CN103057635B - Bestriding type self-balancing two-wheeled electric car - Google Patents

Bestriding type self-balancing two-wheeled electric car Download PDF

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Publication number
CN103057635B
CN103057635B CN201110325763.XA CN201110325763A CN103057635B CN 103057635 B CN103057635 B CN 103057635B CN 201110325763 A CN201110325763 A CN 201110325763A CN 103057635 B CN103057635 B CN 103057635B
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China
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grab rail
vehicle frame
balancing
wheel
type self
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Expired - Fee Related
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CN201110325763.XA
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CN103057635A (en
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邹帆
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邹帆
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Abstract

The invention relates to an electric car, in particular to a bestriding type self-balancing two-wheeled electric car. The bestriding type self-balancing two-wheeled electric car comprises a car frame. A left wheel and a right wheel are symmetrically arranged on the car frame, and a left pedal and a right pedal are symmetrically arranged on the car frame. The car frame is provided with a grab rail. The top of the grab rail is provided with a steering grip. The left wheel and the right wheel are respectively driven by a motor. Each motor is connected with a self-balancing controller. The self-balancing controller is connected with an electronic top device. The steering grip is provided with an angular transducer. The bestriding type self-balancing two-wheeled electric car is small and exquisite in size, light in weight and capable of automatically keeping balance and is used for a single person as a tool for riding instead of walking. A user does not need to control the balance of the electric car and is free from riding exercise. The space occupied when the bestriding type self-balancing two-wheeled electric car is used is not larger than a necessary space when a human body naturally stands. The bestriding type self-balancing two-wheeled electric car is capable of steering in situ, and the user is capable of directly entering into an elevator and a room or taking a bus by using the bestriding type self-balancing two-wheeled electric car.

Description

Saddle ride type self-balancing electric motor car with two wheels
Technical field
The present invention relates to a kind of battery-driven car, especially a kind of saddle ride type self-balancing electric motor car with two wheels.
Technical background
Existing Electrical Bicycle continues to use the front and back wheel serial structure of traditional bicycle and man, keeps balance by occupant's human control, and driver need acquire skill through certain training and just can ride.The control circuit of this Electrical Bicycle is only responsible for providing power to alleviate occupant's physical demands, can not assist driving, in traveling driver arm strength burden and mental burden do not alleviate.This front and back wheel serial structure limits size and the turning distance of vehicle, makes bicycle cannot enter room and uses.
Summary of the invention
The object of this invention is to provide one and can control balance voluntarily, without the need to user's exercise and dirigible saddle ride type self-balancing electric motor car with two wheels.
To achieve these goals, the present invention adopts following technical scheme:
A kind of saddle ride type self-balancing electric motor car with two wheels, comprise a vehicle frame, described vehicle frame is symmetrically installed with left and right wheels and left and right pedal, described vehicle frame is installed a grab rail, grab rail top be provided with grasp direction for user turn to handle, described left and right wheels is driven by a motor respectively, described motor connection control electric machine rotation keeps the balance Control Scheme device of vehicle balance and motion, balance Control Scheme device connects the electronic gyroscope device that the change of detection vehicle body angle judges sense of motion, balance Control Scheme device and battery are installed in a control box, the described handle that turns to is provided with angular transducer, described angular transducer connects and sends steering angle signal to the differential rotation of balance Control Scheme device control left and right motor,
Described electronic gyroscope device is installed on vehicle frame or grab rail;
The keel type vehicle frame of described vehicle frame to be cross section be H-shaped, concave shape or undercut shape, described grab rail is located on the horizontal plate of keel type vehicle frame;
Described motor is the wheel hub motor be installed in wheel, is each passed through two vertical plates of keel type vehicle frame and fixes, be fixed with left and right pedal outside wheel shaft inside the wheel shaft of two wheel hub motors of the left and right sides.
Preferably, described grab rail comprises at least two sections can the sub-grab rail of relative telescopic, is connected between described sub-grab rail by telescopic shaft.
Preferably, described grab rail comprises at least two sections of sub-grab rails that can mutually fold, and is connected between described sub-grab rail by rotating shaft and locking mechanism.
Preferably, described pedal is installed on wheel shaft by the rotating shaft that can make pedal pack up and put down.
Preferably, the described handle that turns to is twisting structure, and described angular transducer is receive to turn to handle to twist the Hall element controlled.
Owing to have employed such scheme, saddle ride type self-balancing electric motor car with two wheels compact of the present invention, lightweight, automatically balance can be kept, is used as walking-replacing tool for single, user without the need to controlling the balance of vehicle, so without the need to driving exercise, and the space taken during riding this vehicle is no more than human body natural and stands necessary space, and can pivot stud in travelling, riding it can directly enter elevator, room, or to take bus.
Accompanying drawing explanation
Fig. 1 is the structural representation of the embodiment of the present invention;
Fig. 2 is the electrical module structural representation of the embodiment of the present invention.
Detailed description of the invention
The saddle ride type self-balancing electric motor car with two wheels of the present embodiment comprises a vehicle frame 1, described vehicle frame 1 is symmetrically installed with left wheel 2, right wheel 3 and left-hand tread plate 4, right-hand tread plate 5, described vehicle frame 1 is installed grab rail 6 grab rail 6 top be provided with grasp direction for user turn to handle 7, described left wheel 2, right wheel 3 is driven by a motor 8 and motor 8 ' respectively, described motor connection control electric machine rotation keeps the balance Control Scheme device 9 of vehicle balance and motion, balance Control Scheme device 9 connects the electronic gyroscope device 10 that the change of detection vehicle body angle judges sense of motion, balance Control Scheme device 9 and battery 11 to be installed in a control box 12, the described handle 7 that turns to is provided with angular transducer 13, described angular transducer 13 connects and sends steering angle signal to balance Control Scheme device 9 and controls the differential rotation of left and right motor, described electronic gyroscope device 10 is installed on vehicle frame 1 or grab rail 6.
Concrete, vehicle frame 1 due to the present embodiment needs to install grab rail 6 in centre, in both sides, left wheel 2, right wheel 3 are installed, so the vehicle frame 1 described in the present embodiment for cross section be the keel type vehicle frame of H-shaped, described grab rail is located on the horizontal plate of H-shaped keel type vehicle frame, described motor is the wheel hub motor be installed in wheel, be each passed through two vertical plates of H-shaped keel type vehicle frame inside the wheel shaft 14 of two wheel hub motors of the left and right sides and fix, outside wheel shaft 14, being fixed with left-hand tread plate 4, right-hand tread plate 5.In the application of reality, vehicle frame 1 also can be designed as concave shape or undercut shape, so also effectively can realize the installation of grab rail and wheel.
In motion, operator stands on the footrests and buttresses when turning to handle 7, and vehicle frame 1, left-hand tread plate 4, right-hand tread plate 5, wheel shaft 14 are fixing relative to human body, and left wheel 2, right wheel 3 then can freely rotate.When left wheel 2, right wheel 3 synchronous axial system of both sides, namely vehicle seesaws, and when the differential rotation of the left wheel 2 of both sides, right wheel 3, namely vehicle does divertical motion.Be provided with biaxial electronic gyroscopic apparatus 10 in keel type vehicle frame 1, the left wheel 2 of built-in wheel hub motor 8 and motor 8 ', right wheel 3 accept the driving of balance Control Scheme device.At stabilized conditions, vehicle frame and human body are vertical relative to the earth substantially, when this angle changes, the electronic gyroscope device 10 that vehicle frame is installed can detect that angle changes, drive left wheel 2 by balance Control Scheme device 9, right wheel 3 adjusts action, make vehicle frame 1 and human body return to state of equilibrium relative to the angle of the earth.In normal traveling, once working direction changes, electronic gyroscope device 10 also can detect angle change and send correction instruction to balance Control Scheme device 9, drives 2 wheels to adjust the working direction making vehicle keep correct.
In motion process, occupant stands on the footrests, both hands buttress the handle on grab rail, once forward lean, namely balance Control Scheme device drives 2 wheels to make vehicle body keep balance to preacceleration, health hypsokinesis, balance Control Scheme device also can drive wheel to produce backward acceleration and make vehicle body maintenance balance.If working direction changes by external interference, gyroscopic apparatus can detect angle change and send correction instruction to balance Control Scheme device, drives 2 wheels to adjust the working direction making vehicle keep correct.
In order to make the battery-driven car of the present embodiment easy to carry and store when not using, the present embodiment also proposes two kinds of schemes can reducing volume for grab rail, wherein a kind of be designed to described grab rail 6 to comprise at least two sections can the sub-grab rail 61 of relative telescopic, connected by telescopic shaft 15 between described sub-grab rail 61.Grab rail in accompanying drawing 1 is exactly carry out the grab rail structure of stretching by two cross-talk grab rails, and also can be designed as multistage during practical application, principle is identical with two-stage structure, repeats no more herein.
Except above-mentioned stretching structure, also propose a kind of folding scheme in the present embodiment, described grab rail comprises at least two sections of sub-grab rails that can mutually fold, and is connected between described grab rail by rotating shaft and locking mechanism.And can launch to receive and to use by the folding of sub-grab rail, this mode no longer accompanying drawing is described.
Pedal due to expansion is packed up when not using and also effectively can be reduced space shared when carrying and store, so the left-hand tread plate 4 described in the present embodiment, right-hand tread plate 5 are installed on wheel shaft respectively by the rotating shaft 16 that can make pedal pack up and put down.
When solving the problem controlling Vehicular turn, the described handle that turns to is designed to twist structure by the present embodiment, and described angular transducer is receive to turn to handle to twist the Hall element controlled.Turn to handle that Hall element can be made to produce turn sign by twisting.
The foregoing is only the preferred embodiments of the present invention; not thereby the scope of the claims of the present invention is limited; every utilize specification sheets of the present invention and accompanying drawing content to do equivalent structure or equivalent flow process conversion; or be directly or indirectly used in other relevant technical fields, be all in like manner included in scope of patent protection of the present invention.

Claims (5)

1. a saddle ride type self-balancing electric motor car with two wheels, it is characterized in that: comprise a vehicle frame, described vehicle frame is symmetrically installed with left and right wheels and left and right pedal, described vehicle frame is installed a grab rail, grab rail top be provided with grasp direction for user turn to handle, described left and right wheels is driven by a motor respectively, described motor connection control electric machine rotation keeps the balance Control Scheme device of vehicle balance and motion, balance Control Scheme device connects the electronic gyroscope device that the change of detection vehicle body angle judges sense of motion, balance Control Scheme device and battery are installed in a control box, the described handle that turns to is provided with angular transducer, described angular transducer connects and sends steering angle signal to the differential rotation of balance Control Scheme device control left and right motor,
Described electronic gyroscope device is installed on vehicle frame or grab rail;
The keel type vehicle frame of described vehicle frame to be cross section be H-shaped, concave shape or undercut shape, described grab rail is located on the horizontal plate of keel type vehicle frame;
Described motor is the wheel hub motor be installed in wheel, is each passed through two vertical plates of keel type vehicle frame and fixes, be fixed with left and right pedal outside wheel shaft inside the wheel shaft of two wheel hub motors of the left and right sides.
2. saddle ride type self-balancing electric motor car with two wheels as claimed in claim 1, is characterized in that: described grab rail comprises at least two sections can the sub-grab rail of relative telescopic, is connected between described sub-grab rail by telescopic shaft.
3. saddle ride type self-balancing electric motor car with two wheels as claimed in claim 1, is characterized in that: described grab rail comprises at least two sections of sub-grab rails that can mutually fold, and is connected between described sub-grab rail by rotating shaft and locking mechanism.
4. saddle ride type self-balancing electric motor car with two wheels as claimed in claim 2 or claim 3, is characterized in that: described pedal is installed on wheel shaft by the rotating shaft that can make pedal pack up and put down.
5. saddle ride type self-balancing electric motor car with two wheels as claimed in claim 4, is characterized in that: the described handle that turns to is twisting structure, and described angular transducer is receive to turn to handle to twist the Hall element controlled.
CN201110325763.XA 2011-10-21 2011-10-21 Bestriding type self-balancing two-wheeled electric car Expired - Fee Related CN103057635B (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201110325763.XA CN103057635B (en) 2011-10-21 2011-10-21 Bestriding type self-balancing two-wheeled electric car

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Application Number Priority Date Filing Date Title
CN201110325763.XA CN103057635B (en) 2011-10-21 2011-10-21 Bestriding type self-balancing two-wheeled electric car

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CN103057635B true CN103057635B (en) 2015-05-20

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Families Citing this family (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN104210594A (en) * 2013-06-03 2014-12-17 杭州华叉科技有限公司 Two-wheeled self-balancing trolley
CN103612696B (en) 2013-12-12 2015-01-14 常州爱尔威智能科技有限公司 Intelligent somatosensory fully-balanced electric motorcycle
CN105270524A (en) * 2014-07-10 2016-01-27 上海新世纪机器人有限公司 Small-sized self-balancing scooter
CN105438356B (en) * 2014-09-15 2017-02-08 常州爱尔威智能科技有限公司 Self-balanced two-wheel electric vehicle with external motors
CN105172961B (en) * 2015-10-14 2017-07-14 浙江大学 The single wheel double-ring surface bicycle that a kind of high sensitivity is turned to
CN105523122A (en) * 2015-12-28 2016-04-27 陈彪 Automatic walker
CN106005153A (en) * 2016-06-22 2016-10-12 王文辉 Double-wheeled self-balance vehicle

Citations (6)

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Publication number Priority date Publication date Assignee Title
CN101058329A (en) * 2007-04-03 2007-10-24 林龙钦 Portable electric walk replacing machine
CN101074039A (en) * 2007-07-16 2007-11-21 张一鸣 Automatic balanced electric bicycle
DE202007004010U1 (en) * 2007-03-14 2008-07-17 Wittenbauer, Rudolf, Dipl.-Ing. (FH) Stand for an invidual mobility vehicle
CN201228037Y (en) * 2008-06-16 2009-04-29 周惠兴 Two-wheel self balancing electric motor vehicle
CN201610202U (en) * 2009-10-21 2010-10-20 吕子民 Two-wheeled self-balancing electric vehicle
CN202429302U (en) * 2011-10-21 2012-09-12 邹帆 Bestridden self-balancing two-wheeled electromobile

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE202007004010U1 (en) * 2007-03-14 2008-07-17 Wittenbauer, Rudolf, Dipl.-Ing. (FH) Stand for an invidual mobility vehicle
CN101058329A (en) * 2007-04-03 2007-10-24 林龙钦 Portable electric walk replacing machine
CN101074039A (en) * 2007-07-16 2007-11-21 张一鸣 Automatic balanced electric bicycle
CN201228037Y (en) * 2008-06-16 2009-04-29 周惠兴 Two-wheel self balancing electric motor vehicle
CN201610202U (en) * 2009-10-21 2010-10-20 吕子民 Two-wheeled self-balancing electric vehicle
CN202429302U (en) * 2011-10-21 2012-09-12 邹帆 Bestridden self-balancing two-wheeled electromobile

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Granted publication date: 20150520

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