CN101780816A - Non-coaxial left-right wheeled driving vehicle structure - Google Patents
Non-coaxial left-right wheeled driving vehicle structure Download PDFInfo
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- CN101780816A CN101780816A CN 201010130351 CN201010130351A CN101780816A CN 101780816 A CN101780816 A CN 101780816A CN 201010130351 CN201010130351 CN 201010130351 CN 201010130351 A CN201010130351 A CN 201010130351A CN 101780816 A CN101780816 A CN 101780816A
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Abstract
The invention relates to a non-coaxial left-right wheeled driving vehicle structure, which relates to a personal supplementary transportation vehicle; the structure comprises a pedal (9) which is used for drivers to tread, a vehicle body which supports the pedal to connect a driving part in parallel, a left-right driving first wheel (10L) and a left-right driving second wheel (10R) which are located under the pedal at the left and right sides of the vehicle body, can support the vehicle body in a rotating way and are non-coaxial, a handle (1) which is used for drivers to hold and control directions and a spring mechanism which resets the handle, wherein, the whole vehicle and drivers can be supported by the left-right driving wheels (10L) and (10R) in the rotating way; the direction is controlled by deflecting the handle, the vehicle is not easy to sideslip and turnover and is easy to carry and store.
Description
Technical field:
The present invention relates to the auxiliary vehicle of a kind of individual, relate in particular to a kind of people of having and drive by control system by detecting people and body gravity deviation angle and controlling the intelligent scooter of its operation.
Background technology:
Double-wheel self-balancing device and technique functions come from the inverted pendulum theory, have invented similar two-wheeled balancing device by Japanese mountain rattan one hero the earliest, and 2002 to 2003 continuous mutually is used for ibot wheelchair technology and segway two-wheeled balance truck by u s company.Be used for the market, golf course, airports etc. are considered to the epoch-making vehicle.Japanese Toyota Company began to develop similar products in 2008.
A kind of such vehicle of the prior art is for example disclosing in the patent documentation 1.In patent documentation 1, its described vehicle is that " automatic balanced electric bicycle; two-wheeled is distributed in driver's the left and right sides comprises compartment vertical rod, circuit, wheel, electrical motor and driving circuit thereof, angle and angular velocity sensor, storage battery, panel processing handle assembly, turns to control mechanism, foot-operated sensor.”
The effect that the expectation of coaxial vehicle obtains in the patent documentation 1 is " to provide a kind of control and that the driving circuit topological structure is simple, reliability is high, battery is easy to change, turn to is easy, be convenient to transport and the automatic balanced electric bicycle of uphill/downhill implementation, safe and convenient, low cost of manufacture.”。
In addition, open in patent documentation 2 for example as such vehicle of another kind of the prior art.Disclosed vehicle is that " under the very high state that drives of center of gravity, the rider can stablize and travels, and its upper body part can wigwag motion in patent documentation 2.This vehicle comprises: be used for the pedal that the driver drives; Car body; When travel direction is set to rolling axis,, this car body can on the rotating direction that rotates around rolling axis, change attitude as the center thereby supporting described pedal; A pair of wheel.This is positioned at the both sides of same axis on the direction vertical with described car body travel direction to wheel and is rotatably supported by described car body; A pair of independent drive and the described wheel driver of rotation to wheel; With the handle that is used for directly changing the attitude of described pedal or changes described attitude by described car body indirectly.”
According to the vehicle in the patent documentation 2 with appeal structure, wish that the effect reach is " inclining when trembling ground-surface because action of gravity when travelling; and when turning to and the rider is in the standing state center-of-gravity position when very high; because action of centrifugal force; rider's upper body part also can wigwag motion and instability, and vehicle also can overturn when working as such power and become excessive.”
[patent documentation 1] publication application No 200710130309.2
[patent documentation 2] publication application No 200610089876.3
But in above-mentioned patent documentation 1 described vehicle, the upper surface of its pedal is continuous, and two-wheeled is coaxial, and after car body bore a heavy burden, wear on tyres was bigger, and centnifugal force is when becoming big, and car body is turned on one's side easily; The described vehicle of this patent is when tilted road surface drives in addition, and car body, pedal, handle all are in heeling condition, makes the rider uncomfortable, and the danger that rollover takes place is arranged.
About the principle of the easy rollover of patent documentation 1 described vehicle, referring to the detailed argumentation of patent documentation 2 " technical background " part; Patent documentation 1 described vehicle is on tilted road surface the time, and driver's arm wants the far place of outreach health to remove operating handle, and is uncomfortable and cause danger easily, referring to accompanying drawing 1.
And in above-mentioned patent documentation 2 described vehicles, car body is a parallel linkage, the interlock of the handle that is used to turn to and car body, and this structure attempts to solve easily upset and in the problem of tilted road surface human discomfort of coaxial two-wheel vehicle, effect is unsatisfactory, and weak point is as follows:
1. flat road surface turns to
When patent documentation 2 described vehicle low speed long radiuss turn to, need rotation to be positioned at the accelerator ring of handle upper end; During the low speed small radius steering, need rotation accelerator ring and two actions of deflection handle to be superimposed together and to realize; Only need the deflection handle during high speed steering again.Like this, the different radii under friction speed turns to action required to differ, and is very loaded down with trivial details, and the driver is difficult to define the exact value of present speed and turn radius in the reality, so not easy to operate; Especially accelerator ring, the driver is difficult to come the turn direction of maneuver vehicle intuitively by its rotation direction, and is about being very easy to obscure, accidents caused; In addition, because the interlock of handle and driver's stretcher, the deflection of handle drives the inclination of pedal, when low speed turns to, is easy to the dangerous and unsettled sensation to the people especially.
2. wheel is positioned on the step or vehicle is positioned on the tilted road surface
Though patent documentation 2 described left and right vehicle wheel stretchers are rotatable, when a wheel was set foot on step or is positioned at tilted road surface, the driver needed a control process, shown in accompanying drawing 2A, 2B.Among the accompanying drawing 2A, pedal needs clickwise just can reach the state of pedal parallel, horizontal face among the accompanying drawing 2B.
Suppose that accompanying drawing 2A gravity center of human body's this moment is positioned at above the pedal TR, analyze as can be known for hinge-point D, gravity G and ground bearing capacity N all produce anticlockwise moment, this moment, the driver need impose on the anticlockwise moment that the very big power F of handle (F is converted to direct directed force F again ') just can overcome G and N generation, made pedal tilt to the state of parallel, horizontal face to clockwise direction.This process handle rotation is heavy, is difficult to operation.
And above the gravity center of human body is positioned at the left side pedal TL time, gravity G and ground bearing capacity N produce opposite sense moment, cancel out each other, and driver's swing handle relatively easily makes pedal tilt to the state of parallel, horizontal face to clockwise direction like this.Even yet reach state as accompanying drawing 2B, though about two pedal parallel, horizontal faces, but but there is diff-H, it must be that a side leg is tightened that the driver stands on it, the bending of opposite side leg, and the leg of tightening not only will support self gravitation also will overcome the restoring force of handle elastic element, and is not easy to operate.
In sum, patent documentation 2 described vehicles are when a wheel is positioned on the step or is positioned on the tilted road surface, and the driver at first needs center of gravity is moved to some pedals, and swing handle is to vertical position then.Whole operation flow process complexity needs very high skill, even operation has accomplished that last experience effect is undesirable again.In fact, such vehicle is accidents caused easily in these type of road conditions, very rare and should avoid in environment that it is suitable for as far as possible, even this type of road conditions occur, vehicle also can pass through the short time, also has little time to do corresponding operating concerning the driver, so this vehicle structure and inapplicable.
In addition, patent documentation 2 described vehicle structure complexity, the assemble flow complexity, the car load framework easily produces the gap at fore-and-aft direction.
The similar vehicles of prior art exists vehicle easily upset and operating process very complicated, is difficult to problems such as driver's safety and comfort senses.
Practice finds that the comfort level of driver on such vehicle knows by hand and feel that mainly the perception that pin is compared the angle that tilts to the perception of height is responsive more; Do when initiatively moving when the need trick cooperates, people's comfort level can descend; When the driver of such vehicle stood on above the car body in addition, the passive change of its center of gravity was poorer than the traveling comfort that initiatively changes.
Summary of the invention:
The purpose of this invention is to provide a kind of non-coaxial left-right wheeled driving vehicle structure, its flexible operation, simple is easy to carry, and is difficult for upset, safety and stability hommization in the driving process.
In order to solve the existing problem of background technology, the present invention is by the following technical solutions: vehicle comprises a pedal 9 that supplies the driver to trample, and has anti-skidding and limit features on the pedal; A sustain pedal also connects the car body of drive element, wherein pedal and car body relative fixed; The driving first wheel 10L, the second wheel 10R of a pair of rotatable support car body, the first wheel 10L, the second wheel 10R lay respectively at the car body left and right sides and are positioned at the pedal below; The first wheel 10L, the second wheel 10R are non-coaxial, and wheel leaning angle and angle of toein can be set as required.One help for the driver and controlling party to handle 1 and the elastic mechanism that handle is resetted; The driver can install or remove handle as required, adjusts the handle height, folding handles to minimum volume, display equipment and control convenience are installed to handle; Handle 1 can swing and automatically reset, and swinging of handle 1 do not influence the attitude of pedal and car body, handle 1 axis that is centered on that swings is positioned at the car body left and right directions plane of symmetry and has the inclination angle that is tilted to ground level, fitting operation knob on the handle, handle and indication panel and be fixed on loudspeaker on the handle and lamps and lanterns etc.; Its flexible operation, simple is easy to carry, and is difficult for upset, safety and stability hommization in the driving process.
Design-calculated car body of the present invention mainly is made of a part, is convenient to produce, and reduces the fitting work amount, has advantages such as the reliable and good airproof performance of intensity simultaneously again; The drive wheels leaning angle still can effectively prevent rollover when centnifugal force is big; Expandable handle not only can adapt to driver's operating habit easily, and very easy to carry and store; The wearing or featuring stage armour hand rotates realizes that the mode that turns to is intuitively convenient, makes the driver fully experience the comfort of people's car one.Only need stir handle left when needing left steering, and the handle that is tilted to the left transmits signal on the one hand and gives controller, guide driver's health to be tilted to the left on the other hand to overcome the centnifugal force when turning to; Steering principle is the same to the right.The present invention so handle just guides the driver initiatively to do corresponding attitude adjustment, rather than forces the passive adjustment of driver because the handle rotation can not produce interlock with car body, has so just improved traveling comfort.The handle S. A. that has the angle of inclination in addition can make handle keep the distance of constant with human body in steering procedure, has improved the hommization degree greatly; And telescopic handle makes car load be easy to carry, and it is little to deposit requisite space.Design-calculated torsion spring rotating mechanism of the present invention, simple in structure, stable, it is little to take up room, with low cost, and driver's feel is more comfortable.
Description of drawings:
Fig. 1 is the scheme drawing of the travel conditions of patent documentation 1 described vehicle on inclination or road surface in the background technology;
Fig. 2 A is the scheme drawing of initial attitude when patent documentation 2 described vehicles are by step or tilted road surface in the background technology;
Fig. 2 B is the scheme drawing that holds position when patent documentation 2 described vehicles are by step or tilted road surface in the background technology;
Fig. 3 A is the front elevation of non-coaxial left-right wheeled driving vehicle structure of the present invention;
Fig. 3 B is the lateral plan of non-coaxial left-right wheeled driving vehicle structure of the present invention;
Fig. 3 C is the birds-eye view of non-coaxial left-right wheeled driving vehicle structure of the present invention;
Fig. 4 is the cross section view of non-coaxial left-right wheeled driving vehicle structure of the present invention along C-C;
Fig. 5 A is non-coaxial left-right wheeled driving vehicle structure of the present invention tire introversion scheme drawing when straight-line travelling;
Fig. 5 B is non-coaxial left-right wheeled driving vehicle structure of the present invention tire leaning angle when turning to scheme drawing that changes;
Fig. 6 is the non-coaxial left-right wheeled driving vehicle structure of the present invention principle key drawing that prevents to turn on one's side;
Fig. 7 is a non-coaxial left-right wheeled driving vehicle structure tyre toe-in angle scheme drawing of the present invention;
Non-coaxial left-right wheeled driving vehicle structure of the present invention carries out the steering operation scheme drawing to Fig. 8 for the driver drives;
Fig. 9 is in the contraction state scheme drawing for non-coaxial left-right wheeled driving vehicle structure expandable handle of the present invention;
Figure 10 shrinks and helps for non-coaxial left-right wheeled driving vehicle structure expandable handle of the present invention and presss from both sides slew mode scheme drawing forward;
Figure 11 is a non-coaxial left-right wheeled driving vehicle structure handle elastic reseting part structure principle chart of the present invention;
Figure 12 is the present invention's second embodiment front elevation and lateral plan.
The specific embodiment:
Referring to 3A, 3B, 3C and Fig. 4, this specific embodiment is by the following technical solutions: it comprises a pedal 9 of trampling for the driver, a sustain pedal also connects the car body of drive element, drive the first wheel 10L, the second wheel 10R about a pair of rotatable support car body, one help for the driver and controlling party to handle 1 and the elastic mechanism that handle is resetted, wherein rotatable support car load of driving wheels 10L, 10R and driver.
Described car body mainly comprises pedal 9, the first side plate 11L of a pair of sustain pedal 9, the second side plate 11R, reach front apron 8, base plate 42, back shield 18, upper cover plate 24, switch cover 23, indicator lamp fixed way 7, indicator lamp 26, also comprise control circuit system 28, control circuit system stay bearing plate 27, battery 41, battery bonnet 43, and first parking bracket 13, second parking bracket 14; Wherein, pedal 9 is made by a flat board, its size equals or is a bit larger tham people's pin, for preventing that driver's pin from breakking away, the slight first boss 9a, the second boss 9b are arranged respectively in pedal 9 both sides, for detecting the people unmanned state is arranged in addition, the pedal both sides are equipped with foot-operated switch button mounting hole near interposition, are separately installed with the first foot-operated switch 25L1, the second foot-operated switch 25L2, the 3rd foot-operated switch 25R1, the 4th foot-operated switch 25R2; There is inclined-plane 8a front apron 8 middle upper portion positions, jug flexible restoring organ mounting hole 8b above the inclined-plane 8a, and hole 8b axis and horizontal surface have certain inclination angle; First parking bracket 13, second parking bracket 14 can make stop position be in a suitable angle, with the sensation of the most comfortable, simultaneously, when great slope travels, can prevent by scratch by car body when getting on the bus to the driver.
Drive element mainly comprises the first wheel 10L, the second wheel 10R, the first CD-ROM drive motor 11L, the second CD-ROM drive motor 11R, the first clamping wheel hub 19L, the second clamping wheel hub 19R, nut 20.The first wheel 10L, the second wheel 10R and the first CD-ROM drive motor 11L, the second CD-ROM drive motor 11R distribute and are bound up by clamping the first clamping wheel hub 19L, the second clamping wheel hub 19R and spiral shell 20 mothers, thereby realize that wheel and motor rotate synchronously; Left and right sides wheel motor axis disalignment wherein, and certain angle is arranged with horizontal surface, thus realized the introversion of wheel, actv. has prevented the sideslip and the overturning of car body.
Referring to Fig. 5 A, left and right sides wheel motor center line disalignment, and have certain angle to be distributed as α, β with horizontal direction.Referring to Fig. 5 B, work as Ackermann steer angle, because action of centrifugal force, more weight can turn on the wheel in the outside, and the outboard wheels pressurized increases, and the inboard wheel pressurized reduces, and at this moment, the angle of inclination beta of nearside wheel is reduced to β
1, and thereby the wheel inward flange can have to contact preferably to increase friction force and stops side direction to be skidded with the road surface; Simultaneously, the increase of off-side wheel inclination alpha is α
1, felly and road surface are had adhere to preferably to stop the sideslip of vehicle.On the other hand, the wheel introversion can also effectively prevent the vehicle overturning.In order to make left and right sides two-wheeled pulsation-free straight-line travelling, revise because the wheel that the wheel introversion causes turns to the inside, introduced the outside angle of toein γ (referring to Fig. 7) of wheel, be zero thereby make positive and negative, about two wheel straightawaies.
Referring to Fig. 6, mark G represents rider's gravitational vector among Fig. 6, and F represents the centripetal force vector, and W represents the resultant force vector of G and F, and A, B distribute and represent left and right wheels and ground contact point, and C represents resultant force vector W extended line and ground-surface intersection point.Learnt by theory of mechanics: when the C point is positioned at A, in the time of between the B point, vehicle can overturning: when the C point overlapped with A or B point, vehicle was positioned at a critical conditions; When the C point is positioned at A, in the time of outside the B point, vehicle just can overturning.Obviously, when centnifugal force was constant, the C point was constant, and this moment, the B point outwards moved because the wheel introversion causes A, thereby made the required reverse moment that overcomes of overturning increase, so the firm not prone to tip over of this structure.
Compositions such as grip member mainly comprises hand steered 1, adapter 2, one-level bar 3, tightening knob 4, secondary bar 5, lower adaptor 7.The driver drives steering hardware by the deflection handle and rotates, and passes to control system with the sensor sensing signal and with signal, realizes handling maneuver with this.Grip member has the bevelled rotation axis, and when turning to, hand steered 1 keeps roughly the same distance with health all the time, can not make the people that constriction (as shown in Figure 8) is arranged like this.The handlebar stem part can be stretched, and when the driver need carry or deposit, rotation tightening knob 4 can make one-level bar 3 be contracted in the hollow secondary bar 5 (as shown in Figure 9); In order further to be easy to carry, can also be with hand steered 1 Rotate 180 ° (as shown in figure 10) backward.
Referring to Figure 11, the elastic mechanism that handle resets is by torsion spring 31, S. A. 32, and bearing 30,33, nut 29,36, torsion spring rotation front end cover 37, torsion spring rotation rear side housing 44, torsion spring is end cap 34 fixedly, torsion spring fixed cover 39, limited post 38 is formed.Torsion spring fixedly end cap 34 and torsion spring fixed cover 39 all has the identical chute of a size, the relative changing of the relative positions of chute torsion spring 31 prestretching certain angles after, fixing fixedly end cap 34 and torsion spring fixed cover of torsion spring.All there is a taper hole at torsion spring rotation front end cover 37 and rear side housing 44 centers, compress and become one with S. A. 32 two ends cone match and by nut 36,29 respectively.Handle attaching parts 6 is connected with torsion spring rotation front end cover 37, and handle attaching parts 6 rotates and can drive 37 rotations of torsion spring rotation front end cover.When handle does not rotate is that handle is when being in the intermediate equilibria position, torsion spring 31 1 ends and torsion spring rotation front end cover 37 are tangent at a place, the other end and torsion spring rotation rear side housing 44 is tangent at the b place, with torsion spring fixedly the limited post 38 that is fixed together of end cap 34 be in the midway location of c place limit sliding chutes; When handle rotates; direction as shown in the figure; torsion spring rotation front end cover 37 drives torsion spring 31 1 ends and rotates; this moment the torsion spring other end to be stuck in the b place by the chute on the torsion spring fixed cover 39 motionless; be rotated further handle, when the limited post 38 of limit sliding chutes on the torsion spring rotation front end cover 37 blocked, handle promptly turned to end position; and this moment, torsion spring 31 was not stuck by the rear side housing chute, spacing spring had been played protective effect.During opposite sense, principle is also like this.Unclamp handle, handle is because the restoring force effect automatically reverts to midway location.
Referring to Figure 12, be the present invention's second embodiment front elevation and lateral plan; This embodiment has further been simplified component production technology, about two wheel axis coaxial and be parallel to ground level, leaning angle and angle of toein all are zero, other compositions are all identical with first embodiment with annexation.
Claims (6)
1. non-coaxial left-right wheeled driving vehicle structure is characterized in that it comprises: a pedal (9) of trampling for the driver has anti-skidding and limit features on the pedal; A sustain pedal also connects the car body of drive element, wherein pedal and car body relative fixed; Driving first wheel (10L) of a pair of rotatable support car body, second wheel (10R), first wheel (10L), second wheel (10R) lay respectively at the car body left and right sides and are positioned at the pedal below; First wheel (10L), second wheel (10R) are non-coaxial, and wheel leaning angle and angle of toein can be set as required; One help for the driver and controlling party to handle (1) and the elastic mechanism that handle is resetted; The driver can install or remove handle as required, adjusts the handle height, folding handles to minimum volume, display equipment and control convenience are installed to handle; Handle (1) can swing and automatically reset, and swinging of handle (1) do not influence the attitude of pedal and car body, and handle (1) axis that is centered on that swings is positioned at the car body left and right directions plane of symmetry and has the inclination angle that is tilted to ground level.
2. a kind of non-coaxial left-right wheeled driving vehicle structure according to claim 1, it is characterized in that described car body mainly comprises pedal (9), first side plate (11L) of a pair of sustain pedal (9), second side plate (11R), and front apron (8), base plate (42), back shield (18), upper cover plate (24), switch cover (23), indicator lamp fixed way (7), indicator lamp (26), also comprise control circuit system (28), control circuit system stay bearing plate (27), battery (41), battery bonnet (43), and first parking bracket (13), second parking bracket (14); Wherein, pedal (9) is made by a flat board, its size equals or is a bit larger tham people's pin, for preventing that driver's pin from breakking away, in pedal (9) both sides slight first boss (9a), second boss (9b) are arranged respectively, for detecting the people unmanned state is arranged in addition, the pedal both sides are equipped with foot-operated switch button mounting hole near interposition, are separately installed with first foot-operated switch (25L1), second foot-operated switch (25L2), the 3rd foot-operated switch (25R1), the 4th foot-operated switch (25R2); There is inclined-plane (8a) front apron (8) middle upper portion position, jug flexible restoring organ mounting hole (8b) above inclined-plane (8a), and hole (8b) axis and horizontal surface have certain inclination angle; First parking bracket (13), second parking bracket (14) can make stop position be in a suitable angle, and with the sensation of the most comfortable, simultaneously, when great slope travelled, car body can prevent by scratch when getting on the bus to the driver.
3. a kind of non-coaxial left-right wheeled driving vehicle structure according to claim 1, it is characterized in that drive element mainly comprises first wheel (10L), second wheel (10R), first CD-ROM drive motor (11L), second CD-ROM drive motor (11R), first clamping wheel hub (19L), second clamping wheel hub (19R), nut (20); First wheel (10L), second wheel (10R) distribute with first CD-ROM drive motor (11L), second CD-ROM drive motor (11R) and are bound up by clamping first clamping wheel hub (19L), second clamping wheel hub (19R) and spiral shell (20) mother, thereby realize that wheel and motor rotate synchronously; Left and right sides wheel motor axis disalignment wherein, and certain angle is arranged with horizontal surface, thus realized the introversion of wheel, actv. has prevented the sideslip and the overturning of car body.
4. one one kinds of non-coaxial left-right wheeled driving vehicle structures according to claim 1 is characterized in that left and right sides wheel motor center line disalignment, and have certain angle to be distributed as α, β with horizontal direction; Work as Ackermann steer angle, because action of centrifugal force, more weight can turn on the wheel in the outside, and the outboard wheels pressurized increases, and the inboard wheel pressurized reduces, and at this moment, the angle of inclination beta of nearside wheel is reduced to β
1, and thereby the wheel inward flange can have to contact preferably to increase friction force and stops side direction to be skidded with the road surface; Simultaneously, the increase of off-side wheel inclination alpha is α
1, felly and road surface are had adhere to preferably to stop the sideslip of vehicle; On the other hand, the wheel introversion can also effectively prevent the vehicle overturning; In order to make left and right sides two-wheeled pulsation-free straight-line travelling, revise because the wheel that the wheel introversion causes turns to the inside, introduced the outside angle of toein γ of wheel, be zero thereby make positive and negative, about two wheel straightawaies.
5. a kind of non-coaxial left-right wheeled driving vehicle structure according to claim 1 is characterized in that grip member mainly comprises hand steered (1), adapter (2), one-level bar (3), tightening knob (4), secondary bar (5), lower adaptor (7) composition; The driver drives steering hardware by the deflection handle and rotates, and passes to control system with the sensor sensing signal and with signal, realizes handling maneuver with this; Grip member has the bevelled rotation axis, and when turning to, hand steered (1) keeps roughly the same distance with health all the time, can not make the people that constriction is arranged like this; The handlebar stem part can be stretched, when the driver need carry or deposit, rotation tightening knob (4) can make one-level bar (3) be contracted in the hollow secondary bar (5), be in lower end and two the wheel support car bodies of the one-level bar (3) under the contraction state, make car body be in a stabilized conditions; In order further to be easy to carry, can also be with hand steered (1) Rotate 180 ° backward.
6. a kind of non-coaxial left-right wheeled driving vehicle structure according to claim 1, it is characterized in that the elastic mechanism that handle resets is by torsion spring (31), S. A. (32), bearing (30), (33), nut (29), (36), torsion spring rotation front end cover (37), torsion spring rotation rear side housing (44), torsion spring is end cap (34) fixedly, torsion spring fixed cover (39), limited post (38) is formed; Torsion spring fixedly end cap (34) and torsion spring fixed cover (39) all has the identical chute of a size, the relative changing of the relative positions of chute torsion spring (31) prestretching certain angle after, fixing fixedly end cap (34) and torsion spring fixed cover of torsion spring; All there is a taper hole at torsion spring rotation front end cover (37) and rear side housing (44) center, compress and become one with S. A. (32) two ends cone match and by nut (36), (29) respectively; Handle attaching parts (6) is connected with torsion spring rotation front end cover (37), and handle attaching parts (6) rotates and can drive torsion spring rotation front end cover (37) rotation; When handle does not rotate is that handle is when being in the intermediate equilibria position, torsion spring (31) one ends and torsion spring rotation front end cover (37) are tangent at a place, the other end and torsion spring rotation rear side housing (44) is tangent at the b place, with torsion spring fixedly the limited post (38) that is fixed together of end cap (34) be in the midway location of c place limit sliding chutes; When handle rotates, direction as shown in the figure, torsion spring rotation front end cover (37) drives torsion spring (31) one ends and rotates, this moment the torsion spring other end to be stuck in the b place by the chute on the torsion spring fixed cover (39) motionless, be rotated further handle, the limited post of limit sliding chutes (38) on torsion spring rotation front end cover (37) is when blocking, and handle promptly turns to end position, and torsion spring this moment (31) is not stuck by the rear side housing chute, spacing spring has been played protective effect; During opposite sense, principle is also like this; Unclamp handle, handle is because the restoring force effect automatically reverts to midway location.
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| CN 201010130351 CN101780816A (en) | 2010-03-23 | 2010-03-23 | Non-coaxial left-right wheeled driving vehicle structure |
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| CN102826147A (en) * | 2012-09-28 | 2012-12-19 | 上海新世纪机器人有限公司 | Reset mechanism and steering device of self-balancing two-wheeled robot utilizing reset mechanism |
| CN102826148A (en) * | 2012-09-28 | 2012-12-19 | 上海新世纪机器人有限公司 | Elastic reset mechanism and self-balancing two-wheeled vehicle steering device thereof |
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| CN104943798A (en) * | 2015-07-01 | 2015-09-30 | 泰华宏业（天津）机器人技术研究院有限责任公司 | Steering assembly with automatic reset function |
| CN105059082A (en) * | 2015-08-25 | 2015-11-18 | 北京麒仁同创科技有限公司 | Wheel axle torsional spring balancer |
| WO2015196319A1 (en) * | 2014-06-24 | 2015-12-30 | 纳恩博（天津）科技有限公司 | Driving mode detection device and detection method for dynamic balance car |
| CN105501378A (en) * | 2016-01-12 | 2016-04-20 | 蒋孝富 | Movement control method of self-balancing electromobile |
| CN108473169A (en) * | 2015-11-30 | 2018-08-31 | 可可汽车株式会社 | One riding mobile device |
| CN109383696A (en) * | 2017-08-02 | 2019-02-26 | 杭州骑客智能科技有限公司 | Human-computer interaction body-sensing vehicle and its forward method |
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