CN104527909A - Barycenter controlling hollow single wheel self-balancing electromobile without spoke and controlling method thereof - Google Patents

Barycenter controlling hollow single wheel self-balancing electromobile without spoke and controlling method thereof Download PDF

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Publication number
CN104527909A
CN104527909A CN201510019813.XA CN201510019813A CN104527909A CN 104527909 A CN104527909 A CN 104527909A CN 201510019813 A CN201510019813 A CN 201510019813A CN 104527909 A CN104527909 A CN 104527909A
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China
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vehicle
described
spoke
wheel
gravity
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CN201510019813.XA
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Chinese (zh)
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CN104527909B (en
Inventor
刘峰
李安家
薛祖播
陈燕午
齐加楼
储清
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南京快轮智能科技有限公司
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Priority to CN201510019813.XA priority Critical patent/CN104527909B/en
Publication of CN104527909A publication Critical patent/CN104527909A/en
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Publication of CN104527909B publication Critical patent/CN104527909B/en

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    • BPERFORMING OPERATIONS; TRANSPORTING
    • B62LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62KCYCLES; CYCLE FRAMES; CYCLE STEERING DEVICES; RIDER-OPERATED TERMINAL CONTROLS SPECIALLY ADAPTED FOR CYCLES; CYCLE AXLE SUSPENSIONS; CYCLE SIDE-CARS, FORECARS, OR THE LIKE
    • B62K11/00Motorcycles, engine-assisted cycles or motor scooters with one or two wheels
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B62LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62MRIDER PROPULSION OF WHEELED VEHICLES OR SLEDGES; POWERED PROPULSION OF SLEDGES OR SINGLE-TRACK CYCLES; TRANSMISSIONS SPECIALLY ADAPTED FOR SUCH VEHICLES
    • B62M6/00Rider propulsion of wheeled vehicles with additional source of power, e.g. combustion engine or electric motor
    • B62M6/40Rider propelled cycles with auxiliary electric motor
    • B62M6/45Control or actuating devices therefor
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B62LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62MRIDER PROPULSION OF WHEELED VEHICLES OR SLEDGES; POWERED PROPULSION OF SLEDGES OR SINGLE-TRACK CYCLES; TRANSMISSIONS SPECIALLY ADAPTED FOR SUCH VEHICLES
    • B62M6/00Rider propulsion of wheeled vehicles with additional source of power, e.g. combustion engine or electric motor
    • B62M6/40Rider propelled cycles with auxiliary electric motor
    • B62M6/60Rider propelled cycles with auxiliary electric motor power-driven at axle parts
    • B62M6/65Rider propelled cycles with auxiliary electric motor power-driven at axle parts with axle and driving shaft arranged coaxially

Abstract

The invention relates to a barycenter controlling single wheel self-balancing electromobile without a spoke and a controlling method of the barycenter controlling single wheel self-balancing electromobile without the spoke. The barycenter controlling single wheel self-balancing electromobile without the spoke is characterized by comprising an electromobile body, and an outer shell arranged outside the electromobile. The electromobile body comprises a car frame and pedals arranged on the two sides of the car frame. A transmission assembly, a support assembly and a control circuit are arranged in the car frame. By detecting the variation of the front barycenter and back barycenter of a manipulator, the control circuit controls the forward and backward movement of the automobile through a motor, and therefore the automobile swerving is achieved through leaning the body. According to the technical scheme, the design is ingenious, the structure is compact, and the cost is low. Due to the fact that the self-balancing automobile is in the shape of a particular hollow 'circular track', the natural holding space is formed through the hollow shape, the design of a handle and a grip is unnecessary for the automobile, so that more comfortable driving experience is brought to a driver.

Description

Hollow without spoke single wheel Self-balance electric vehicle and control method thereof with gravity's center control

Technical field

The present invention relates to a kind of battery-driven car, be specifically related to the hollow without spoke single wheel Self-balance electric vehicle of a kind of gravity's center control, belong to Self-balance electric vehicle technical field.

Background technology

Double-wheel self-balancing battery-driven car has now appeared at various occasion of riding instead of walk, but traditional Double-wheel self-balancing battery-driven car needs bicyclist to use gravity's center control anterior-posterior balance, turns to hand shift.Cause body construction complicated, volume is comparatively large, and portability reduces greatly; In order to solve this technical problem, those skilled in the art is also in continuous trial, Self-balance electric vehicle new on market mostly more complicated, all adopts wheel hub motor to provide power, causes car body volume larger, heavier-weight, portability reduces greatly, and cost is higher, and detachable maintaining bothers, therefore, a kind of new technical scheme of exigence solves this technical problem.

Summary of the invention

In order to solve above-mentioned Problems existing, the invention discloses the hollow without spoke single wheel Self-balance electric vehicle of a kind of gravity's center control, this equipment is a kind of structure Self-balance electric vehicle simple, safe and reliable, easy to use, with low cost, by microprocessor by detect center of gravity before and after the left side of operator and right side change so that by controlling left side and right motor respectively, finally realize the advance of vehicle, retrogressing, left-hand rotation and right-hand rotation.

To achieve these goals, technical scheme of the present invention is as follows, a kind of gravity's center control hollow without spoke single wheel Self-balance electric vehicle, it is characterized in that, described battery-driven car comprises battery-driven car body and is arranged on the shell of battery-driven car outside, described battery-driven car body comprises vehicle frame and is arranged on the stretcher of vehicle frame both sides, transmission component is provided with in described vehicle frame, supporting component and control circuit, described control circuit is by detecting the change of front and back center of gravity of operator and then moving forward and backward by electric machine control vehicle, turn inside diameter is realized by body inclination.Whole Technical Design is ingenious, compact after joint, cost is lower, this balance truck profile is unique hollow " ring rail " shape, and hollow profile defines natural gripping space, additionally for balance truck designs handle and handle, need not can bring more comfortable experience of riding to bicyclist.

As a modification of the present invention, described transmission component comprises motor, synchronous pulley, the Timing Belt be arranged on synchronous pulley, the helical wheel combined with synchronous pulley, without spoke barrel, is arranged on without the helical teeth internally toothed annulus on spoke barrel, power is passed to helical wheel by synchronous pulley and Timing Belt by motor, helical wheel engage with without the helical teeth internally toothed annulus on spoke barrel again by transmission of power give without spoke barrel.Rotating speed, by twice deceleration transmission, is reduced to required scope by this technical scheme; Increase moment of torsion simultaneously, ensure that required enough power of advancing.This technical scheme uses the motor of small volume to replace heavy wheel hub motor, greatly alleviates the weight of car body; The drive disk assembly of small volume can all be placed on below pedal, and the thickness above pedal is only 8cm, more small and exquisite convenient; This technical scheme adopts without spoke barrel, motor and transmission component is placed in wheel hub inside, significantly reduces vehicle body volume; Define unique hollow " ring rail " profile simultaneously; This technical scheme adopts double reduction mechanism, provides stable gait of march and powerful moment of torsion; This technical scheme adopts gear and internally toothed annulus gears in mesh type of drive, secondary type of drive makes Transmission be distributed in internally toothed annulus inside, oneself forms the space of a relative closure, prevents the foreign material such as the dust on traveling process road, stone, ponding from entering in driving system.

As a modification of the present invention, described supporting component comprises BOGEY WHEEL, for supporting the load-bearing wheel shaft of BOGEY WHEEL, described load-bearing wheel shaft two ends are all provided with L-type bracing frame, the quantity of described BOGEY WHEEL is four, wherein two BOGEY WHEELs are arranged on the below of frame car body, two other BOGEY WHEEL is arranged on shell, is positioned at above vehicle body.

As a modification of the present invention, the described bearing surface without spoke barrel is set to the V-type of 120 °, the BOGEY WHEEL bearing surface be arranged on below frame car body is set to 120 ° of V-type grooves, and the described bearing surface without spoke barrel and BOGEY WHEEL bearing surface cooperatively interact, and forms V-type rail.Wherein two BOGEY WHEELs are arranged in frame and are positioned at below car body, and two other is arranged on shell, is positioned at above vehicle body.The BOGEY WHEEL of top does not bear weight, on the one hand the position of stationary hub, and the direction of restriction wheel hub play the guiding role on the other hand.The bearing surface of wheel hub is the V-type of 120 degree, and BOGEY WHEEL bearing surface is the V-type groove of 120 degree, and both coordinate formation V-type rail, both can bear diametral load, can bear axial force again.In use procedure, the weight of bicyclist all passes to BOGEY WHEEL and wheel hub by pedal by support, and the gravity of vehicle body concentrates on rack section, and plastic casing does not bear weight, and this structure can ensure the strength and stiffness of shell, and shell can not be out of shape.

As a modification of the present invention, described control circuit comprises microprocessor, power module, temperature sensor, current sensor, Hall element, posture detecting unit, motor-drive circuit, bluetooth module, touch detection module, human-computer interaction module, described power module, temperature sensor, current sensor, Hall element, posture detecting unit, motor-drive circuit, bluetooth module, touch detection module, human-computer interaction module is all connected with microprocessor, described posture detecting unit is made up of gyroscope and accelerometer, for detecting the attitude of car body relative to ground.In this technical scheme, power module is for controlling battery to circuit card and feeding electric motors and the process of charging controlling battery; Posture detecting unit is made up of gyroscope, accelerometer, and gyroscope and accelerometer are for detecting the attitude of car body relative to ground.Human-computer interaction module major control soft-touch control, and the relevant information of vehicle is presented at indicator lamp or by auditory tone cues operator; Described battery pack is positioned at vehicle body, for powering to control circuit, wheel hub motor, indicator lamp; Charger is for connecting charge port and the socket of vehicle; Described client is can carry out the equipment of wireless telecommunications with battery-driven car, thus carries out real time inspection to the driving parameters of vehicle, also can arrange the speed limit of vehicle.Hall element, for detecting the position of motor, realizes the magnetic vector oriented control of brushless motor.Microprocessor module is overhead control unit, controls the collection of each signal, runs control algorithm, drive motor.The logic control signal of microcontroller is changed into analog control signal drive motor by motor-drive circuit.Described bluetooth module is used for reception and the transmission of Bluetooth signal, realizes the wireless telecommunications of vehicle and client.Instruction after decoding, for receiving the signal of remote controller and decoding, is sent to micro controller module by described remote-control radio module.

As a modification of the present invention, described casing of electric vehicle is provided with at least one in front lamp, taillight, electricity display lamp, steering indicating light, all adopt the mode of fastening to be fixed on shell in described front lamp, taillight, electricity display lamp, steering indicating light, described shell is also provided with charge port and sliding touch switch.Electricity display lamp, for showing charge condition, is convenient to timely charging, and illuminating lamp is used for illumination, and steering indicating light is used for turning to.The illuminating lamp of design, can illuminate front region when riding, and can cause the attention of passerby simultaneously, dodge.When turning to, steering indicating light can glimmer continuously, illustrates the direction turned to, to play the effect of steering indicating light.The installation of these lamps adopts the mode fastened, and omits the fasteners such as screw, easy for installation.

As a modification of the present invention, described shell is provided with low protection cover, described low protection cover is arranged on the below of stretcher.This protective cover, for the protection of balance truck frame interior structure, extends the period of service of balance truck.

As a modification of the present invention, described BOGEY WHEEL is coated with flexible glue.The coated flexible glue with shock-absorbing functions of BOGEY WHEEL, alleviates the vibration in transmission, impact, reduces noise; Also increase the friction force of BOGEY WHEEL and wheel hub simultaneously, prevent from breakking away.

A hollow control method without spoke single wheel Self-balance electric vehicle for gravity's center control, it is characterized in that, described control method is as follows: when driver needs start, press source switch, balance truck enters standby mode, use finger sliding touch switch, corresponding indicator lamp amount, balance electric car enters balanced mode, gyroscope starts to detect vehicle body state, if inclination angle, front and back is not at ± 30 degree, inclination angle, left and right is not ± 45 degree time, buzzer phone will give the alarm sound, and vehicle can not start, if inclination angle, front and back is at ± 30 degree, inclination angle, left and right is ± 45 degree time, then gyroscope and accelerometer gather the position of car body relative to ground by starting every 5ms, and location information is passed to posture detecting unit, posture detecting unit calculates the wheel moment values needed for vehicle balance by balanced algorithm, this information is passed to drive motor, driven by motor rotation of wheel, during to next cycle, gyroscope and accelerometer continue to gather attitude information, posture detecting unit controls electric machine rotation, repeatedly repeat said process, vehicle can realize balance driver to start to drive vehicle, driver stands on the footrests, during forward lean, car body generation inclination angle forward can be made, microprocessor can according to the torque of inclination angle moment adjustment wheel, make forward travel, if vehicle reaches maximum speed and the 18km/h of setting, car body will tilt backwards, and make the center of gravity of driver backward, and the speed of a motor vehicle according to the rotating speed of vehicle inclination angle moment reduction wheel now, thus can control within the value limited by posture detecting unit.Driver also can realize the deceleration in vehicle travel process according to above-mentioned principle.

After vehicle start, driver, by bluetooth communication module, realizes the wireless telecommunications of battery-driven car and client, thus carries out real time inspection to the driving parameters of vehicle, also can arrange the speed limit of vehicle;

Under non-riding condition, user presses teleswitch or sliding touch switch, and battery-driven car will shut down.

Relative to prior art, advantage of the present invention is as follows, and 1) whole technical scheme reasonable in design, easy to operate; 2) this technical scheme is by twice deceleration transmission, and rotating speed is reduced to required scope; Increase moment of torsion simultaneously, ensure that required enough power of advancing, this technical scheme uses the motor of small volume to replace heavy wheel hub motor, greatly alleviates the weight of car body; The drive disk assembly of small volume can all be placed on below pedal, and the thickness above pedal is only 8cm, more small and exquisite convenient; 3) this technical scheme adopts without spoke barrel, motor and transmission component is placed in wheel hub inside, significantly reduces vehicle body volume; Define unique hollow " ring rail " profile simultaneously; This technical scheme adopts double reduction mechanism, provides stable gait of march and powerful moment of torsion; 4) this technical scheme adopts gear and internally toothed annulus gears in mesh type of drive, secondary type of drive makes Transmission be distributed in internally toothed annulus inside, oneself forms the space of a relative closure, prevents the foreign material such as the dust on traveling process road, stone, ponding from entering in driving system; 5) in this technical scheme, the bearing surface of wheel hub is the V-type of 120 degree, and BOGEY WHEEL bearing surface is the V-type groove of 120 degree, and both coordinate formation V-type rail, both can bear diametral load, can bear axial force again.In use procedure, the weight of bicyclist all passes to BOGEY WHEEL and wheel hub by pedal by support, and the gravity of vehicle body concentrates on rack section, and plastic casing does not bear weight, and this structure can ensure the strength and stiffness of shell, and shell can not be out of shape; 6) in this technical scheme, the coated flexible glue with shock-absorbing functions of BOGEY WHEEL, alleviates the vibration in transmission, impact, reduces noise, also increase the friction force of BOGEY WHEEL and wheel hub simultaneously, prevents from breakking away; 7) this battery-driven car can realize the wireless telecommunications of client and vehicle, and the communication of client and vehicle is divided into Three models, namely inquires about, controls and revises.During query pattern, client sends query statement, microprocessor is passed to via the communication chip in Circuits System on vehicle, the vehicle inclination angle that microprocessor extraction accelerometer, gyroscope, Hall element record and speed, data send to client by communication chip, and client is shown to user; During remote control mode, user controls the locking and unlocking etc. of vehicle according to the control inerface in client; During amendment pattern, user can revise the maximum speed limit of vehicle in client, modify instruction passes to microprocessor via the communication chip in Circuits System on vehicle, microprocessor is modified to built-in speed-limiting messages, can find out, these wireless telecommunications not only can make user grasp the information understanding vehicle whenever and wherever possible, also user is allowed to control speed, the direction of battery-driven car anywhere or anytime, to tackle the process of extraordinary circumstances, such as need the situation such as sudden stop or urgent acceleration, improve the safety performance of this battery-driven car further; 8) this battery-driven car cost is lower, is applicable to the consuming capacity of consuming public, is convenient to apply on a large scale.

Accompanying drawing explanation

Fig. 1 is surface structure schematic diagram of the present invention;

Fig. 2 is integral structure decomposing schematic representation of the present invention;

Fig. 3 is rack construction schematic diagram;

Fig. 4 is transmission component structural representation of the present invention;

Fig. 5 is control circuit structural representation of the present invention;

Fig. 6 is working process schematic diagram of the present invention;

In figure: 1 is stretcher, 2 is shell, and 3 is without spoke barrel and tire, and 4 is taillight, 5 is sliding touch switch, and 6 is front lamp, and 7 is low protection cover, and 8 is frame, 9 is internally toothed annulus, and 10 is battery pack, and 11 is BOGEY WHEEL, and 12 is motor, 13 is gear, and 14 is load-bearing wheel shaft, and 15 is L-type bracing frame, and 16 is without spoke barrel, 17 is helical teeth internally toothed annulus, and 18 is helical wheel, and 19 is Timing Belt, 20 is synchronous pulley, and 21 is motor fixing plate, and 22 is pin-and-hole.

Detailed description of the invention

In order to deepen, to understanding of the present invention and understanding, below in conjunction with the drawings and specific embodiments, to illustrate the present invention further.

embodiment 1:

See Fig. 1, Fig. 2, a kind of gravity's center control hollow without spoke single wheel Self-balance electric vehicle, described battery-driven car comprises battery-driven car body and is arranged on the shell 2 of battery-driven car outside, described battery-driven car body comprises vehicle frame and is arranged on the stretcher 1 of vehicle frame both sides, transmission component, supporting component and control circuit is provided with in described vehicle frame, described control circuit, by by detecting the change of front and back center of gravity of operator and then moving forward and backward by electric machine control vehicle, realizes turn inside diameter by body inclination.Whole Technical Design is ingenious, compact after joint, cost is lower, this balance truck profile is unique hollow " ring rail " shape, and hollow profile defines natural gripping space, additionally for balance truck designs handle and handle, need not can bring more comfortable experience of riding to bicyclist.Operator can control the forward-reverse of vehicle by the front and back transfer of centre of body weight, can be realized the turning of vehicle by the inclination of health or twisting.Battery-driven car can by bluetooth and client wireless communication, and operator can the state such as speed, mileage of real time inspection battery-driven car, also can arrange to reach different effects of riding by the parameter of client to vehicle.

embodiment 2:

See Fig. 3, Fig. 4, as a modification of the present invention, described transmission component comprises motor 12, synchronous pulley 20, the Timing Belt 19 be arranged on synchronous pulley, the helical wheel 18 combined with synchronous pulley, without spoke barrel 16, is arranged on without the helical teeth internally toothed annulus 17 on spoke barrel, motor 12 passes to helical wheel 18 by Timing Belt 19, helical wheel 18 engage with without the helical teeth internally toothed annulus 17 on spoke barrel 16 again by transmission of power give without spoke barrel 16.Described without spoke barrel, for realizing advancing of vehicle.Rotating speed, by twice deceleration transmission, is reduced to required scope by this technical scheme; Increase moment of torsion simultaneously, ensure that required enough power of advancing.This technical scheme uses the motor of small volume to replace heavy wheel hub motor, greatly alleviates the weight of car body; The drive disk assembly of small volume can all be placed on below pedal, and the thickness above pedal is only 8cm, more small and exquisite convenient; This technical scheme adopts without spoke barrel, motor and transmission component is placed in wheel hub inside, significantly reduces vehicle body volume; Define unique hollow " ring rail " profile simultaneously; This technical scheme adopts double reduction mechanism, provides stable gait of march and powerful moment of torsion; This technical scheme adopts gear and internally toothed annulus gears in mesh type of drive, secondary type of drive makes Transmission be distributed in internally toothed annulus inside, oneself forms the space of a relative closure, prevents the foreign material such as the dust on traveling process road, stone, ponding from entering in driving system.All the other structures are identical with embodiment 1 with advantage.

embodiment 3:

See Fig. 4, as a modification of the present invention, described supporting component comprises BOGEY WHEEL 11, for supporting the load-bearing wheel shaft 14 of BOGEY WHEEL, described load-bearing wheel shaft 14 two ends are all provided with L-type bracing frame 15, and the quantity of described BOGEY WHEEL is four, and wherein two BOGEY WHEELs are arranged on the below of frame car body, two other BOGEY WHEEL is arranged on shell, be positioned at above vehicle body, vehicle frame is used for mounted motor, BOGEY WHEEL, stretcher, connects two shells simultaneously.All the other structures are identical with embodiment 1 with advantage.

embodiment 4:

See Fig. 3, Fig. 4, as a modification of the present invention, the described bearing surface without spoke barrel 16 is set to the V-type of 120 °, the BOGEY WHEEL bearing surface be arranged on below frame car body is set to 120 ° of V-type grooves, the described bearing surface without spoke barrel 16 and BOGEY WHEEL bearing surface cooperatively interact, and form V-type rail.Wherein two BOGEY WHEELs are arranged in frame and are positioned at below car body, and two other is arranged on shell, is positioned at above vehicle body.The BOGEY WHEEL of top does not bear weight, on the one hand the position of stationary hub, and the direction of restriction wheel hub play the guiding role on the other hand.The bearing surface of wheel hub is the V-type of 120 degree, and BOGEY WHEEL bearing surface is the V-type groove of 120 degree, and both coordinate formation V-type rail, both can bear diametral load, can bear axial force again.In use procedure, the weight of bicyclist all passes to BOGEY WHEEL and wheel hub by pedal by support, and the gravity of vehicle body concentrates on rack section, and plastic casing does not bear weight, and this structure can ensure the strength and stiffness of shell, and shell can not be out of shape.All the other structures are identical with embodiment 1 with advantage.

embodiment 5:

See Fig. 5, as a modification of the present invention, described control circuit comprises microprocessor, power module, temperature sensor, current sensor, Hall element, posture detecting unit, motor-drive circuit, bluetooth module, touch detection module, human-computer interaction module, described power module, temperature sensor, current sensor, Hall element, posture detecting unit, motor-drive circuit, bluetooth module, touch detection module, human-computer interaction module is all connected with microprocessor, described posture detecting unit is made up of gyroscope and accelerometer, for detecting the attitude of car body relative to ground.In this technical scheme, power module is for controlling battery to circuit card and feeding electric motors and the process of charging controlling battery; Posture detecting unit is made up of gyroscope, accelerometer, and gyroscope and accelerometer are for detecting the attitude of car body relative to ground.Human-computer interaction module major control soft-touch control, and the relevant information of vehicle is presented at indicator lamp or by auditory tone cues operator; Described battery pack is positioned at vehicle body, for powering to control circuit, wheel hub motor, indicator lamp; Charger is for connecting charge port and the socket of vehicle; Described client is can carry out the equipment of wireless telecommunications with battery-driven car, thus carries out real time inspection to the driving parameters of vehicle, also can arrange the speed limit of vehicle.Hall element, for detecting the position of motor, realizes the magnetic vector oriented control of brushless motor.Microprocessor module is overhead control unit, controls the collection of each signal, runs control algorithm, drive motor.The logic control signal of microcontroller is changed into analog control signal drive motor by motor-drive circuit.Described bluetooth module is used for reception and the transmission of Bluetooth signal, realizes the wireless telecommunications of vehicle and client.Instruction after decoding, for receiving the signal of remote controller and decoding, is sent to micro controller module by described remote-control radio module.

The relevant information of vehicle is presented at indicator lamp or by auditory tone cues operator by described human-computer interaction module.All the other structures are identical with embodiment 1 with advantage.

embodiment 6:

See Fig. 1, as a modification of the present invention, described casing of electric vehicle is provided with at least one in front lamp 6, taillight 4, electricity display lamp, steering indicating light, all adopt the mode of fastening to be fixed on shell in described front lamp 6, taillight 4, electricity display lamp, steering indicating light, described shell is also provided with charge port and sliding touch switch.Electricity display lamp, for showing charge condition, is convenient to rush charging in time, and illuminating lamp is used for illumination, and steering indicating light is used for turning to.The illuminating lamp of design, can illuminate front region when riding, and can cause the attention of passerby simultaneously, dodge.When turning to, steering indicating light can glimmer continuously, illustrates the direction turned to, to play the effect of steering indicating light.The installation of these lamps adopts the mode fastened, and omits the fasteners such as screw, easy for installation.All the other structures are identical with embodiment 1 with advantage.

embodiment 7:

See Fig. 1, as a modification of the present invention, described shell is provided with low protection cover 7, described low protection cover 7 is arranged on the below of stretcher.This protective cover, for the protection of balance truck frame interior structure, extends the period of service of balance truck.

See Fig. 4, the parts such as the BOGEY WHEEL 11 in vehicle frame, load-bearing wheel shaft 14, motor fixing plate 21, L-type bracing frame 15 adopt pin to be connected with the fit system of pin-and-hole 22; This connection mode eliminates the fastener such as screw, nut, only pin need be inserted in pin-and-hole and can complete installation, greatly simplify installation process.In addition, the fit system of pin-pin-and-hole has high setting accuracy, accurate positioning after assembling, connects reliably fastening, eliminates the debug process after assembling.All the other structures are identical with embodiment 1 with advantage.

embodiment 8:

See Fig. 3, Fig. 4, as a modification of the present invention, described BOGEY WHEEL 11 is coated with flexible glue.The coated flexible glue with shock-absorbing functions of BOGEY WHEEL, alleviates the vibration in transmission, impact, reduces noise; Also increase the friction force of BOGEY WHEEL and wheel hub simultaneously, prevent from breakking away.All the other structures are identical with embodiment 1 with advantage.

embodiment 9:

See Fig. 3, Fig. 4, a kind of hollow control method without spoke single wheel Self-balance electric vehicle of gravity's center control, described control method is as follows: when driver needs start, press source switch, balance truck enters standby mode; Use finger sliding touch switch, corresponding indicator lamp amount, balance electric car enters balanced mode, gyroscope starts to detect vehicle body state, if inclination angle, front and back is not at ± 30 degree, inclination angle, left and right is not ± 45 degree time, buzzer phone will give the alarm sound, and vehicle can not start; If inclination angle, front and back is at ± 30 degree, inclination angle, left and right is ± 45 degree time, then gyroscope and accelerometer gather the position of car body relative to ground by starting every 5ms, and location information is passed to posture detecting unit, posture detecting unit calculates the wheel moment values needed for vehicle balance by balanced algorithm, this information is passed to drive motor, driven by motor rotation of wheel, during to next cycle, gyroscope and accelerometer continue to gather attitude information, posture detecting unit controls electric machine rotation, repeatedly repeats said process, and vehicle can realize balance.

Driver starts to drive vehicle, and driver stands on the footrests, during forward lean, can make car body generation inclination angle forward, and microprocessor according to the torque of inclination angle moment adjustment wheel, can make forward travel; If vehicle reaches 18km/h, car body will tilt backwards, and make the center of gravity of driver backward, and the speed of a motor vehicle can according to the rotating speed of vehicle inclination angle moment reduction wheel now, thus control within the value limited by posture detecting unit; After vehicle start, driver, by bluetooth communication module, realizes the wireless telecommunications of battery-driven car and client, thus carries out real time inspection to the driving parameters of vehicle, also can arrange the speed limit of vehicle; Under non-riding condition, user presses source switch or slide downward touch switch, and battery-driven car will shut down.

This battery-driven car can realize the wireless telecommunications of client and vehicle, and the communication of client and vehicle is divided into Three models, namely inquires about, controls and revises.During query pattern, client sends query statement, microprocessor is passed to via the communication chip in Circuits System on vehicle, the vehicle inclination angle that microprocessor extraction accelerometer, gyroscope, Hall element record and speed, data send to client by communication chip, and client is shown to user; During remote control mode, user controls the advance of vehicle, retrogressing and turning according to the control inerface in client, control command passes to microprocessor via the communication chip in Circuits System on vehicle, microprocessor calculates vehicle for realizing the vehicle wheel rotational speed required for designated movement, thus control vehicle wheel rotation, realize the motion that user specifies; During amendment pattern, user can revise the maximum speed limit of vehicle in client, modify instruction passes to microprocessor via the communication chip in Circuits System on vehicle, microprocessor is modified to built-in speed-limiting messages, can find out, these wireless telecommunications not only can make user grasp the information understanding vehicle whenever and wherever possible, also user is allowed to control speed, the direction of battery-driven car anywhere or anytime, to tackle the process of extraordinary circumstances, such as need the situation such as sudden stop or urgent acceleration, improve the safety performance of this battery-driven car further;

Technical characteristic described in embodiment 2,3,4,5,6,7,8 at least one and embodiment 1 can be combined into new embodiment by the present invention sea.

It should be noted that above-described embodiment is only preferred embodiment of the present invention, be not used for limiting protection scope of the present invention, protection scope of the present invention will go book to be as the criterion with right.

Claims (9)

1. hollow without spoke single wheel Self-balance electric vehicle with gravity's center control, it is characterized in that, described battery-driven car comprises battery-driven car body and is arranged on the shell of battery-driven car outside, described battery-driven car body comprises vehicle frame and is arranged on the stretcher of vehicle frame both sides, transmission component, supporting component and control circuit is provided with in described vehicle frame, described control circuit, by by detecting the change of front and back center of gravity of operator and then moving forward and backward by electric machine control vehicle, realizes turn inside diameter by body inclination.
2. gravity's center control according to claim 1 is hollow without spoke single wheel Self-balance electric vehicle, it is characterized in that, described transmission component comprises motor, synchronous pulley, the Timing Belt be arranged on synchronous pulley, the helical wheel be meshed with synchronous pulley, without spoke barrel, is arranged on without the helical teeth internally toothed annulus on spoke barrel, motor passes to helical wheel by Timing Belt, helical wheel engage with without the helical teeth internally toothed annulus on spoke barrel again by transmission of power give without spoke barrel.
3. gravity's center control according to claim 2 is hollow without spoke single wheel Self-balance electric vehicle, it is characterized in that, described supporting component comprises BOGEY WHEEL, for supporting the load-bearing wheel shaft of BOGEY WHEEL, described load-bearing wheel shaft two ends are all provided with L-type bracing frame, the quantity of described BOGEY WHEEL is four, wherein two BOGEY WHEELs are arranged on the below of frame car body, and two other BOGEY WHEEL is arranged on shell, is positioned at above vehicle body.
4. gravity's center control according to claim 3 is hollow without spoke single wheel Self-balance electric vehicle, it is characterized in that, the described bearing surface without spoke barrel is set to the V-type of 120 °, the BOGEY WHEEL bearing surface be arranged on below frame car body is set to 120 ° of V-type grooves, the described bearing surface without spoke barrel and BOGEY WHEEL bearing surface cooperatively interact, and form V-type rail.
5. hollow without spoke single wheel Self-balance electric vehicle with gravity's center control according to claim 3 or 4, it is characterized in that, described control circuit comprises microprocessor, power module, temperature sensor, current sensor, Hall element, posture detecting unit, motor-drive circuit, bluetooth module, touch detection module, human-computer interaction module, described power module, temperature sensor, current sensor, Hall element, posture detecting unit, motor-drive circuit, bluetooth module, touch detection module, human-computer interaction module is all connected with microprocessor, described posture detecting unit is made up of gyroscope and accelerometer, for detecting the attitude of car body relative to ground.
6. gravity's center control according to claim 5 is hollow without spoke single wheel Self-balance electric vehicle, it is characterized in that, described casing of electric vehicle is provided with at least one in front lamp, taillight, electricity display lamp, steering indicating light, all adopt the mode of fastening to be fixed on shell in described front lamp, taillight, electricity display lamp, steering indicating light, described shell is also provided with charge port and sliding touch switch.
7. the hollow of gravity's center control according to claim 6 is characterized in that without spoke single wheel Self-balance electric vehicle, and described shell is provided with low protection cover, and described low protection cover is arranged on the below of stretcher.
8. it is characterized in that without spoke single wheel Self-balance electric vehicle with the hollow of gravity's center control according to claim 6 or 7, described BOGEY WHEEL is coated with flexible glue.
9. the hollow control method without spoke single wheel Self-balance electric vehicle with gravity's center control described in any one of claim 1-8 claim, it is characterized in that, described control method is as follows: when driver needs start, press source switch, balance truck enters standby mode; Use finger sliding touch switch, corresponding indicator lamp amount, balance electric car enters balanced mode, gyroscope starts to detect vehicle body state, if inclination angle, front and back is not at ± 30 degree, inclination angle, left and right is not ± 45 degree time, buzzer phone will give the alarm sound, and vehicle can not start; If inclination angle, front and back is at ± 30 degree, inclination angle, left and right is ± 45 degree time, then gyroscope and accelerometer gather the position of car body relative to ground by starting every 5ms, and location information is passed to posture detecting unit, posture detecting unit calculates the wheel moment values needed for vehicle balance by balanced algorithm, this information is passed to drive motor, driven by motor rotation of wheel, during to next cycle, gyroscope and accelerometer continue to gather attitude information, posture detecting unit controls electric machine rotation, repeatedly repeats said process, and vehicle can realize balance;
Driver starts to drive vehicle, and driver stands on the footrests, during forward lean, can make car body generation inclination angle forward, and microprocessor according to the torque of inclination angle moment adjustment wheel, can make forward travel; If vehicle reaches 18km/h, car body will tilt backwards, and make the center of gravity of driver backward, and the speed of a motor vehicle can according to the rotating speed of vehicle inclination angle moment reduction wheel now, thus control within the value limited by posture detecting unit;
After vehicle start, driver, by bluetooth communication module, realizes the wireless telecommunications of battery-driven car and client, thus carries out real time inspection to the driving parameters of vehicle, also can arrange the speed limit of vehicle;
Under non-riding condition, user presses source switch or slide downward touch switch, and battery-driven car will shut down.
CN201510019813.XA 2015-01-15 2015-01-15 By the hollow Self-balance electric vehicle of single wheel without spoke and the control method thereof of gravity's center control CN104527909B (en)

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