rack 26, gear 27, slope adjustment motor 28, height adjustment lifting cylinder 29, upper hinge shaft 30, lower hinge shaft 31, support block 32, rotation shaft of slope adjustment motor 33. DETAILED DESCRIPTION

[0018] The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all the other embodiments obtained by those skilled in the art without creative work fall within the protection scope of the present application.

[0019] Referring to Figures 1 to 5 A balance car capable of wading includes a bottom support 24, a standing platform 3, a frame 1, a wheel 2 supporting the frame, and a power system driving the wheel to rotate. The power system includes a driving motor and a power supply supplying power to the driving motor. The power supply is connected to the driving motor through an electric wire. A balance system is arranged between the standing platform and the bottom support to maintain the standing platform in a horizontal state. The area of the standing platform (including the area of the top plate) is less than 0.15 square meters.

[0020] ​The balance system comprises an unbalance reset mechanism and an unbalance position detection mechanism. The unbalance reset mechanism comprises a central column 13 and sixteen platform lifting cylinders 14. The lower end of the central column is fixed to the base support, and the upper end is connected to the lower surface of the standing platform by a spherical hinge. The platform lifting cylinders are distributed on a circle with the central column as the center. The lower end of the platform lifting cylinders is fixed to the base support, and the upper end is connected to the standing platform by a hinge. The unbalance position detection mechanism is used to detect the inclination angle and direction of the standing platform. When the standing platform is detected to be inclined by the unbalance position detection mechanism, the platform lifting cylinders below the plane determined by the central column center line and the plane perpendicular to the inclination direction of the standing platform are extended, and the platform lifting cylinders above the plane are contracted, so that the standing platform returns to the balanced state. The plane determined by the central column center line and the plane perpendicular to the inclination direction of the standing platform is referred to as the boundary plane 15.

[0021] Specifically, the unbalance position detection mechanism comprises a swing rod 16 and an angle sensor. One end of the swing rod is provided with a connecting sleeve 18 capable of rotating on the central column, and the other end is provided with a sliding hole 19 extending in the radial direction of the central column. A load sensor 20 and a heavy ball 21 are arranged in the sliding hole. The load sensor is located on the side of the heavy ball away from the central column, and is used to detect the force of the heavy ball rolling away from the central column. The angle sensor is used to detect the angle A of the swing rod rotating around the central column. The method for restoring the standing platform to the horizontal state is as follows: the platform lifting cylinders below the boundary plane are extended by a distance H, and the platform lifting cylinders above the boundary plane are contracted by a distance H. H = R*sin(D-A)*tan(arcsinW / G), C = D-A, D is the initial value of the angle between the plane of the platform lifting cylinder and the central column and the boundary plane, i.e. the angle between the plane of the platform lifting cylinder and the boundary plane when A is 0°, W is the weight detected by the load sensor, G is the weight of the heavy ball, and R is the radius of the circle formed by the platform lifting rod. Figure 3 When the swing rod rotates clockwise, the rotation degree of the angle swing rod increases, and vice versa. Therefore, the platform lifting cylinders located within the range of ±90° of the rotation angle of the swing rod (i.e. the current position of the swing rod) are the platform lifting cylinders below the boundary plane, and the remaining platform lifting cylinders are the platform lifting cylinders above the boundary plane. The inclination angle B of the standing platform is arcsinW / G, and the distance (i.e. the distance that needs to be lifted to maintain the standing platform in the horizontal state) corresponding to each platform lifting cylinder is H = L*tanB, L = R*sin(D-A), and R is the radius of the circle formed by the platform lifting cylinder.

[0022] The bottom support is connected to the frame by a lifting system. The central column and the platform lifting cylinder are connected to the bracket. The driving motor is connected to the frame, and the driving motor is a waterproof motor. The power supply is arranged on the bottom support. The lifting system comprises a vertical positioning rod 25, two racks 26 slidingly connected to the frame in the front-rear direction, two gears 27 corresponding to the two racks, an inclination adjusting motor 28 (the inclination adjusting motor is a double-headed motor, and the two gears are connected to the rotating shaft 33 of the inclination adjusting motor), and a plurality of rows of height adjusting lifting cylinders 29. The upper end of the vertical positioning rod is fixed to the bottom support, and the lower end is arranged in the vertical sliding hole of the frame. The height adjusting lifting cylinders are parallel to each other and have equal lengths. One row of height adjusting lifting cylinders is connected to one rack (one row of height adjusting lifting cylinders has one). The upper end of the lifting cylinder is hingedly connected to the bottom support through an upper hinge shaft 30, and the lower end is hingedly connected to the rack through a lower hinge shaft 31. The upper hinge shaft and the lower hinge shaft are parallel, and the lower hinge shaft is perpendicular to the rack. The inclination adjusting motor is fixed to the frame. A plurality of support blocks 32 are arranged on the frame. When the standing platform is lowered to the lowest position by the lifting system, the standing platform is supported on the support blocks. The method for driving the standing platform to rise by the lifting system is as follows: the inclination adjusting motor drives the gear to rotate, the gear drives the rack to translate, the rack drives the height adjusting lifting cylinder to swing upward when the rack translates, and the height adjusting lifting cylinder is elongated when the height adjusting lifting cylinder swings to the vertical state. The method for driving the standing platform to descend by the lifting system is as follows: the height adjusting lifting cylinder is contracted to the shortest, then the inclination adjusting motor drives the gear to rotate, the gear drives the rack to translate, and the rack drives the height adjusting lifting cylinder to swing downward when the rack translates.

[0023] Finally, it should be noted that the above description is only a preferred embodiment of the present application and is not intended to limit the present application. Although the present application has been described in detail with reference to the foregoing embodiments, those skilled in the art can modify the technical solutions described in the foregoing embodiments or make equivalent replacements to some technical features. Any modification, equivalent replacement, improvement, etc. made within the spirit and principles of the present application shall be included in the protection scope of the present application.

Claims

1. A self-balancing scooter capable of wading, comprising a frame, wheels supporting the frame, a standing platform connected to the frame, a power system for driving the wheels to rotate, and a balance system for maintaining the standing platform in a horizontal state, characterized in that, It also includes a base, which is connected to the frame via a lifting system. The power system includes a drive motor and a power supply for the drive motor. The drive motor is connected to the frame and is waterproof. The power supply is located on the base and is connected to the drive motor via wires. The lifting system includes a vertical positioning rod, several horizontally slidably connected racks to the frame, gears meshing with the racks, an inclined adjustment motor for driving the gears, and several rows of height adjustment cylinders. The upper end of the vertical positioning rod is fixed to the base, and the lower end passes through... Within the vertical sliding holes on the frame, height-adjusting lifting cylinders are parallel to each other and of equal length. A row of height-adjusting lifting cylinders is connected to a rack. The upper end of each height-adjusting lifting cylinder is hinged to the base via an upper hinge shaft, and the lower end is hinged to the rack via a lower hinge shaft. The upper and lower hinge shafts are parallel, and the lower hinge shaft is perpendicular to the rack. The inclination adjustment motor is fixed to the frame. The lifting system drives the platform to rise as follows: the inclination adjustment motor drives the gear to rotate, the gear drives the rack to translate, and when the rack translates, it drives the height-adjusting lifting cylinders to swing upwards. When the height-adjusting lifting cylinders swing to the vertical position... In the straight position, the height-adjusting lifting cylinder extends; the method by which the lifting system drives the platform to descend is as follows: the height-adjusting lifting cylinder retracts to its shortest length, then the inclination adjustment motor drives the gear to rotate, the gear drives the rack to move horizontally, and when the rack moves horizontally, it drives the height-adjusting lifting cylinder to swing downwards; the balance system includes an imbalance reset mechanism and an imbalance position detection mechanism. The imbalance reset mechanism includes a central column and several platform lifting cylinders. The lower end of the central column is fixed together with the base, and the upper end is spherically hinged to the lower surface of the platform. The platform lifting cylinders are distributed on a circle centered on the central column. The upper end is fixed to the frame, and the lower end is hinged to the standing platform. The imbalance position detection mechanism is used to detect the tilt angle and tilt direction of the standing platform. When the imbalance position detection mechanism detects that the standing platform is tilted, the platform lifting cylinder below the plane that passes through the center line of the central column and is perpendicular to the plane determined by the tilt direction line of the standing platform and the center line of the central column extends, and the platform lifting cylinder above retracts, so that the standing platform returns to a balanced state. The plane that passes through the center line of the central column and is perpendicular to the plane determined by the tilt direction line of the standing platform and the center line of the central column is called the interface.The imbalance position detection mechanism includes a pendulum and an angle sensor. One end of the pendulum has a connecting sleeve that is fitted onto the central column and can rotate on the central column. The other end has a sliding hole extending radially along the central column. A load cell and a weight ball are installed in the sliding hole. The load cell is located on the side of the weight ball away from the central column and is used to detect the force of the weight ball rolling away from the central column. The angle sensor is used to detect the angle A of the pendulum rotating about the central column. The method to restore the platform to level is as follows: the platform lifting cylinder located below the interface extends by a distance H, and the platform lifting cylinder located above the interface retracts by a distance H, where H = R * sin(DA) * tan(arcsinW / G), and R is the radius of the circle. D is the initial value of the angle between the plane and the interface between the platform lifting cylinder and the central column, that is, the angle between the plane where the platform lifting cylinder is located and the interface when A is 0°. The plane between the platform lifting cylinder and the central column is called the plane where the platform lifting cylinder is located. R is the radius of the circle. W is the weight detected by the weighing sensor. G is the weight of the ball.

2. A self-balancing scooter capable of wading, as described in claim 1, characterized in that, The vehicle frame is equipped with several support blocks. When the lifting system lowers the standing platform to its lowest position, the standing platform is supported on the support blocks.

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