CN204659913U - A kind of Self-Balancing vehicle - Google Patents
A kind of Self-Balancing vehicle Download PDFInfo
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- CN204659913U CN204659913U CN201520320668.4U CN201520320668U CN204659913U CN 204659913 U CN204659913 U CN 204659913U CN 201520320668 U CN201520320668 U CN 201520320668U CN 204659913 U CN204659913 U CN 204659913U
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Abstract
The utility model discloses a kind of Self-Balancing vehicle, comprise fuselage, be arranged at two wheels of both sides below described fuselage, two pedals being arranged at two described lateral wheels respectively and the direction controlling bar be connected with described fuselage; Control system is provided with in fuselage, described wheel is connected with described control system respectively with described direction controlling bar, be connected through the hinge between pedal and described Self-Balancing vehicle, non-driving condition pedal homonymy fuselage of can vertically fitting is packed up, reduce the size of whole car body, two wheels are to take turns by the coaxially parallel of differential, have not only facilitated Self-Balancing vehicle to turn to but also have met the groundwork form of tire, extend tire life, guarantee driving safety; Direction controlling bar is telescopic rod or collapsible rod, is both applicable to the crowd of different height, can is folded in certain size by direction controlling bar under non-driving state again; Unit design is reasonable, and volume is little, easy to operate, crossing ability and good portability, uses body sense comfortable, meets the long-time demand travelled.
Description
Technical field
The utility model relates to Self-Balancing vehicle field, is a kind of Self-Balancing vehicle.
Background technology
Self-Balancing vehicle as a kind of vehicle, under the background that the consciousness such as people's energy-conserving and environment-protective and healthy trip day by day strengthens, gradually understand by people and accept.Because its volume is little, lightweight, the feature such as flexible operation and new style, Self-Balancing vehicle both can be used for daily travelling frequently, and also can be used as a fashionable recreation campaign of spare time.
Self-Balancing vehicle, also known as the car that acts as regent, thinking car, body sense car etc., is come by external transliteration at first, is developed the earliest by Di's grace toll bar (Dean Kamen) of the U.S., and achieve commercialization volume production December calendar year 2001.Its operation principles is mainly based upon one and is called as in the groundwork of " dynamic stability " (Dynamic Stabilization), utilize gyroscope and the acceleration pick-up of vehicle body, detect the change of vehicle body attitude, and utilize servo control unit, accurately drive motor adjusts accordingly, with the balance of keeping system.
Self-Balancing vehicle is the form of two-wheeled in early days, includes car body, two vehicles, battery, direction controlling bar and control system etc.; Two wheels are arranged at car body both sides respectively, and battery and control system to be embedded in car body and to be connected with tire, and control stalk is directly connected with car body.Through the development of more than ten years, two-wheeled balance truck mainly can be divided into stretcher at present between two-wheeled and stretcher to be positioned on two-wheeled two kinds.Wherein stretcher is positioned at the Self-Balancing vehicle on two-wheeled, and commercially volume reckling length is about 0.5m at present, width generally more than 0.3m, highly about 0.3m (not containing control stalk).The limited major cause of two-wheeled balance truck car body size compression it to have the platform of standing for driver or being seated, if supercompression land lengths size, causes car body to be difficult to cosily carry driver.Two-wheeled balance truck volume is relatively large, heavier-weight, and price is relatively high, and therefore use inconvenience relatively, marketing has difficulties.
Since single wheel balance truck emerged from 2011, because its volume is little, lightweight, relative low price, constantly by people are accepted.The basic comprising of wheelbarrow is similar with two-wheel car, but does not have direction controlling bar, and the torsion that its travel direction relies on human body both legs to produce realizes.Although the small volume and less weight of single wheel balance truck, also exists problems, as drivers need spend the plenty of time to learn to travel, the traveling comfort of traveling, stability and safety are poor, and these problems all govern the popularization of single wheel balance truck.In the last few years for the traveling comfort of single wheel balance truck and the situation of less stable, there were many improvement designs.Wherein most importantly change single wheel balance truck wheel into two synchronized wheels, change 2 supports into by some support, the stability of car body is improved thus.But owing to still must turn to by foot control system, permanent use is uncomfortable; Simultaneously owing to there is no control stalk, compared with the handling and two-wheeled balance truck having control stalk of actual travel, still have deficiency.
Utility model content
The technical problems to be solved in the utility model is to provide a kind of compact, is easy to carry, uses comfortable and cross the high Self-Balancing vehicle of barrier property.
For solving the problems of the technologies described above, a kind of Self-Balancing vehicle of the utility model by the following technical solutions, comprise fuselage, be arranged at two wheels of both sides below described machine respectively, the pedal vertically fitting in homonymy fuselage and the direction controlling bar be connected with described fuselage can be packed up for two that are arranged at two described lateral wheels respectively, control system is provided with in fuselage, described wheel is connected with described control system respectively with described direction controlling bar, be connected through the hinge between each described pedal and described Self-Balancing vehicle, two described wheels are to change nyctitropic coaxially parallelly to take turns by the differential of two wheels, described direction controlling bar is telescopic rod or collapsible rod, described telescopic rod is the multistage pipe joint be mutually socketed on together, is provided with detachable and fastening bindiny mechanism between adjacent pipe joint, described collapsible rod is also folding multistage pole, for axle connects between adjacent pole.
The utility model, two described wheels share a motor by diff, or two described wheels are provided with two independently motors.
The utility model, described in two, independently motor can be the wheel hub motor of turbine one, or for power being outputted to respectively by change-speed box the individual motor of described two wheels.
The utility model, described direction controlling masthead end be connected with can around described direction controlling bar rotate controlling party to control handle; Described control handle can be provided with the control handle controlling Self-Balancing vehicle and advance, retreat and accelerate, slow down; Described direction control handle is connected with fuselage controlling system by direction controlling bar with described control handle.
The utility model, described direction controlling masthead end be connected with can drive whole direction controlling bar swing controlling party to control handle; Described control handle can be provided with the control handle controlling Self-Balancing vehicle and advance, retreat and accelerate, slow down; Described direction control handle is connected with fuselage controlling system by direction controlling bar with described control handle.
The utility model; position near wheel between pedal and described wheel described in every side is provided with the apron of cover part wheel; simultaneously; before described fuselage and described two wheels, aft section region is provided with screened housing; described screened housing connects and is supported on described fuselage, and the pedal described in every side is connected through the hinge with apron described in homonymy respectively.
The utility model, the width of described fuselage is 100 ~ 300 millimeters, and the diameter of described wheel is 200 ~ 600 millimeters.
Further, the utility model, the width of described fuselage is 150 ~ 250 millimeters, and the diameter of described wheel is 250 ~ 450 millimeters.
Further, the utility model, the tyre width of described wheel is 20 ~ 60 millimeters.
Further, the utility model arranges cushion on described fuselage, can arrange storage tank between described fuselage and described cushion.
Compared with prior art, a kind of Self-Balancing vehicle of the present utility model, two described wheels are coaxially can take turns by the parallel of differential, fuselage size is the size just wrapping two tires, coaxially can parallel wheel of differential Self-Balancing vehicle be both facilitated to turn to, meet again the grown form of tire working, extend tire life, guarantee that traveling is safer; Described pedal is positioned at two lateral wheels and is connected through the hinge, and can pack up at non-driving condition pedal, and vertical laminating homonymy fuselage, significantly reduces the size of whole car body; Direction controlling bar is telescopic rod or collapsible rod, direction controlling bar height can arbitrarily regulate, be applicable to the crowd of different height, meet ergonomics, operation is lighter, when can carry under non-driving state, is accommodated in fuselage interior after being compressed by direction controlling bar simultaneously, or direction controlling bar is folded in certain size, is easy to carry.
The mode that the utility model can take control handle to rotate around described direction controlling bar changes direction, or also can adopt and swing described control handle to the left or to the right by arm and drive whole direction controlling bar to swing the mode of adjustment direction to the left or to the right, compare and rely on people's leg torsion force to realize the mode turned to, save muscle power, be easy to operate and turn to more flexibly easily.It is special within whole car body is compressed to certain size, time car body stability reduces, adopt the mode that control handle rotates around described direction controlling bar, if occur suddenly in driving process that car body is turned left or turn right when toppling over, realize overall balance by hand force contrarotation control handle, there is outstanding advantage.Described control handle can be provided with the control handle controlling Self-Balancing vehicle and advance, retreat and accelerate, slow down; Described direction control handle is connected with fuselage controlling system by direction controlling bar with described control handle.User can control direction and the speed of balance truck by described control handle simultaneously, greatly improves driving comfort.
The foot of the described baffle plate be made into integration and screened housing isolation user and wheel, both protected the safety of user, and the dust globule taken up when can effectively avoid wheel to advance again etc. pollute driver's clothing; Described car body protective case connects and is supported on described fuselage, and the pedal described in every side is connected through the hinge with baffle plate described in homonymy respectively, increases steadiness and the safety of described pedal further.
According to human engineering, the long 750mm of general adult's leg, when bipod spacing is between 100mm to 350mm, human body can be stood to relative comfort for a long time; Balance truck wheel diameter is generally greater than 8 cun (200mm) could meet basic trafficability characteristic, tire size is larger, then the angle of attach of tire interface obstacle is larger, corresponding trafficability characteristic is better, but tire size is larger, the size of tire adds the weight of whole car body accordingly, so must obtain a balance between the trafficability characteristic of Self-Balancing vehicle and portability.Two-wheeled width between centers refers to the distance of two-wheeled geometric centre, and two-wheeled width between centers is larger, then car body anti-roll capability is better, and riding stability is better, but two-wheeled width between centers strengthens simultaneously, and the distance that driver's bipod separates is larger, and driver comfort reduces.In given two-wheeled width between centers situation, tire width is less, then the fuselage width size of wrapping up wheel is less.In this programme, described fuselage width is 100 ~ 300 millimeters, and wheel diameter is 200 ~ 600 millimeters, both met in the comfort standard of human body bipod spacing, ensure that user can stand traveling for a long time, crossing ability and the portability requirements of Self-Balancing vehicle can be ensured again, rational in infrastructure.
Further, when described fuselage width is 150 ~ 250 millimeters, wheel diameter is 250 ~ 450 millimeters, and Self-Balancing vehicle is further balanced between trafficability characteristic and portability, and user feels more comfortable.
The tyre width of wheel is 20 ~ 60 millimeters, under general mild road traveling state, tire width for during 20mm substantially to meet antidetonation required by car body and load request.
When user adopts midstance, long-time traveling easily causes health discomfort tired out, and arranging cushion can person easy to use adopt sitting posture to travel for a long time.Can arrange storage tank between described fuselage and described cushion, belongings are put into storage tank by person easy to use, alleviate the heavy burden of human body.
The utility model provides a kind of Self-Balancing vehicle, and unit design is reasonable, and volume is little, and quality is light, easy to operate, saves muscle power, has good crossing ability and portability, meet human engineering, use body sense comfortable, can meet the demand of long-duration driving.
Accompanying drawing explanation
Below in conjunction with the drawings and specific embodiments, the utility model is explained in further detail.
Fig. 1 is Self-Balancing vehicle motoring condition front elevation.
Fig. 2 is Self-Balancing vehicle motoring condition lateral plan.
Fig. 3 is Self-Balancing vehicle carrier state front elevation.
Fig. 4 is Self-Balancing vehicle carrier state lateral plan.
Fig. 5 is band cushion and storage tank Self-Balancing vehicle motoring condition front elevation.
Fig. 6 is band cushion and storage tank Self-Balancing vehicle motoring condition lateral plan.
Fig. 7 uses Self-Balancing vehicle human body to stand schematic diagram.
Detailed description of the invention
A kind of Self-Balancing vehicle, comprise fuselage 10, be arranged at two wheels 20 of both sides below described fuselage 10 respectively, the direction controlling bar 40 being arranged at two pedals 30 outside two described wheels 20 respectively and being connected with described fuselage 10, control system is provided with in fuselage 10, wheel 20 is connected with described control system respectively with described direction controlling bar 40, be connected through the hinge between each described pedal 30 and described Self-Balancing vehicle, each described pedal 30 can be packed up and vertically fit in homonymy fuselage 10, described wheel 20 is change nyctitropic coaxially parallelly to take turns by the differential of two wheels, two wheels share a motor by diff, the power of motor is distributed in as required on two wheels 20, two wheels can be synchronized, or differential, or inverted running, described direction controlling bar 40 is the multistage pipe joint be mutually socketed on together, is provided with detachable and fastening bindiny mechanism between adjacent pipe joint.
Described direction controlling bar 40 top be connected with can around described direction controlling bar 40 rotate controlling party to control handle 50, described control handle 50 can be provided with the control handle controlling Self-Balancing vehicle and advance, retreat and accelerate, slow down; Described direction control handle 50 is connected with fuselage 10 controlling system by direction controlling bar 40 with described control handle.User can control direction and the speed of balance truck by described control handle simultaneously, greatly improves driving comfort.
Described direction control handle 50 is connected with fuselage 10 controlling system by direction controlling bar 40.
Position near wheel 20 between pedal 30 and described wheel 20 described in every side is provided with the apron of cover part wheel 20; simultaneously; before described fuselage 10 and described two wheels 20, aft section region is provided with screened housing; described screened housing connects and is supported on described fuselage 10, and the pedal 30 described in every side is connected through the hinge with apron described in homonymy respectively.
Described Self-Balancing vehicle fuselage width is 200 millimeters, and wheel diameter is 300 millimeters, and wheel width is 40 millimeters, and described pedal 30 wide is 120 millimeters, and length is 270 millimeters, and described pedal 30 is 100 millimeters apart from the height on ground.
As shown in Figure 1, Figure 2 and Figure 7, when travelling, put down described pedal 30, direction controlling bar 40 is adjusted to proper height, user's both legs are naturally separately comfortable to be stood on described pedal 30, by the control handle 50 travel direction adjustment on both hands rotation direction control stalk top gently, save muscle power, be easy to operation and turn to more flexibly easily.
As shown in Figure 3, Figure 4, under non-driving state, upwards pack up described pedal 30, make the fuselage of its vertical laminating homonymy, direction controlling bar 40 is compressed to most short status downwards, whole car body is compact small and exquisite, is convenient for carrying.
Same described direction controlling bar can adopt the multistage pole of collapsible rod in the above-described embodiment, is that axle connects between adjacent pole.
In the above-described embodiment, two described wheels 20 can be provided with two independently motors, by controlling the Power output of two motors respectively, and scheme conventionally, realizing two wheels can synchronized or differential or inverted running; When adopting double-motor mode, motor can be the wheel hub motor of turbine one, or for power being outputted to respectively by change-speed box the individual motor of described two wheels 20.
In the above-described embodiment, described direction controlling bar 40 top be connected with can drive whole direction controlling bar swing controlling party to control handle 50, by arm to the left or to the right weave control handle 50 drive whole direction controlling bar to swing to the left or to the right, and then travel direction adjustment.Described control handle 50 can be provided with the control handle controlling Self-Balancing vehicle and advance, retreat and accelerate, slow down; Described direction control handle 50 is connected with fuselage 10 controlling system by direction controlling bar 40 with described control handle.User can control direction and the speed of balance truck by control handle 50 simultaneously, greatly improves driving comfort
In the above-described embodiment, described Self-Balancing vehicle fuselage 10 width can be 100 ~ 300 millimeters, and the diameter of described wheel 20 can be 200 ~ 600 millimeters.
In the above-described embodiment, the width of described fuselage 10 can be 150 ~ 250 millimeters, and the diameter of described wheel 20 can be 250 ~ 450 millimeters.
In the above-described embodiment, described pedal 30 is wide can be 100 ~ 150 millimeters, and length can be 200 ~ 300 millimeters, and described pedal 30 can be 50 ~ 180 millimeters apart from the height on ground, described tread width and length all should be not less than the size of ordinary people's sole, more cosily stand with person easy to use.
In the above-described embodiment, the tyre width of described wheel 20 can be 20 ~ 60 millimeters.
As shown in Figure 7, when fuselage 10 width is 200mm, wheel 20 diameter is 350mm, this size belongs to middle position (scope A) in the comfort standard of user's bipod spacing, its riding stability and trafficability characteristic relative equilibrium, it is applicable to general road conditions, and can cross over general road barrier.
As shown in Figure 7, when fuselage 10 width is 150mm, wheel 20 diameter is 450mm, and this size reaches highly the highest (scope B) in the comfort standard of user's bipod spacing, and because its wheel diameter is comparatively large, therefore trafficability characteristic is relatively better; And fuselage width is less, so riding stability is slightly poor.It is applicable to the road conditions of more complicated, is even applicable to limit cross-country movement.
As shown in Figure 7, when fuselage 10 width is 250mm, wheel 20 diameter is 250mm, and this size reaches width the widest (scope C) in the comfort standard of user's bipod spacing, and because its fuselage width is comparatively large, therefore riding stability is relatively better; And wheel diameter is less, so trafficability characteristic is slightly poor, it is applicable to milder road surface
As shown in Figure 5, Figure 6, described fuselage 10 is provided with cushion 60, and person easy to use takes sitting posture to travel for a long time, can arrange storage tank 70 between described fuselage 10 and described cushion 60.
The foregoing is only preferred embodiment of the present utility model, not in order to limit the utility model, all within spirit of the present utility model and principle, any amendment made, equivalent replacement, improvement etc., all should be included within protection domain of the present utility model.
Claims (10)
1. a Self-Balancing vehicle, it is characterized in that: comprise fuselage (10), be arranged at two wheels (20) of both sides, described fuselage (10) below respectively, the pedal (30) vertically fitting in homonymy fuselage (10) and the direction controlling bar (40) be connected with described fuselage (10) can be packed up for two that are arranged at two described wheel (20) outsides respectively, fuselage is provided with control system in (10), described wheel (20) is connected with described control system respectively with described direction controlling bar (40), be connected through the hinge between each described pedal (30) and described Self-Balancing vehicle, two described wheels (20) are change nyctitropic coaxially parallelly to take turns by the differential of two wheels, described direction controlling bar (40) is telescopic rod or collapsible rod,
Described telescopic rod is the multistage pipe joint be mutually socketed on together, is provided with detachable and fastening bindiny mechanism between adjacent pipe joint;
Described collapsible rod is also folding multistage pole, for axle connects between adjacent pole.
2. Self-Balancing vehicle as claimed in claim 1, is characterized in that: two described wheels (20) share a motor by diff, or two described wheels (20) are provided with two independently motors.
3. Self-Balancing vehicle as claimed in claim 2, is characterized in that: described in two, independently motor can be the wheel hub motor of turbine one, or for power being outputted to respectively by change-speed box the individual motor of described two wheels.
4. Self-Balancing vehicle as claimed in claim 1, is characterized in that: described direction controlling bar (40) top be connected with can around the rotation of described direction controlling bar (40) come controlling party to control handle (50); Described control handle (50) can be provided with the control handle controlling Self-Balancing vehicle and advance, retreat and accelerate, slow down; Described direction control handle (50) is connected with fuselage (10) controlling system by direction controlling bar (40) with described control handle.
5. Self-Balancing vehicle as claimed in claim 1, is characterized in that: described direction controlling bar (40) top be connected with can drive whole direction controlling bar (40) swing controlling party to control handle (50); Described control handle (50) can be provided with the control handle controlling Self-Balancing vehicle and advance, retreat and accelerate, slow down; Described direction control handle (50) is connected with fuselage (10) controlling system by direction controlling bar (40) with described control handle.
6. the Self-Balancing vehicle as described in any one of claim 1-5; it is characterized in that: the apron being provided with cover part wheel (20) described in every side between pedal (30) and described wheel (20) near the position of wheel (20); simultaneously; before described fuselage (10) and described two wheels (20), aft section region is provided with screened housing; described screened housing connects and is supported on described fuselage (10), and the pedal (30) described in every side is connected through the hinge with apron described in homonymy respectively.
7. Self-Balancing vehicle as claimed in claim 6, it is characterized in that: the width of described fuselage (10) is 100 ~ 300 millimeters, the diameter of described wheel (20) is 200 ~ 600 millimeters.
8. Self-Balancing vehicle as claimed in claim 7, it is characterized in that: the width of described fuselage (10) is 150 ~ 250 millimeters, the diameter of described wheel (20) is 250 ~ 450 millimeters.
9. the Self-Balancing vehicle as described in any one of claim 7 or 8, is characterized in that: the tyre width of described wheel (20) is 20 ~ 60 millimeters.
10. Self-Balancing vehicle as claimed in claim 9, it is characterized in that: cushion (60) is set on described fuselage (10), storage tank (70) can be set between described fuselage (10) and described cushion (60).
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| Application Number | Priority Date | Filing Date | Title |
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| CN201520320668.4U CN204659913U (en) | 2015-05-18 | 2015-05-18 | A kind of Self-Balancing vehicle |
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| CN201520320668.4U CN204659913U (en) | 2015-05-18 | 2015-05-18 | A kind of Self-Balancing vehicle |
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Cited By (18)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN105329388A (en) * | 2015-12-01 | 2016-02-17 | 杭州骑客智能科技有限公司 | Electric balance car |
| CN105329387A (en) * | 2015-12-01 | 2016-02-17 | 杭州骑客智能科技有限公司 | Electric balance car |
| CN105346643A (en) * | 2015-12-01 | 2016-02-24 | 杭州骑客智能科技有限公司 | Electrodynamic balance bike |
| CN105416484A (en) * | 2015-12-01 | 2016-03-23 | 杭州骑客智能科技有限公司 | Electric balance car |
| CN105416485A (en) * | 2015-12-01 | 2016-03-23 | 杭州骑客智能科技有限公司 | Electric balance car |
| CN105416464A (en) * | 2015-12-01 | 2016-03-23 | 杭州骑客智能科技有限公司 | Electric balance car |
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| CN106005153A (en) * | 2016-06-22 | 2016-10-12 | 王文辉 | Double-wheeled self-balance vehicle |
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| CN106828725A (en) * | 2017-01-04 | 2017-06-13 | 杭州骑客智能科技有限公司 | Human-computer interaction body-sensing car |
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| CN105346643A (en) * | 2015-12-01 | 2016-02-24 | 杭州骑客智能科技有限公司 | Electrodynamic balance bike |
| CN105416484B (en) * | 2015-12-01 | 2023-09-19 | 浙江骑客机器人科技有限公司 | electric balance car |
| CN105416464A (en) * | 2015-12-01 | 2016-03-23 | 杭州骑客智能科技有限公司 | Electric balance car |
| CN105329387A (en) * | 2015-12-01 | 2016-02-17 | 杭州骑客智能科技有限公司 | Electric balance car |
| CN105416484A (en) * | 2015-12-01 | 2016-03-23 | 杭州骑客智能科技有限公司 | Electric balance car |
| CN105416485A (en) * | 2015-12-01 | 2016-03-23 | 杭州骑客智能科技有限公司 | Electric balance car |
| CN108883798B (en) * | 2016-03-23 | 2021-11-26 | 福特全球技术公司 | Hidden scooter |
| CN108883798A (en) * | 2016-03-23 | 2018-11-23 | 福特全球技术公司 | Concealable scooter |
| CN105905209A (en) * | 2016-06-08 | 2016-08-31 | 安徽士华机电设备科技有限公司 | Folding scooter |
| CN105905209B (en) * | 2016-06-08 | 2019-01-18 | 安徽士华机电设备科技有限公司 | A kind of folding scooter |
| CN106005153A (en) * | 2016-06-22 | 2016-10-12 | 王文辉 | Double-wheeled self-balance vehicle |
| CN106240699A (en) * | 2016-08-10 | 2016-12-21 | 尚艳燕 | A kind of electrodynamic balance car |
| WO2018027664A1 (en) * | 2016-08-10 | 2018-02-15 | 尚艳燕 | Electric balance vehicle |
| WO2018027663A1 (en) * | 2016-08-10 | 2018-02-15 | 尚艳燕 | Electric balance vehicle |
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| WO2018027662A1 (en) * | 2016-08-10 | 2018-02-15 | 尚艳燕 | Electric balance vehicle |
| WO2018032396A1 (en) * | 2016-08-17 | 2018-02-22 | 尚艳燕 | Electric balancing vehicle |
| CN106828725A (en) * | 2017-01-04 | 2017-06-13 | 杭州骑客智能科技有限公司 | Human-computer interaction body-sensing car |
| CN106828725B (en) * | 2017-01-04 | 2022-11-15 | 浙江骑客机器人科技有限公司 | Vehicle is felt to human-computer interaction body |
| CN110678381A (en) * | 2017-01-30 | 2020-01-10 | 陈星� | Self-balancing device of center wheel structure |
| CN107021163A (en) * | 2017-04-28 | 2017-08-08 | 深圳市高斯拓普科技有限公司 | A kind of Novel balance car |
| CN108451126A (en) * | 2018-04-13 | 2018-08-28 | 常州摩本智能科技有限公司 | Intelligent luggage carrier |
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