CN103723225A - Self-balancing electric monocycle and auxiliary wheel set thereof - Google Patents
Self-balancing electric monocycle and auxiliary wheel set thereof Download PDFInfo
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- CN103723225A CN103723225A CN201410014920.9A CN201410014920A CN103723225A CN 103723225 A CN103723225 A CN 103723225A CN 201410014920 A CN201410014920 A CN 201410014920A CN 103723225 A CN103723225 A CN 103723225A
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- swinging strut
- auxiliary wheel
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- mounting bracket
- wheel
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62H—CYCLE STANDS; SUPPORTS OR HOLDERS FOR PARKING OR STORING CYCLES; APPLIANCES PREVENTING OR INDICATING UNAUTHORIZED USE OR THEFT OF CYCLES; LOCKS INTEGRAL WITH CYCLES; DEVICES FOR LEARNING TO RIDE CYCLES
- B62H1/00—Supports or stands forming part of or attached to cycles
- B62H1/10—Supports or stands forming part of or attached to cycles involving means providing for a stabilised ride
- B62H1/12—Supports or stands forming part of or attached to cycles involving means providing for a stabilised ride using additional wheels
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L50/00—Electric propulsion with power supplied within the vehicle
- B60L50/50—Electric propulsion with power supplied within the vehicle using propulsion power supplied by batteries or fuel cells
- B60L50/60—Electric propulsion with power supplied within the vehicle using propulsion power supplied by batteries or fuel cells using power supplied by batteries
- B60L50/66—Arrangements of batteries
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62H—CYCLE STANDS; SUPPORTS OR HOLDERS FOR PARKING OR STORING CYCLES; APPLIANCES PREVENTING OR INDICATING UNAUTHORIZED USE OR THEFT OF CYCLES; LOCKS INTEGRAL WITH CYCLES; DEVICES FOR LEARNING TO RIDE CYCLES
- B62H1/00—Supports or stands forming part of or attached to cycles
- B62H1/02—Articulated stands, e.g. in the shape of hinged arms
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62K—CYCLES; CYCLE FRAMES; CYCLE STEERING DEVICES; RIDER-OPERATED TERMINAL CONTROLS SPECIALLY ADAPTED FOR CYCLES; CYCLE AXLE SUSPENSIONS; CYCLE SIDE-CARS, FORECARS, OR THE LIKE
- B62K1/00—Unicycles
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62K—CYCLES; CYCLE FRAMES; CYCLE STEERING DEVICES; RIDER-OPERATED TERMINAL CONTROLS SPECIALLY ADAPTED FOR CYCLES; CYCLE AXLE SUSPENSIONS; CYCLE SIDE-CARS, FORECARS, OR THE LIKE
- B62K11/00—Motorcycles, engine-assisted cycles or motor scooters with one or two wheels
- B62K11/007—Automatic balancing machines with single main ground engaging wheel or coaxial wheels supporting a rider
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62K—CYCLES; CYCLE FRAMES; CYCLE STEERING DEVICES; RIDER-OPERATED TERMINAL CONTROLS SPECIALLY ADAPTED FOR CYCLES; CYCLE AXLE SUSPENSIONS; CYCLE SIDE-CARS, FORECARS, OR THE LIKE
- B62K15/00—Collapsible or foldable cycles
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L2200/00—Type of vehicles
- B60L2200/14—Vehicles with one wheel only
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L2220/00—Electrical machine types; Structures or applications thereof
- B60L2220/40—Electrical machine applications
- B60L2220/44—Wheel Hub motors, i.e. integrated in the wheel hub
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L2240/00—Control parameters of input or output; Target parameters
- B60L2240/10—Vehicle control parameters
- B60L2240/26—Vehicle weight
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L2260/00—Operating Modes
- B60L2260/20—Drive modes; Transition between modes
- B60L2260/34—Stabilising upright position of vehicles, e.g. of single axle vehicles
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62M—RIDER PROPULSION OF WHEELED VEHICLES OR SLEDGES; POWERED PROPULSION OF SLEDGES OR SINGLE-TRACK CYCLES; TRANSMISSIONS SPECIALLY ADAPTED FOR SUCH VEHICLES
- B62M9/00—Transmissions characterised by use of an endless chain, belt, or the like
- B62M9/04—Transmissions characterised by use of an endless chain, belt, or the like of changeable ratio
- B62M9/06—Transmissions characterised by use of an endless chain, belt, or the like of changeable ratio using a single chain, belt, or the like
- B62M9/10—Transmissions characterised by use of an endless chain, belt, or the like of changeable ratio using a single chain, belt, or the like involving different-sized wheels, e.g. rear sprocket chain wheels selectively engaged by the chain, belt, or the like
- B62M9/12—Transmissions characterised by use of an endless chain, belt, or the like of changeable ratio using a single chain, belt, or the like involving different-sized wheels, e.g. rear sprocket chain wheels selectively engaged by the chain, belt, or the like the chain, belt, or the like being laterally shiftable, e.g. using a rear derailleur
- B62M9/131—Front derailleurs
- B62M9/134—Mechanisms for shifting laterally
- B62M9/1342—Mechanisms for shifting laterally characterised by the linkage mechanisms
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/70—Energy storage systems for electromobility, e.g. batteries
Abstract
The invention discloses a self-balancing electric monocycle and an auxiliary wheel set thereof. The self-balancing electric monocycle comprises a machine shell, a motor wheel, a controller, pedals, a battery and the auxiliary wheel set. The controller and the battery are arranged in the machine shell, the pedals are located at the lower ends of the two sides of the machine shell, the controller is used for controlling moving of the self-balancing electric monocycle, and the battery is used for supplying power to the self-balancing electric monocycle. The auxiliary wheel set is arranged at the lower end of a body of the electric monocycle and is provided with an auxiliary wheel and a rotation mechanism, and the rotation mechanism enables the auxiliary wheel to be in a running state, a dragging state and an auxiliary learning state respectively. The self-balancing electric monocycle can improve stability and the learning effect of a learner when the learner learns to ride the monocycle, and meanwhile safety during the exercise process is improved.
Description
Technical field
The present invention relates to Self-balancing electronic wheelbarrow field.
Background technology
Self-balancing electronic wheelbarrow be suitable for travelling frequently every day use or during weekend as an outdoor activity.Under the day by day serious background of environmental pollution, Self-balancing electronic wheelbarrow, as a kind of walking-replacing tool of novel environment friendly, can be alleviated consumption and the aerial contamination of resource.
Self-balancing electronic wheelbarrow is controlled the anterior-posterior balance of car body by reversible pendulum system principle, user only need keep the left and right balance of car body.After user is placed on pin respectively on the folding step of wheel both sides, the health that turns forward is gently to advance, and receding is to slow down, left and the health that is tilted to the right be to turn.It is more severe that body forward tilts, and speed is just faster, and a series of revolving gears in car guarantee that it can keep balance.
Self-balancing electronic wheelbarrow is energy-saving and environmental protection of new generation, portable walking-replacing tool, and it is inner by programming control, and speed limit, at 16km/h, is taken into account road speed when assurance is safe.Charge 2 hours, the 25km that can travel, short distance is ridden instead of walk very convenient, can replace public transport and subway.The electric unicycle bodily form is small and exquisite, easy to carry, and the lightest a 9.8kg that only has can directly put the boot of automobile into, mentions family or office.
As U.S. patent of invention US2011220427A1 user is placed on pin respectively on the pedal of wheel both sides, by medial leg, clamp car body, regulate centre of body weight to realize left and right balance.Because user just controls the balance of car body by bipod and shank, cause balance very difficult, during enforcement, turn round wayward.Particularly beginner, not good with the center of gravity control of health for having an effect of pin leg, most beginner's medial legs can produce pain.Meeting accident while falling, user cannot be car controlling body, easily meets accident to wound or car body damages.
Summary of the invention
The object of this invention is to provide a kind of auxiliary wheel structure and Self-balancing electronic wheelbarrow of multiduty Self-balancing electronic wheelbarrow, auxiliary wheels make auxiliary wheel group be positioned at respectively CAL state and driving, tow state by rotating mechanism.
For achieving the above object, the invention provides a kind of auxiliary wheels of Self-balancing electronic wheelbarrow, described Self-balancing electronic wheelbarrow comprises casing, electric locomotive wheel, controller, stretcher and battery, described controller and described battery are placed in described casing inside, described stretcher is positioned at lower end, described casing both sides, described controller is for controlling the operation of described Self-balancing electronic wheelbarrow, described battery is used to described Self-balancing electronic wheelbarrow power supply, described auxiliary wheels are installed on described electric unicycle car body lower end and are provided with auxiliary wheel and rotating mechanism, described rotating mechanism make auxiliary wheel can be respectively in driving, tow state and CAL state, wherein:
Described driving and described in tow under state, the periphery of the outstanding described electric locomotive wheel of described auxiliary wheel periphery, and described auxiliary wheel has certain terrain clearance, there is certain angle on straight line and ground that its nadir and electric locomotive wheel nadir are formed by connecting, when described angle is arranged so that on described wheelbarrow downslope described in auxiliary wheel can not connect and touch ground; And
Under described CAL state, described auxiliary wheel is positioned at described stretcher below.
The angular range that the straight line that the nadir of auxiliary wheel and electric locomotive wheel nadir are formed by connecting and ground form can be 15～40 degree.Preferably, this angle is 20～35 degree.Preferably, this angle is 25～30 degree.
In one preferred embodiment, also can be provided with attaching parts on electric unicycle, described attaching parts is arranged in the installation shaft at electric locomotive wheel center, and auxiliary wheels are arranged on described attaching parts.
In another embodiment, auxiliary wheels can be arranged on casing.
In one preferred embodiment, auxiliary wheels are located at the lower end of wheelbarrow car body, at least one group of left and right, and described in one group, auxiliary wheels comprise at least one auxiliary wheel, swinging strut and mounting bracket, wherein auxiliary wheel is arranged on described swinging strut, described swinging strut is connected to described mounting bracket rotationally, and described mounting bracket is arranged on wheelbarrow car body lower end.
In one preferred embodiment, under CAL state, there is certain distance on described auxiliary wheel nadir and ground, and this distance is arranged in wheelbarrow and tilts while being greater than certain angle, and described auxiliary wheel contacts with ground.Preferably, this angle is 2-8 degree.
In another preferred embodiment, auxiliary wheels comprise auxiliary wheel, swinging strut, mounting bracket, locating dowel pin, spring and lock screw, wherein, described auxiliary wheel is arranged on swinging strut, described swinging strut is connected in described mounting bracket rotationally by lock screw, described mounting bracket is arranged on electric unicycle vehicle bottom, described in described spring housing on locating dowel pin and pack in the hole that described mounting bracket is provided with, described swinging strut is provided with concave surface, and locating dowel pin is positioned on described concave surface.
Preferably, described mounting bracket and swinging strut are made by metal or high-intensity plastics.
In another preferred embodiment, auxiliary wheels comprise auxiliary wheel, mounting bracket, swinging strut one and swinging strut two, limiting stopper one and limiting stopper two, rotary screw, locating dowel pin and spring, wherein,
Described auxiliary wheel is arranged on described swinging strut two, described swinging strut two-way over-rotation screw is installed in rotation on described swinging strut one, described swinging strut one is installed in rotation on described mounting bracket by rotary screw, described mounting bracket is fixed to wheelbarrow car body lower end by screw, described spring is inserted on described locating dowel pin and is installed on described swinging strut one
Described limiting stopper one, limiting stopper two are respectively equipped with chute and concave surface, described swinging strut one is provided with slide block, described limiting stopper one and described limiting stopper two are inserted in described slide block by the described chute arranging on it, and are positioned on the concave surface arranging on described limiting stopper one and described limiting stopper two and are connected to described swinging strut one by described locating dowel pin.
Preferably, described limiting stopper one and limiting stopper two are also provided with portion of the handle, for the limiting stopper that slides.
Preferably, described rotary screw is attachment screw.
Preferably, on described swinging strut two, be also provided with registration mast, for coordinating with the hole arranging on stretcher or pit, with at auxiliary wheels during in CAL state, the location that coordinates by auxiliary wheels with stretcher.
In another preferred embodiment, auxiliary wheels comprise auxiliary wheel, swinging strut, mounting bracket, rotary screw and locating dowel pin, wherein, described auxiliary wheel is arranged on described swinging strut, described swinging strut is arranged on described mounting bracket, described mounting bracket is fixed on electric unicycle car body lower end, described swinging strut is provided with two dowel holes, described mounting bracket is provided with a dowel hole, described locating dowel pin inserts respectively in the dowel hole of described swinging strut and described mounting bracket, so that described swinging strut and described mounting bracket are fixed together, and during described swinging strut rotation, first extract described locating dowel pin out, treating that described swinging strut rotates to reinstalls described locating dowel pin under CAL state.
Preferably, auxiliary wheel is cardan wheel.
According to a further aspect in the invention, a kind of multiduty Self-balancing electronic wheelbarrow is also provided, described Self-balancing electronic wheelbarrow comprises casing, electric locomotive wheel, controller, stretcher and battery, described controller and described battery are placed in described casing inside, described stretcher is positioned at lower end, described casing both sides, described controller is for controlling the operation of described Self-balancing electronic wheelbarrow, described battery is used to described Self-balancing electronic wheelbarrow power supply, it is characterized in that, described electric unicycle also comprises auxiliary wheels, described auxiliary wheels are provided with auxiliary wheel and rotating mechanism, described rotating mechanism make auxiliary wheel can be respectively in driving, tow state and CAL state, wherein:
Described driving and described in tow under state, the periphery of the outstanding described electric locomotive wheel of described auxiliary wheel periphery, and described auxiliary wheel has certain terrain clearance, there is certain angle on straight line and ground that its nadir and electric locomotive wheel nadir are formed by connecting, described angle be arranged so that when described wheelbarrow downslope described in auxiliary wheel can not connect and touch ground; And
Under described CAL state, described auxiliary wheels are positioned at described stretcher below.
Preferably, electric unicycle also comprises the handgrip that can fold, and handgrip is located at the described any side in casing front and back, and is arranged on described casing.
Preferably, attaching parts can be made of metal.
Preferably, the shell of casing is made by high-intensity plastics conventionally.
The handgrip that can fold can be located at the described any side in casing front and back, and is arranged on described casing.
Preferably, described stretcher can be rotated down on certain angle, and is made by metal or high-intensity Plastic Parts.
Self-balancing electronic wheelbarrow of the present invention is energy-saving and environmental protection, portable walking-replacing tool, simple in structure, handling strong.Under learning state, auxiliary wheel is center below stretcher, improves learner stability and results of learning in wheelbarrow process is ridden in study, promotes the safety in exercise process simultaneously.Driving, towing under state by the combination of handgrip and auxiliary wheels, make vehicle can pull walking.Auxiliary wheels and wheel form 3 placements simultaneously, can put arbitrarily on the ground, do not need other supplemental support.
Accompanying drawing explanation
Fig. 1 and 2 illustrates respectively according to the structural perspective of the Self-balancing electronic wheelbarrow of one embodiment of the invention and STRUCTURE DECOMPOSITION block diagram;
The lateral plan of the auxiliary wheel structure of Self-balancing electronic wheelbarrow that Fig. 3 illustrates Fig. 1 when abnormal driving state;
Lateral plan and the block diagram of the auxiliary wheel structure of Self-balancing electronic wheelbarrow that Figure 4 and 5 illustrate respectively Fig. 1 when a kind of CAL state;
The lateral plan of the auxiliary wheel structure of Self-balancing electronic wheelbarrow that Fig. 6 illustrates Fig. 1 when another kind of CAL state;
The structural representation of the Self-balancing electronic wheelbarrow that Fig. 7 illustrates Fig. 1 when towing state;
Fig. 8 and 9 illustrates respectively block diagram and the lateral plan after auxiliary wheels, stretcher, the handgrip of the electric unicycle of Fig. 1 fold;
Figure 10 illustrates according to the exploded drawings of the auxiliary wheels of the Self-balancing electronic wheelbarrow of the first embodiment of the present invention;
Figure 11 illustrates the scheme of installation of the auxiliary wheels of Figure 10;
Figure 12 a illustrates the upward view of the auxiliary wheels of Figure 10;
Figure 12 b is the cutaway view dissecing along the line A-A of Figure 12 a;
Figure 13 is the block diagram that installs a part for the electric unicycle after the auxiliary wheels of Figure 10;
Figure 14 is another block diagram that installs a part for the electric unicycle after the auxiliary wheels of Figure 10;
Figure 15 illustrates the exploded drawings of the auxiliary wheels of Self-balancing electronic wheelbarrow according to a second embodiment of the present invention;
Figure 16 is the block diagram of a part for the electric unicycle after the auxiliary wheels for installing Figure 15;
Figure 17 is the block diagram of the limiting stopper in Figure 15;
Figure 18 is the block diagram of the swinging strut in Figure 15;
Figure 19-21 illustrate that the auxiliary wheel structure of the Self-balancing electronic wheelbarrow of Figure 15 is transformed into the schematic diagram of the process of CAL state from abnormal driving state or the state that tows;
Figure 22 illustrates the exploded drawings of the auxiliary wheels of the Self-balancing electronic wheelbarrow of a third embodiment in accordance with the invention;
Figure 22 a is the enlarged drawing of A part in Figure 22; And
The auxiliary wheels of Self-balancing electronic wheelbarrow that Figure 23-25 illustrate Figure 22 are from normal driving or tow the process that is transformed into CAL state state.
The specific embodiment
Below with reference to accompanying drawing, preferred embodiment of the present invention is elaborated, so that clearer understanding objects, features and advantages of the present invention.It should be understood that embodiment shown in the drawings is not limitation of the scope of the invention, and just for the connotation of technical solution of the present invention is described., represent that " front ", " front end " or " front portion " in orientation refers to the orientation identical with battery-driven car direct of travel herein, correspondingly, " afterwards ", " rear end " or " rear portion " represent the orientation contrary with battery-driven car direct of travel.
Fig. 1 and 2 illustrates respectively according to the structural perspective of the Self-balancing electronic wheelbarrow 100 of one embodiment of the invention and STRUCTURE DECOMPOSITION block diagram.This electric unicycle 100 comprises: can fold handgrip 10, casing 20, stretcher 30, controller circuit board 40, battery 50, electric locomotive wheel 60 and auxiliary wheels 70.Electric locomotive wheel 60 consists of wheel hub motor 61 and tire 62, and wherein tire 62 is arranged on wheel hub motor 61.Described wheel hub motor center is provided with installation shaft 63.Casing 20 is located at electric locomotive wheel 61 tops and covers at least in part on described electric locomotive wheel.Described casing 20 is comprised of engine housing 21 and cabinet cover 22.Engine housing 21 inside are provided with the installing space of battery 50, circuit card 40, are connected with other accessory simultaneously.On described engine housing 20, be also provided with casing handle 23, for portable electric wheelbarrow 100.Source switch, charger, the indicator lamp that electric unicycle 100 is provided with is arranged on described casing.The shell of casing is made by high-intensity plastics conventionally.
On electric unicycle 100, be also provided with attaching parts 80, described attaching parts 80 is arranged in the installation shaft 63 at motor wheel hub center.Described casing 20, engine housing 21 is arranged on described attaching parts 80 particularly, and is connected to form an entirety with described motor wheel hub.Described attaching parts can be made of metal.
Can fold handgrip 10 and be located at any side in casing front and back, and be arranged on described casing 20.Handgrip 10 can reduce its outside dimension by flexible or folding, makes it not affect wheelbarrow overall volume, and user can bring multiple occasion into and obtain minimized space, and person easy to use carries and deposits.Can control to user, for controlling car body and human body attitude, center-of-gravity regulating simultaneously.
Control circuit board 40 comprises that central process unit, accelerometer, gyroscope, motor drive and battery protection; wherein; the barycentre offset that when described accelerometer and gyroscope detect respectively car body running, angle of inclination and pitch velocity degree of will speed up meter and gyroscope detect feeds back to central process unit; by specific algorithm, adjust the balance before and after car body; described motor drives according to the side-play amount of central process unit and motor feedback speed, exports suitable PWM ripple control brshless DC motor.
Described stretcher 30 is located at the lower end, both sides of casing 20, and is connected with described attaching parts 80.Described stretcher 30 can be rotated down on certain angle.Being mainly used for driver stands.Stretcher is made by metal or high-intensity Plastic Parts conventionally.
Described battery 50 is located at the inside of casing, and the power of car load operation is provided.Be generally lithium cell or storage battery.
Described auxiliary wheels 70 are located at the lower end of car body, at least one group of left and right, and be provided with rotating mechanism, its structure mainly comprises at least one auxiliary wheel, swinging strut and mounting bracket.Wherein, auxiliary wheel is arranged on swinging strut by modes such as rivet or screws, and mounting bracket is arranged on attaching parts bottom by screw.Preferably, being also connected with pull bar lower beam of mounting bracket, to make auxiliary wheel group more firm.Swinging strut is connected into swinging strut can be rotated relative to mounting bracket by lock screw etc. with mounting bracket.Swinging strut can be made by metal or high-intensity plastics.
Described auxiliary wheels at normal driving, tow under state, described auxiliary wheel periphery should be given prominence to the periphery of (exceeding) described wheel, and combines with folding handgrip, and car body is when inclination certain angle, auxiliary wheel kiss the earth, makes user can tow vehicle.Auxiliary wheel should have certain terrain clearance, and there is certain angle on straight line and ground that its nadir and wheel nadir are formed by connecting, more than best angle should be greater than 30 degree so that on vehicle during the following slope of 30 degree auxiliary wheel can not connect and touch ground.
Described auxiliary wheel under CAL or safe driving state, described auxiliary wheel position should be located at stretcher under, and coordinate location with described stretcher.To reach better auxiliary driving effect.It is outer that the position of best auxiliary wheel is located at the midway location of stretcher, when improving safety so that study turn to.
The lateral plan of the auxiliary wheel structure that Fig. 3 illustrates Self-balancing electronic wheelbarrow when abnormal driving state.As shown in Figure 3, under abnormal driving state, after stretcher is opened, driver stand on stretcher and carries out steering vehicle, and described auxiliary wheels 70 are located at car body front upper place, and are overhead provided with certain height, so as car body drive time avoiding obstacles.Auxiliary wheels 70 nadirs have certain angle [alpha] with straight line and ground that electric locomotive wheel 60 nadirs are formed by connecting, and the α angle of the best should be greater than 30 degree, are convenient to 30 slopes of spending and do not interfere with ground.
The lateral plan of the auxiliary wheel structure that Fig. 4,5 and 6 illustrates Self-balancing electronic wheelbarrow when two kinds of CAL states.As shown in Fig. 4-5, auxiliary wheels 70 rotate to CAL state by rotating mechanism, auxiliary wheel nadir should be provided with certain distance with ground, best H is high should be deducted after being heavily out of shape of tire pressure, tilt and be greater than 10 while spending, auxiliary wheel can contact with ground, is convenient to control when driver learns left and right balance.
State difference shown in state shown in Fig. 6 and Figure 4 and 5 is, in Fig. 6, handgrip folds.As shown in Figure 6, after handgrip folds, also may learn by described auxiliary wheel, increase the entertaining of study.When auxiliary wheels are during in learning state, after described auxiliary wheel rotation, auxiliary wheel and wheel are substantially point-blank, described auxiliary wheel position should be located at stretcher under, it is outer that the position of best auxiliary wheel is located at the midway location of stretcher, when improving safety so that study turn to.
Fig. 7 illustrates the structural representation of balance electric wheelbarrow when towing state.As Fig. 7, auxiliary wheel is combined and for towing, is carried afterwards with folding handgrip, auxiliary wheel be located at car body left and right, lower end at least one.Car body is when inclination certain angle, and auxiliary wheel kiss the earth, makes user can tow vehicle.For car weight, do not begin a new line and feel painstaking.
After Fig. 8 and 9 illustrates that auxiliary wheels 70, stretcher 30, handgrip 10 fold, the casing handle being provided with by casing 20 is carried, to carry when car body inconvenience tows.
Figure 10-14 illustrate according to the constructional drawing of the auxiliary wheels 71 of the Self-balancing electronic wheelbarrow of the first embodiment of the present invention.As shown in FIG. 10 and 11, auxiliary wheels 71 are arranged on attaching parts 80 bottoms by screw.Auxiliary wheels 71 comprise auxiliary wheel 711, swinging strut 712, mounting bracket 713, locating dowel pin 714, spring 715 and lock screw 716.Wherein, auxiliary wheel 711 is arranged on swinging strut 712 by modes such as rivet or screws 717, and mounting bracket 713 is arranged on attaching parts 71 bottoms by screw 91.Preferably, mounting bracket is also connected with pull bar lower beam.By lock screw 716, connect swinging strut 712 with mounting bracket 713 and form S. A..Described spring 715 is enclosed within the little head part of locating dowel pin 714 and packs in the hole that mounting bracket 713 is provided with.Swinging strut 712 is provided with two concave surface 712a, and two locating dowel pins 714 are positioned at respectively on described concave surface, as shown in Figure 12 a and 12b.
By the size of auxiliary wheel 711 and the shape of swinging strut 712 and mounting bracket 713 are suitably set, can make at normal driving and tow under state, the periphery of the outstanding electric locomotive wheel of auxiliary wheel periphery, and auxiliary wheel has certain terrain clearance, there is certain angle on straight line and ground that its nadir and electric locomotive wheel nadir are formed by connecting, and this angle makes auxiliary wheel when wheelbarrow downslope can not connect and touch ground.
On swinging strut 713, preferably also be provided with registration mast 713a, for coordinating with hole or pit 301 on stretcher 30, with at auxiliary wheels 71 during in CAL state, the location that coordinates by auxiliary wheels 71 with stretcher 30, to reach more stable auxiliary driving effect.Figure 13 and 14 illustrates that swinging strut 712 coordinates with the hole 301 on stretcher 30 by the registration mast 713a on it and is relatively fixed to the structural representation on stretcher 30 when auxiliary wheels 71 are during in learning state.
Described swinging strut 712 and mounting bracket 713 can be made by metal or high-intensity plastics.
Figure 15-21 illustrate the constructional drawing of the auxiliary wheels 72 of Self-balancing electronic wheelbarrow according to a second embodiment of the present invention.As shown in Figure 15 and 16, auxiliary wheels 72 comprise: auxiliary wheel 721, mounting bracket 722, swinging strut 1 and swinging strut 2 7232, limiting stopper 1 and limiting stopper 2 7242, rotary screw 725, locating dowel pin 726 and spring 727.Wherein, described auxiliary wheel 721 is arranged on swinging strut 2 7232, swinging strut 2 7232 is installed in rotation on swinging strut 1 by rotary screw 725, swinging strut 1 is to be also installed in rotation on described mounting bracket 722 by rotary screw 725, mounting bracket 722 is fixed to wheelbarrow car body lower end by screw, particularly on attaching parts 80.Described spring 727 is inserted on described locating dowel pin 726 and is installed on described swinging strut 1, and described limiting stopper 1, limiting stopper 2 7242 are respectively equipped with chute 7241a, 7242a and concave surface 7241b, 7242b, as shown in figure 17.Swinging strut 1 is provided with slide block 7231a, as shown in figure 18.Limiting stopper one and limiting stopper two are inserted in slide block 7231a by the chute 7241a, the 7242a that arrange on it, and are positioned at by described locating dowel pin 726 upper being connected on swinging strut 1 of concave surface 7241b, 7242b arranging on limiting stopper one and limiting stopper two.Described limiting stopper one and limiting stopper two are provided with portion of the handle 7241c, 7242c, for the limiting stopper that slides.Described rotary screw 725 can be attachment screw.
On swinging strut 2 7232, preferably also be provided with registration mast 7232a, for coordinating with hole or pit 301 on stretcher 30, with at auxiliary wheels 72 during in CAL state, the location that coordinates by auxiliary wheels 72 with stretcher 30, to reach more stable auxiliary driving effect.
Figure 19-21 illustrate that the auxiliary wheel structure of Self-balancing electronic wheelbarrow is transformed into the structural representation of CAL state from abnormal driving state or the state that tows.As shown in Figure 19-21, by slip limiting stopper 1 and limiting stopper 2 7242, remove spacing after, swinging strut 1 and swinging strut 2 7232 are respectively around described rotary screw rotation, and the hole or the concave surface that are provided with stretcher by the registration mast established on described swinging strut 2 7232 or convex surface coordinate, auxiliary wheel is adjusted under CAL state.
Figure 22 illustrates the exploded perspective view of the auxiliary wheels 73 of the Self-balancing electronic wheelbarrow of a third embodiment in accordance with the invention.As shown in figure 22, auxiliary wheels 73 comprise: auxiliary wheel 731, swinging strut 732, mounting bracket 733, rotary screw 734 and locating dowel pin 735.Wherein, auxiliary wheel 731 is arranged on swinging strut 732 by nut 92, and swinging strut 732 is arranged on mounting bracket 733 by rotary screw 734, and mounting bracket 733 is fixed on attaching parts 70.Swinging strut 732 is provided with two dowel hole 732a, and mounting bracket 733 is provided with a dowel hole 733a, as clearer the illustrating of Figure 22 a.Locating dowel pin 735 inserts respectively in the dowel hole of described swinging strut 732 and mounting bracket 733, so that swinging strut 732 and mounting bracket 733 are fixed together.When swinging strut 732 rotates, extract locating dowel pin 732 out, treat that swinging strut 733 rotates under CAL state, to reinstall locating dowel pin 732.
Described locating dowel pin 732 is for connecting swinging strut and mounting bracket, make driving, tow with CAL state under swinging strut and mounting bracket can not relatively rotate.The profile of locating dowel pin can be also other shape, also can buckle form.
Preferably, in this embodiment, auxiliary wheel is cardan wheel, and the anglec of rotation of cardan wheel does not have certain requirement.The auxiliary wheels that Figure 23-25 illustrate the present embodiment are from normal driving or tow the process that is transformed into CAL state state.
Self-balancing single-wheel battery-driven car of the present invention is by auxiliary wheels being set and coordinating with the handle that can fold, simple in structure, handling by force and be easy to carry.Particularly, auxiliary wheels improve greatly car body under learning state driving and safety and recreational.Make user more easily control the balance of car body, reduce unexpectedly and occur, alleviate beginner's operation easier.Auxiliary wheels, driving, tow under state by folding after the combination of handgrip and auxiliary wheels, have improved user's carrying capacity greatly, because of the deadweight of vehicle body, do not begin a new line and feel inconvenience.Auxiliary wheels land by both sides auxiliary wheel and 3 of bull wheel formation above driving, tow while depositing under state, can put arbitrarily on the ground, do not need other supplemental support.Auxiliary wheel with fold after the combination of handgrip, formed the drive manner of diversification.Improved use recreational.
Below described preferred embodiment of the present invention in detail, but it will be appreciated that, after having read above-mentioned instruction content of the present invention, those skilled in the art can make various changes or modifications the present invention.These equivalent form of values fall within the application's appended claims limited range equally.
Claims (10)
1. the auxiliary wheels of a Self-balancing electronic wheelbarrow, described Self-balancing electronic wheelbarrow comprises casing, electric locomotive wheel, controller, stretcher and battery, described controller and described battery are placed in described casing inside, described stretcher is positioned at lower end, described casing both sides, described controller is for controlling the operation of described Self-balancing electronic wheelbarrow, described battery is used to described Self-balancing electronic wheelbarrow power supply, described auxiliary wheels are installed on described electric unicycle car body lower end and are provided with auxiliary wheel and rotating mechanism, described rotating mechanism make auxiliary wheel can be respectively in driving, tow state and CAL state, wherein:
Described driving and described in tow under state, the periphery of the outstanding described electric locomotive wheel of described auxiliary wheel periphery, and described auxiliary wheel has certain terrain clearance, there is certain angle on straight line and ground that its nadir and electric locomotive wheel nadir are formed by connecting, when described angle is arranged so that on described wheelbarrow downslope described in auxiliary wheel can not connect and touch ground; And
Under described CAL state, described auxiliary wheel is positioned at described stretcher below.
2. auxiliary wheels according to claim 1, is characterized in that: the angle ranging from 15～40 degree.
3. auxiliary wheels according to claim 1, is characterized in that: on described electric unicycle, be also provided with attaching parts, described attaching parts is arranged in the installation shaft at electric locomotive wheel center, and described auxiliary wheels are arranged on described attaching parts.
4. auxiliary wheels according to claim 1, it is characterized in that: described auxiliary wheels are located at the lower end of wheelbarrow car body, at least one group of left and right, and described in one group, auxiliary wheels comprise at least one auxiliary wheel, swinging strut and mounting bracket, wherein auxiliary wheel is arranged on described swinging strut, described swinging strut is connected to described mounting bracket rotationally, and described mounting bracket is arranged on wheelbarrow car body lower end.
5. auxiliary wheels according to claim 1, is characterized in that: under CAL state, there is certain distance on described auxiliary wheel nadir and ground, and when this distance is arranged in wheelbarrow and tilts certain angle, described auxiliary wheel contacts with ground.
6. auxiliary wheels according to claim 1, it is characterized in that: described auxiliary wheels comprise auxiliary wheel, swinging strut, mounting bracket, locating dowel pin, spring and lock screw, wherein, described auxiliary wheel is arranged on swinging strut, described swinging strut is connected in described mounting bracket rotationally by lock screw, described mounting bracket is arranged on electric unicycle vehicle bottom, described in described spring housing on locating dowel pin and pack in the hole that described mounting bracket is provided with, described swinging strut is provided with concave surface, and locating dowel pin is positioned on described concave surface.
7. auxiliary wheels according to claim 1, is characterized in that: described auxiliary wheels comprise auxiliary wheel, mounting bracket, swinging strut one and swinging strut two, limiting stopper one and limiting stopper two, rotary screw, locating dowel pin and spring, wherein,
Described auxiliary wheel is arranged on described swinging strut two, described swinging strut two-way over-rotation screw is installed in rotation on described swinging strut one, described swinging strut one is installed in rotation on described mounting bracket by rotary screw, described mounting bracket is fixed to wheelbarrow car body lower end by screw, described spring is inserted on described locating dowel pin and is installed on described swinging strut one
Described limiting stopper one, limiting stopper two are respectively equipped with chute and concave surface, described swinging strut one is provided with slide block, described limiting stopper one and described limiting stopper two are inserted in described slide block by the described chute arranging on it, and are positioned on the concave surface arranging on described limiting stopper one and described limiting stopper two and are connected to described swinging strut one by described locating dowel pin.
8. auxiliary wheels according to claim 1, it is characterized in that: described auxiliary wheels comprise auxiliary wheel, swinging strut, mounting bracket, rotary screw and locating dowel pin, wherein, described auxiliary wheel is arranged on described swinging strut, described swinging strut is arranged on described mounting bracket, described mounting bracket is fixed on electric unicycle car body lower end, described swinging strut is provided with two dowel holes, described mounting bracket is provided with a dowel hole, described locating dowel pin inserts respectively in the dowel hole of described swinging strut and described mounting bracket, so that described swinging strut and described mounting bracket are fixed together, and during described swinging strut rotation, first extract described locating dowel pin out, treating that described swinging strut rotates to reinstalls described locating dowel pin under CAL state.
9. a multiduty Self-balancing electronic wheelbarrow, described Self-balancing electronic wheelbarrow comprises casing, electric locomotive wheel, controller, stretcher and battery, described controller and described battery are placed in described casing inside, described stretcher is positioned at lower end, described casing both sides, described controller is for controlling the operation of described Self-balancing electronic wheelbarrow, described battery is used to described Self-balancing electronic wheelbarrow power supply, it is characterized in that, described electric unicycle also comprises auxiliary wheels, described auxiliary wheels are provided with auxiliary wheel and rotating mechanism, described rotating mechanism make auxiliary wheel can be respectively in driving, tow state and CAL state, wherein:
Described driving and described in tow under state, the periphery of the outstanding described electric locomotive wheel of described auxiliary wheel periphery, and described auxiliary wheel has certain terrain clearance, there is certain angle on straight line and ground that its nadir and electric locomotive wheel nadir are formed by connecting, described angle be arranged so that when described wheelbarrow downslope described in auxiliary wheel can not connect and touch ground; And
Under described CAL state, described auxiliary wheels are positioned at described stretcher below.
10. Self-balancing electronic wheelbarrow according to claim 9, is characterized in that: described electric unicycle also comprises the handgrip that can fold, and the described handgrip folding is located at the described any side in casing front and back, and is arranged on described casing.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN201410014920.9A CN103723225B (en) | 2014-01-13 | 2014-01-13 | Self-balancing electronic wheelbarrow and auxiliary wheels thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN201410014920.9A CN103723225B (en) | 2014-01-13 | 2014-01-13 | Self-balancing electronic wheelbarrow and auxiliary wheels thereof |
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| Publication Number | Publication Date |
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| CN103723225A true CN103723225A (en) | 2014-04-16 |
| CN103723225B CN103723225B (en) | 2016-03-09 |
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| CN103723225B (en) | 2016-03-09 |
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