CN104859770A - Transformable self-balancing two-wheeled electric vehicle - Google Patents
Transformable self-balancing two-wheeled electric vehicle Download PDFInfo
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- CN104859770A CN104859770A CN201410062268.8A CN201410062268A CN104859770A CN 104859770 A CN104859770 A CN 104859770A CN 201410062268 A CN201410062268 A CN 201410062268A CN 104859770 A CN104859770 A CN 104859770A
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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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Abstract
The invention provides a transformable self-balancing two-wheeled electric vehicle which comprises two motor wheels, a self-balancing controller system, a battery, a shell assembly, rotating positioning mechanisms, a steering mechanism and a switching sensing system, wherein the battery supplies operating power to the self-balancing two-wheeled electric vehicle; the self-balancing controller system is arranged in the shell assembly and used for controlling operation of the self-balancing two-wheeled electric vehicle. The self-balancing two-wheeled electric vehicle can be switched between two states, the traveling entertainment is improved, and further, the self-balancing two-wheeled electric vehicle is simple and stable in structure, light in mass, portable, is provided with a compact body and facilitates processing and manufacturing.
Description
Technical field
The present invention relates to Self-balance electric vehicle field, particularly Self-balancing electronic two-wheel car.
Background technology
The principle of work of Self-balance electric vehicle judges the posture state residing for vehicle body mainly through built-in precise electronic gyroscope, and after calculating suitable instruction through accurate and central microprocessor at a high speed, drive motor reaches the effect of balance.
Particularly, using the overall center of gravity longitudinal axis of station steerman onboard and vehicle as reference line, when this axle is toward top rake, built-in electro-motor in Self-balance electric vehicle vehicle body can produce strength forward, the moment of torsion that one side balance people and car are toppled over forward, produces the acceleration/accel allowing vehicle advance on the one hand.On the contrary, when gyroscope finds the center of gravity of steerman toward hypsokinesis, also the strength that can produce backward reaches counterbalance effect.Therefore, if steerman change oneself health angle forward or toward hypsokinesis, balance truck will according to the side tilted forward or backward, and speed is then directly proportional to the degree of steerman body inclination.
There is multiple Self-balancing electronic two-wheel car at present, as Chinese invention patent 200710130309 discloses a kind of Self-balancing electronic two-wheel car, it has two wheels of opposing parallel arrangement, a platform of standing for cyclist is provided with between two wheels, it is the design of single shaft two-wheel, has the common axle that drives to be connected by two wheels, and it is also provided with a handle stem handled, be used for improving the stability that cyclist stands, and control the direction that car advances.Driver stand on the inner side of two-wheeled, controlled the front and back acceleration and deceleration of vehicle by people's bench over or layback, the hand be provided with by car body handle and sensor-based system carry out turning commutation, but because this dead weight of vehicle reaches about 40KG, be inconvenient to carry, and productive costs is very high is not easy to marketing.
U.S. US2011220427A1 discloses a kind of Self-balancing electronic wheelbarrow.It has a wheel and motor, and left and right is respectively equipped with a stretcher, and car body has the ability of anterior-posterior balance.User stand on the pedal of both sides, clamps car body by medial leg, regulates centre of body weight to realize left-right balance.Car body only has about 10KG, is convenient to user and carries.But because user just controls the balance of car body by bipod and shank, cause balance very difficult, turn round during enforcement wayward, easily meet accident or damage car body.
Summary of the invention
Based on existing deficiency, the invention provides one and there is deformable portable portable type Self-balancing electronic two-wheel car, car body has distortion function, is respectively equipped with deployed condition and collapse state, and the inner side that driver can stand on two-wheeled is in the deployed state driven.The stretcher that the outside that under collapse state, driver can stand on two-wheeled is provided with is driven, and car body is provided with hand-held handle simultaneously, and facility carries car body.
Particularly, the invention provides a kind of deformable Self-balancing electronic two-wheel car, described Self-balancing electronic two-wheel car comprises two electric locomotive wheels, self-balancing controller system, battery and case component, described battery provides the power of operation for described Self-balancing electronic two-wheel car, described Self-balance Control System is located in described case component, operation for controlling described Self-balancing electronic two-wheel car runs, and it is characterized in that:
Described Self-balancing electronic two-wheel car also comprises rotary positioning mechanism, steering hardware and switching induction system; Wherein,
Described electric locomotive wheel is located on described rotary positioning mechanism, and described rotary positioning mechanism is located at the left and right sides of Self-balancing electronic two-wheel car car body, is used for described Self-balancing electronic two-wheel car to be switched to deployed condition or collapse state;
Described steering hardware is located at the midway location of described Self-balancing electronic two-wheel car car body, make car body left-right parts form the individuality that can rotate separately, and car body left-right parts can rotate to an angle separately, is used for controlling the turning of car body;
Described switching induction system for responding to car body deployed condition and collapse state, and correspondingly drives the Self-balance Control System under two states; And
When described Self-balancing electronic two-wheel car is in deployed condition, two described electric locomotive wheels lay respectively at outside the left and right two of Self-balancing electronic two-wheel car car body; When described Self-balancing electronic two-wheel car is in collapse state, two described electric locomotive wheels are all positioned at the midway location of Self-balancing electronic two-wheel car car body.
Preferably, described case component comprises main case, left casing, right casing and cabinet cover, and case component inside is provided with the installing space of battery, Self-balance Control System and switching induction system.
In one preferred embodiment, the described rotary positioning mechanism of left and right sides is each is provided with two rotary connectors be mutually rotatably connected, in described two electric locomotive wheels one to be fixed on one of described two rotary connectors upper and can rotate with this rotary connector, another rotary connector is rotationally connected with on described steering hardware.
Preferably, described Self-balancing electronic two-wheel car is provided with two rotary positioning mechanisms in left and right, and this rotary positioning mechanism is provided with rotary connector one, S. A., rotary connector two and stepping motor, wherein,
One end and the stretcher of described rotary connector one are rotatably connected, and the other end is connected with one end of described rotary connector two by described S. A., and described rotary connector two other end is connected with described steering hardware by another S. A.;
Described stepping motor is located in described left casing and described right casing, each rotary positioning mechanism is provided with two stepping motors, one of them is connected with one end of described rotary connector one and described rotary connector two by described S. A., and another stepping motor passes through the other end of another S. A. and described rotary connector two and steering hardware is connected; And
Controlled the rotation of described stepping motor by the output signal of Self-balance Control System, and described S. A. is rotated, drive described rotary connector one and the common 90-degree rotation of described rotary connector two simultaneously, realize car body and launch and fold two states.Preferably, described rotary connector two is also for installing left casing and right casing.
Preferably, described Self-balancing electronic two-wheel car is provided with two rotary positioning mechanisms in left and right, and this rotary positioning mechanism is provided with rotary connector one, rotating shaft assembly and rotary connector two, wherein,
One end and the stretcher of described rotary connector one are rotatably connected, the other end of described rotary connector one is connected with described rotary connector two by described rotating shaft assembly, and the other end of described rotary connector two is connected with steering hardware by another rotating shaft assembly;
Described rotating shaft assembly is by bolt, spring and nut composition, described bolt is provided with projection radially, described rotary connector one and steering hardware are provided with groove, when Self-balancing electronic two-wheel car car body is switched to collapse state by deployed condition or is switched to deployed condition by collapse state, by giving of described nut side suitable external force, make bolt strainedly to move laterally, described spring is compressed by external force generation elastic deformation, when projection on described bolt in rotating shaft assembly between described rotary connector one and described rotary connector two departs from the groove on described rotary connector one completely, and the projection on described bolt in rotating shaft assembly between described rotary connector two and described steering hardware is when departing from the groove on described steering hardware completely, described rotary connector one and described rotary connector two can be made to rotate to an angle respectively, realize Self-balancing electronic two-wheel car car body thus launch and fold two states.
Preferably, described Self-balancing electronic two-wheel car is provided with two rotary positioning mechanisms in left and right, and this rotary positioning mechanism is provided with rotary connector one, two groups of ratchet assemblies, two S. A.s and rotary connector two, wherein,
One end and the stretcher of described rotary connector one are rotatably connected, the other end is rotatably connected by one end of one group of ratchet assembly and S. A. and described rotary connector two, the other end of described rotary connector two is connected with described steering hardware with another S. A. by another group ratchet assembly, by External Force Acting on described ratchet assembly, control described rotary connector one 90-degree rotation together with described rotary connector two, realize Self-balancing electronic two-wheel car car body and launch and fold two states.
Preferably, two above-mentioned rotary positioning mechanism structures are identical.
In one preferred embodiment, described Self-balancing electronic two-wheel car is provided with steering hardware, when turning left, by External Force Acting, the steering hardware on the left side or the right is rotated to an angle, by the adjustment of Self-balance Control System, make the motor on the left side produce acceleration/accel, vehicle wheel rotational speed is accelerated, both sides form velocity contrast, realize turning left; When bending to right, by External Force Acting, the steering structure on the right or the left side is rotated to an angle, by the adjustment of Self-balance Control System, make the motor on the right produce acceleration/accel, vehicle wheel rotational speed is accelerated, and both sides form velocity contrast, realize bending to right.
Preferably, steering hardware is made up of main body rack and the steering component that is positioned at the main body rack left and right sides, and the steering component of the left and right sides is formed as the component that can rotate separately.
Preferably, described steering hardware is provided with main body rack and two steering linkage members, and described two steering linkage members are connected to described main body rack both sides, wherein,
Described main body rack is made up of upper main body rack, lower main body rack and decorative pearl on top of an official cap assembly, and described decorative pearl on top of an official cap assembly comprises the decorative pearl on top of an official cap and elastic component, and described decorative pearl on top of an official cap assembly is on described between main body rack and lower main body rack;
One end that described steering linkage member is connected with described main body rack is provided with lug, and described lug pressure touches described decorative pearl on top of an official cap assembly;
The other end of described steering linkage member is connected with described rotary positioning mechanism, and described steering linkage member can rotate to an angle relative to described main body rack, when there being External Force Acting on described steering linkage member, the elastic component pressurized generation deformation of described decorative pearl on top of an official cap assembly, thus cause described steering linkage member to rotate to an angle, when external force is cancelled, then resetted by the elastic component of described decorative pearl on top of an official cap assembly, steering linkage member can be made to automatically reset.
Preferably, described steering hardware is provided with main body rack and two steering linkage members, and described two steering linkage members are connected to described main body rack both sides, and described main body rack is made up of upper main body rack and lower main body rack, wherein,
One end of described steering linkage member is connected with described rotary positioning mechanism, and the other end is located in described main body rack, and described steering linkage member can rotate to an angle relative to described main body rack;
Described main body rack is provided with key, described steering linkage member is provided with corresponding groove, described key and described groove fit, described steering linkage member can only be rotated in certain anglec of rotation, thus ensure namely to realize turning function, by External Force Acting, described steering linkage member is resetted rapidly again.
Preferably, the rotation angle range of this steering linkage member is monolateral 5 to 15 degree.
Preferably, described steering hardware is provided with main body rack, steering linkage member and rotary components, one end of described steering linkage member is connected with the rotary connector of described rotating mechanism, the other end is connected with described main body rack by described rotary components, described rotary components is provided with rubber spring and S. A., thus when there being External Force Acting at described steering linkage member, described rubber spring is subject to External Force Acting around described S. A. generation deformation, and described steering linkage member is rotated to an angle, when external force is cancelled, described rubber spring recovers, thus realize described steering linkage member and automatically reset.
Preferably, the rotation angle range of this steering linkage member is monolateral 5 to 15 degree.
In one preferred embodiment, when car body is in collapse state, described switching induction system, by responding to and feeding back to control desk, is switched to the control system pattern under collapse state by control desk; When car body is in deployed condition, described switching induction system, by responding to and feeding back to control desk, is switched to the control system pattern under deployed condition by control desk.
According to a further aspect in the invention, additionally provide a kind of deformable Self-balancing electronic two-wheel car, described Self-balancing electronic two-wheel car comprises two electric locomotive wheels, self-balancing controller system, battery and case component, described battery provides the power of operation for described Self-balancing electronic two-wheel car, described Self-balance Control System is located in described case component, operation for controlling described Self-balancing electronic two-wheel car runs, and it is characterized in that:
Described Self-balancing electronic two-wheel car also comprises rotary positioning mechanism and steering hardware, and described Self-balance Control System is provided with two Posture acquisition modules of separating; Wherein,
Described electric locomotive wheel is located on described rotary positioning mechanism, and described rotary positioning mechanism is located at the left and right sides of Self-balancing electronic two-wheel car car body, is used for described Self-balancing electronic two-wheel car to be switched to deployed condition or collapse state;
Described steering hardware is located at the midway location of described Self-balancing electronic two-wheel car car body, make car body left-right parts form the individuality that can rotate separately, and car body left-right parts can both rotate to an angle separately, is used for controlling the turning of car body;
On the left and right sides that described two Posture acquisition modules of separating lay respectively at described steering hardware or be positioned on the electric locomotive wheel of left and right, for gathering the attitude parameter of described Self-balancing electronic two-wheel car; And
When described Self-balancing electronic two-wheel car is in deployed condition, two described electric locomotive wheels lay respectively at outside the left and right two of Self-balancing electronic two-wheel car car body; When described Self-balancing electronic two-wheel car is in collapse state, two described electric locomotive wheels are all positioned at the midway location of Self-balancing electronic two-wheel car car body.
Preferably, described switching induction system is potential device induction or optoelectronic induction or switching over.
Preferably, each electric locomotive wheel in left and right of car body, left and right wheels can on an axis.
Preferably, described electric locomotive wheel is the monolateral wheel hub motor establishing output shaft, and wheel hub motor is provided with tire.
Preferably, described Self-balance Control System is provided with microprocessor, Posture acquisition module, motor drive module, display module, operational module, velocity measuring module, current/voltage monitoring module, power module, battery protection module, wherein: Posture acquisition module is the attitude parameter adopting accelerometer and gyroscope to gather car body, motor drive module drive motor rotates, display module shows current car body and battery status, operational module can arrange operational mode and parameter, velocity measuring module detects current motor rotating speed, current/voltage monitoring module monitoring motor driven voltage, cell pressure, system power, power module provides power supply to whole system, battery protection module is to the discharge and recharge of battery and standbyly protect, central process unit carries out calculation process to the data of modules and drives correlation output module.
Attitude parameter comprises: the pitch angle of car body and cireular frequency.
Preferably, be provided with a set of above Self-balance Control System, best, Posture acquisition module to be located in the casing of left and right each more than one group respectively, detects angle and the acceleration/accel of left and right wheels respectively.
Preferably, the anglec of rotation of steering hardware can control in certain scope, and described steering hardware has reset function best.
Preferably, rotary positioning mechanism is located at the left and right sides more than at least one group of car body, best each one group of left and right sides.Preferably, wherein one group can make described electric locomotive wheel upwards or be rotated down certain angle by rotating, and assigned address when making electric locomotive wheel be in car body designated state; Another group makes electric locomotive wheel rotate a certain angle together with wherein one group of casing by rotating, and assigned address when making them be in car body designated state.
Preferably, main case to be located on main body rack and to be provided with handle portion.
Preferably, case component is made up of the plastics of high strength.
Self-balancing electronic two-wheel car of the present invention can switch between the two states, improve the recreational of driving, and car body is small and exquisite, and quality is light, is easy to carry.Simple and stable structure, is beneficial to processing and manufacturing.
Accompanying drawing explanation
Fig. 1 a kind ofly has the deformable block diagram be convenient to when the portable Self-balancing electronic two-wheel car carried is in deployed condition;
Fig. 2 be a kind of have deformable be convenient to the portable Self-balancing electronic two-wheel car carried mediate state time block diagram;
Fig. 3 a kind ofly has the deformable block diagram be convenient to when portable hand-held Self-balancing electronic two-wheel car is in collapse state;
Fig. 4 a kind ofly has the deformable exploded view be convenient to when the portable Self-balancing electronic two-wheel car carried is in deployed condition;
Fig. 5 a kind ofly has the deformable cutaway view be convenient to when the portable Self-balancing electronic two-wheel car carried is in deployed condition;
Fig. 6 is the block diagram of the first rotary positioning mechanism of Self-balancing electronic two-wheel car of the present invention;
Fig. 7 is the block diagram of the second rotary positioning mechanism of Self-balancing electronic two-wheel car of the present invention;
Fig. 8 is the cutaway view of the second rotary positioning mechanism of Self-balancing electronic two-wheel car of the present invention;
Fig. 9 is the block diagram of the third rotary positioning mechanism of Self-balancing electronic two-wheel car of the present invention;
Figure 10 a and Figure 10 b is the ratchet schematic cross-sectional view of the third rotary positioning mechanism of Self-balancing electronic two-wheel car of the present invention;
Figure 11 is the block diagram of the first steering hardware of Self-balancing electronic two-wheel car of the present invention;
Figure 12 is the cutaway view of the first steering hardware of Self-balancing electronic two-wheel car of the present invention;
Figure 13 is the block diagram of the second steering hardware of Self-balancing electronic two-wheel car of the present invention;
Figure 14 a and 14b is stravismus cutaway view and the elevational cross-sectional view of the second steering hardware of Self-balancing electronic two-wheel car of the present invention respectively;
Figure 15 is the block diagram of the third steering hardware of Self-balancing electronic two-wheel car of the present invention;
Figure 16 is the cutaway view of the third steering hardware of Self-balancing electronic two-wheel car of the present invention;
Figure 17 be Self-balancing electronic two-wheel car of the present invention be in deployed condition time the block diagram of switching induction system; And
Figure 18 be Self-balancing electronic two-wheel car of the present invention be in collapse state time the block diagram of switching induction system.
Detailed description of the invention
Below with reference to accompanying drawing, preferred embodiment of the present invention is described in detail, 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 the connotation just in order to technical solution of the present invention is described.
Fig. 1-3 illustrates the block diagram being in deployed condition, intermediateness and collapse state of the deformable Self-balancing electronic two-wheel car 100 according to one embodiment of the invention respectively.Fig. 4 illustrates the exploded perspective view of the Self-balancing electronic two-wheel car 100 of Fig. 1-3.As Figure 1-4, in the present embodiment, Self-balancing electronic two-wheel car 100 comprises two electric locomotive wheels 1, case component 2, two rotary positioning mechanisms 3, steering hardware 4, self-balancing controller system 5, switches induction system 6 and battery 7.Wherein, two electric locomotive wheels 1 can be rotated by two rotary positioning mechanisms 3, thus realize kind of the using state of two shown in Fig. 1 and Fig. 3, namely two electric locomotive wheels are positioned at both sides, driver stands on the deployed condition in the middle of two electric locomotive wheels when driving, and two electric locomotive wheels are positioned at car body midway location, driver stands on the collapse state of two electric locomotive wheel both sides when driving.
Case component 2 is made up of left casing 21, main case 22, right casing 23, cabinet cover 24 and cabinet cover 25.Case component 2 inside is provided with the installing space of battery, self-balancing controller system 5, switching induction system 6.Left casing 21 and right casing 23 are connected to the rotary connector two (hereafter will further illustrate) of rotary positioning mechanism 3, when car body is when launching or switch between collapse state, and left casing 21 and right casing 23 half-twist together with rotary connector two.Main case 22 is located on the main body rack of steering hardware 4 and (hereafter will further describes), and is provided with handle portion 221.Cabinet cover 24 is located on left casing 21, and cabinet cover 25 is located on right casing 23.Thus, left casing 21, main case 22, right casing 23, cabinet cover 24 and cabinet cover 25 form the complete entirety of a relative closure.Self-balance Control System 5 and battery 7 to be contained in case component 2 and to be fixed in left casing 21 and right casing 23.Switch induction system 6 to be contained in main case 22.When car body is in deployed condition, electric locomotive wheel be positioned at car body two outside, case component 2 is positioned at inner side and the upside of car body.When car body is in collapse state, electric locomotive wheel be positioned at car body two inside, case component is positioned at outside and the upside of car body.
Preferably, each shell of case component 2 is made up of highstrenghtpiston, the modified engineered plastics such as such as ABS+PC, PE+PBT.
As shown in Figures 4 and 5, rotary positioning mechanism 3 is located at the left and right sides of car body, is mainly used to make Self-balancing electronic two-wheel car 100 launching and to fold between two states to switch.Usually, being switched to from deployed condition in collapse state process, first making described electric locomotive wheel downwards or be rotated down 90 ° by rotating, thus making electric locomotive wheel 1 be in position as shown in Figure 2; Secondly, make electric locomotive wheel 1 and left casing 21 half-twist together with right casing 23, and make them be in position as shown in Figure 3.Be switched in deployed condition process from collapse state, rotational order is contrary.Rotary positioning mechanism 3 can have various structures form, if its Self-balance electric vehicle 100 can be realized to switch between deployed condition and collapse state both can, hereafter will describe multiple specific embodiments of rotary positioning mechanism in detail.
As shown in Figures 4 and 5, steering hardware 4 is located at the midway location of car body, is usually made up of main body rack and the steering component that is positioned at the main body rack left and right sides.The steering component of the left and right sides is formed as the component that can rotate separately, is mainly used to the turning controlling car body.When turning left, by External Force Acting, the steering component on the left side is rotated to an angle, by giving Self-balance Control System signal feedback, again by a series of computing of Self-balance Control System, then signal is exported to the right and left electric locomotive wheel, make the electric locomotive wheel rotating speed on the left side slow, the electric locomotive wheel rotating speed on the right is fast, both sides also form velocity contrast, realize turning left.When bending to right, by External Force Acting, the right steering component is rotated to an angle, by giving Self-balance Control System signal feedback, again by a series of computing of Self-balance Control System, then signal is exported to the right and left electric locomotive wheel, make the electric locomotive wheel rotating speed on the right slow, the electric locomotive wheel rotating speed on the left side is fast, both sides also form velocity contrast, realize bending to right.Steering hardware 4 can have various structures form, if its can realize by Self-balance electric vehicle 100 left-handed turning to right-hand turning to both can, hereafter will describe multiple specific embodiments of steering hardware 4 in detail.
During driving, user only needs to apply application force to Self-balancing electronic two-wheel car in a certain direction by foot, both turning to of this Self-balancing electronic two-wheel car can be realized, and do not need to control to turn to by body inclination as existing electric unicycle, or existing electric two-wheel vehicle controls to turn to by hand, it is more convenient to operate thus.
Electric locomotive wheel 1 is provided with tire and wheel hub motor, and wheel hub motor has monolateral output shaft, and tire is arranged on wheel hub motor.As shown in Figure 5, left and right electric locomotive wheel 1 is established on the same axis, and electric locomotive wheel 1 is connected with steering hardware 4 by S. A..
Self-balance Control System 5 is provided with microprocessor, Posture acquisition module, motor drive module, display module, operational module, velocity measuring module, current/voltage monitoring module, power module, battery protection module; and be placed in the inside of left casing 21 and right casing 23, as shown in Figure 5.Wherein, Posture acquisition module is the attitude parameter adopting accelerometer and gyroscope to gather car body, motor drive module drive motor rotates, display module shows current car body and battery status, operational module can arrange operational mode and parameter, velocity measuring module detects current motor rotating speed, current/voltage monitoring module monitoring motor driven voltage, cell pressure, system power, power module provides power supply to whole system, battery protection module is to the discharge and recharge of battery and standbyly protect, central process unit carries out calculation process to the data of modules and drives correlation output module.Described Self-balance Control System is located in case component 2, best, has more than one group Posture acquisition module, is located in left casing 21 and right casing 23 respectively, detects angle and the acceleration/accel of left and right electric locomotive wheel respectively.
Battery 7 is located at the inside of left casing 21 and right casing 23 respectively, as shown in Figure 5, by providing out-put supply to electric locomotive wheel, makes car load obtain the power run.Battery is generally the chargeable battery such as lithium cell or storage battery.
Switch induction system 6 for responding to car body deployed condition and collapse state, and according to this two states correspondingly driving control system.When car body is in collapse state, described switching induction system 6 is by responding to and feeding back to control system, be switched to the master mode under collapse state by control system, car body is run according to collapse state, the two-wheel car mode operation namely under wheelbarrow.When car body is in deployed condition, described switching induction system, by responding to and feeding back to control system, is switched to the master mode under deployed condition by control system.Car body is run, namely the mode operation of two-wheel car according to deployed condition.
Switch induction system to respond to or optoelectronic induction or switching over or dry-reed tube for potential device.When car body distortion switches, responded to by potential device or optoelectronic induction or switching over or dry-reed tube send signal and award on the central process unit that described Self-balance Control System is provided with, Self-balance Control System adjusts the operational mode of car body by judging accordingly.Described switching induction system can be considered a signaling module, and the signal produced when being switched by car body can judge that current car body is under expansion pattern or under folding pattern, and corresponding expansion pattern or the parameter under folding pattern of adopting is to control car body.
In another embodiment, also carry out alternative above-mentioned switching induction system by arranging two Posture acquisition modules.Two Posture acquisition modules can lay respectively on the left and right sides of steering hardware, or lay respectively on two electric locomotive wheels, for gathering the attitude parameter of this Self-balancing electronic two-wheel car.Here, attitude parameter comprises pitch angle and the cireular frequency of car body.According to pitch angle and the cireular frequency of car body, central process unit controls speed and the angle of car body according to the speed that current angle and cireular frequency parameter export suitable PDM ripple adjustment motor.
Below describe the rotary positioning mechanism according to three embodiments of the present invention, should be understood that rotary positioning mechanism of the present invention is not limited to the embodiments described below.
Rotary positioning mechanism embodiment 1
Fig. 6 illustrates the structural representation of the rotary positioning mechanism 30 according to one embodiment of the invention.As shown in Figure 6, a rotary positioning mechanism 30 is each side provided with at electric two-wheel vehicle car body, rotary positioning mechanism 30 is provided with rotary connector 1, S. A. 304, rotary connector 2 303 and stepping motor 305, be mainly used to switch car body launch and fold two states, rotary connector 2 303 is also for installing left casing 21 and 23.One end and the stretcher 8 of described rotary connector 1 are rotatably connected, and the other end is connected with one end of rotary connector 2 303 by S. A. 304.Rotary connector 2 303 other end is connected with steering hardware by another S. A. 304.Stepping motor 305 is located in described left casing 21 and described right casing 23, the both sides of electric two-wheel vehicle are respectively provided with two stepping motors 305, one of them is connected with one end of rotary connector 1 and rotary connector 2 303 by described S. A. 304, and another stepping motor passes through the other end of another S. A. 304 and rotary connector 2 303 and steering hardware is connected.By the output signal of Self-balance Control System, control the rotation of described stepping motor, and S. A. 304 is rotated, simultaneously driven rotary attaching parts 1 half-twist together with rotary connector 2 303, realize car body and launch and fold two states.
When car body switches to collapse state by deployed condition, namely by Fig. 1 become Fig. 2 become Fig. 3 again time, by the output signal of Self-balance Control System, control the rotation of described stepping motor, and S. A. 304 is rotated, drive described rotary connector 302 half-twist together simultaneously, described electric locomotive wheel can be made to be rotated down 90 °, and make electric locomotive wheel be in position as Fig. 2.Then, stepping motor drives another S. A. to rotate, and also drives described rotary connector 2 303 half-twist together simultaneously, and make them be in position as Fig. 3, namely be in the state folded, electric locomotive wheel be positioned at car body two inside, case component 2 is positioned at outside and the upside of car body.
When car body switches to deployed condition by collapse state, become Fig. 2 by Fig. 3 and become Fig. 1 again, by the output signal of Self-balance Control System, control the rotation of described stepping motor, and S. A. 304 is rotated, simultaneously driven rotary attaching parts 2 303 together left or right rotation 90 °, and make car body be in position as Fig. 2.Then, stepping motor drives another S. A. to rotate, simultaneously also driven rotary attaching parts 1 upwards half-twist together, and make them be in position as Fig. 1, namely be in the state of expansion, electric locomotive wheel be positioned at car body two outside, case component is positioned at inner side and the upside of car body.
Rotary positioning mechanism embodiment 2
Fig. 7 and 8 illustrates the structural representation of rotary positioning mechanism 31 according to another embodiment of the present invention.As Figure 7-8, rotary positioning mechanism 31 is provided with rotary connector 1, rotating shaft assembly 314 and rotary connector 2 313, is mainly used to switch car body and launches and fold two states.Left casing 21 and right casing 23 are arranged on rotary connector 2 313.One end and the stretcher 8 of rotary connector 1 are rotatably connected, and the other end of rotary connector 1 is connected with rotary connector 2 313 by rotating shaft assembly 314.The other end of rotary connector 2 313 is connected with steering hardware by another rotating shaft assembly 314.Rotating shaft assembly 314 is made up of bolt 314a, spring 314c and nut 314b.When car body is switched to collapse state by deployed condition or is switched to deployed condition by collapse state, by giving of nut 314b side suitable external force, bolt strained (as shown in Figure 8) is moved laterally, spring is by external force generation elastic deformation, compressed, when protruding 314a1 on bolt 314a in rotating shaft assembly between rotary connector 1 and rotary connector 2 313 departs from the groove 3121 on rotary connector 1 completely, and the protruding 314a1 on bolt 314a in rotating shaft assembly between rotary connector 2 313 and steering hardware is when departing from the groove 402a on steering hardware completely, rotary connector 1 and rotary connector 2 313 can be made to rotate to an angle respectively, realize car body thus launch and fold two states.
When car body switches to collapse state by deployed condition, namely become Fig. 2 by Fig. 1 and become Fig. 3 again, by the external force of giving one, nut side suitable, bolt strained (as shown in Figure 8) is moved laterally, spring is by external force generation elastic deformation, compressed, when the projection on bolt departs from the groove on rotary connector one and steering hardware completely, just can make rotary connector one half-twist, realize electric locomotive wheel and be rotated down 90 °, and make electric locomotive wheel be in position as Fig. 2, also make rotary connector 2 313 half-twist simultaneously, and make them be in position as Fig. 3, namely the state folded is in, now external force is cancelled, spring can automatically reset, also drive described rotating shaft assembly to automatically reset simultaneously, electric locomotive wheel be positioned at car body two inside, case component is positioned at outside and the upside of car body.
When car body switches to deployed condition by collapse state, namely become Fig. 2 by Fig. 3 and become Fig. 1 again, by the external force of giving one, nut side suitable, bolt strained (as shown in Figure 8) is moved laterally, spring, by external force generation elastic deformation, is compressed, when the projection on bolt departs from the groove on rotary connector one and steering hardware completely, just can make rotary connector 2 313 half-twist, and make them be in position as Fig. 3; Make rotary connector 1 half-twist simultaneously, electric locomotive wheel described in realization rotates up 90 °, and make electric locomotive wheel be in position as Fig. 1, namely the state folded is in, now external force is cancelled, and spring can automatically reset, and also drives described rotating shaft assembly to automatically reset simultaneously, electric locomotive wheel be positioned at car body two outside, case component is positioned at inner side and the upside of car body.
Rotary positioning mechanism embodiment 3
Fig. 9 and 10 illustrates the structural representation of rotary positioning mechanism 32 according to still another embodiment of the invention.As shown in figs. 9-10, rotary positioning mechanism 32 is provided with rotary connector one 322, two groups of ratchet assemblies 324, two S. A.s 325 and rotary connector 2 323, is mainly used to switch car body and launches and fold two states.Left casing 21 and right casing 23 are installed on rotary connector 2 322.One end and the stretcher of rotary connector 1 are rotatably connected, and the other end is rotatably connected with rotary connector two by ratchet assembly 324 and S. A. 325.Two groups of ratchet assemblies are individually fixed on left casing 21 and right casing 23, are connected respectively by S. A. 325 with rotary connector one and rotary connector two.The other end of rotary connector 2 322 is connected with steering hardware with another S. A. by another group ratchet assembly.By External Force Acting on described ratchet assembly 324 (ratchet principle as shown in Figure 10 a), control rotary connector 1 and rotary connector 2 323 by half-twist together with S. A. 325, realize car body and launch and fold two states.Ratchet assembly 324 can adopt any suitable ratchet assembly known in the art.The cutaway view of wherein a kind of ratchet assembly 324 is illustrated in Figure 10 a and 10b.
As shown in figures 10 a and 10b, described ratchet assembly 324 comprises: housing 3241, gear 3242, movable part 3243, positioning ejection pin 3244 and key 3245.When External Force Acting is on the ratchet of ratchet assembly 324, S. A. 325 cw or left-hand revolution can be controlled by the rotation of internal gear, coordinating again by described key 3245 and the groove on described gear 3242, S. A. 325 can be completely fixed.When being in the state 1 shown in Figure 10 a, by the elastically-deformable elastic force of described positioning ejection pin from immediately below withstand described movable part, described movable part can be made to be in state 1, at this moment described movable part blocks described gear, make described gear can only left-hand revolution, can not clickwise.When left-hand revolution is to certain angle, in the housing described in described key is injected, makes coordinating of described key and the groove on described gear, shown gear can be completely fixed.When being in state 2 as shown in fig. lob, by the elastically-deformable elastic force of described positioning ejection pin from immediately below withstand described movable part, described movable part 3243 can be made to be in the state of state 2, do not rotate, at this moment described movable part blocks described gear, make described gear can only clickwise, can not left-hand revolution.When being rotated clockwise to certain angle, described key 3245 being injected in described housing, making coordinating of described key and the groove on described gear, shown gear can be completely fixed.
When car body switches to collapse state by deployed condition, namely become Fig. 2 by Fig. 1 and become Fig. 3 again, by External Force Acting on described ratchet assembly 324, and S. A. 325 is rotated, driven rotary attaching parts 1 half-twist together simultaneously, electric locomotive wheel can be made to be rotated down 90 °, and to make electric locomotive wheel be in position as Fig. 2; Simultaneously another S. A. 325 rotates, simultaneously also driven rotary attaching parts 2 323 half-twist together, and makes them be in position as Fig. 3, is namely in the state folded, electric locomotive wheel be positioned at car body two inside, case component is positioned at outside and the upside of car body.
When car body switches to deployed condition by collapse state, namely become Fig. 2 by Fig. 3 and become Fig. 1 again, by External Force Acting on described ratchet assembly 324, and S. A. 325 is rotated, simultaneously driven rotary attaching parts 2 323 together left or right rotation 90 °, and make car body be in position as Fig. 2.Then, another S. A. 325, simultaneously driven rotary attaching parts one upwards half-twist together, and make them be in position as Fig. 1, be namely in the state of expansion, electric locomotive wheel be positioned at car body two outside, case component is positioned at inner side and the upside of car body.
Below describe the steering hardware according to three embodiments of the present invention, should be understood that steering hardware of the present invention is not limited to the embodiments described below.
Steering hardware embodiment 1
Figure 11 and 12 illustrates the structural representation of the steering hardware 40 according to one embodiment of the invention.As depicted in figs. 11-12, steering hardware 40 is provided with main body rack 401 and two steering linkage members, 402, two steering linkage members 402 are connected to main body rack 401 both sides.Main case 22 is fixed on main body rack 401.Main body rack 401 is made up of upper main body rack 4011, lower main body rack 4012 and decorative pearl on top of an official cap assembly 4013, the main support being used as battery-driven car entirety.Decorative pearl on top of an official cap assembly 4013 comprises the decorative pearl on top of an official cap and elastic component, and after assembling, decorative pearl on top of an official cap assembly 4013 is between upper main body rack 4011 and lower main body rack 4012, and the lug 402a on steering linkage member 402 presses tactile decorative pearl on top of an official cap assembly 4013.Steering linkage member 402 one end is connected with the rotary connector two of rotary positioning mechanism, and the other end is located in main body rack 401, and steering linkage member 402 can rotate to an angle relative to main body rack 401.When there being External Force Acting on steering linkage member 402, the elastic component pressurized generation deformation of decorative pearl on top of an official cap assembly 4013, thus cause steering linkage member 402 to rotate to an angle, when external force is cancelled, resetted by the elastic component of decorative pearl on top of an official cap assembly again, steering linkage member can be made to automatically reset.
When turning left, by External Force Acting, left side steering linkage member is rotated to an angle, by giving Self-balance Control System signal feedback, again by a series of computing of Self-balance Control System, then signal is exported to the electric locomotive wheel of the right and left, make the electric locomotive wheel rotating speed on the left side slow, the electric locomotive wheel rotating speed on the right is fast, both sides also form velocity contrast, realize turning left.At the end of turning, then pass through the elastic component of decorative pearl on top of an official cap assembly, steering linkage member can be made to automatically reset.When bending to right, by External Force Acting, the right steering linkage member is rotated to an angle, by giving Self-balance Control System signal feedback, again by a series of computing of Self-balance Control System, then signal is exported to the right and left electric locomotive wheel, make the electric locomotive wheel rotating speed on the right slow, the electric locomotive wheel rotating speed on the left side is fast, both sides also form velocity contrast, realize right-hand turning.At the end of turning, then pass through the elastic component of decorative pearl on top of an official cap assembly, steering linkage member can be made to automatically reset.
Steering hardware embodiment 2
Figure 13 and 14 a, 14b illustrate the structural representation of steering hardware 41 according to another embodiment of the present invention.As illustrated in figs. 13-14, steering hardware 41 is provided with main body rack 411 and two steering linkage members, 412, two steering linkage members 412 are connected to main body rack 411 both sides.Main case 22 is fixed on main body rack 411.Main body rack 411 is made up of upper main body rack 4111 and lower main body rack 4112, the main support being used as battery-driven car entirety.Steering linkage member 412 one end is connected with the rotary connector two of rotary positioning mechanism, and the other end is located in main body rack 411, and steering linkage member 412 can rotate to an angle relative to main body rack 411.When there being External Force Acting on rotary connector 412, steering linkage member 402 can be made to rotate to an angle, then by External Force Acting, steering linkage member can be made to reset.
Particularly, conter clockwise or clickwise can be there is in steering linkage member 412, but, coordinated with groove 412a, the 412b on steering linkage member 412 by key 4111a, the 4111b on described main body rack 4111, steering linkage member 412 anglec of rotation can only rotate within the scope of a minute angle, can ensure thus to realize turning function, by External Force Acting, steering linkage member 412 be resetted rapidly again.Preferably, the anglec of rotation of this steering linkage member is monolateral 5 to 15 degree.
When turning left, by External Force Acting, the steering linkage member on the left side is rotated to an angle, by giving Self-balance Control System signal feedback, then by a series of computing of Self-balance Control System, then signal is exported to the right and left electric locomotive wheel, make the electric locomotive wheel rotating speed on the left side slow, the electric locomotive wheel rotating speed on the right is fast, and both sides also form velocity contrast, realize turning left, at the end of turning, then by External Force Acting, described steering linkage member can be made to reset.When bending to right, the right steering linkage member is rotated to an angle, by giving Self-balance Control System signal feedback, then by a series of computing of Self-balance Control System by External Force Acting, then signal is exported to the right and left electric locomotive wheel, make the electric locomotive wheel rotating speed on the right slow, the electric locomotive wheel rotating speed on the left side is fast, and both sides also form velocity contrast, realize right-hand turning, at the end of turning, then by External Force Acting, described steering linkage member can be made to reset.
Steering hardware embodiment 3
Figure 15 and 16 illustrates the structural representation of steering hardware 42 according to still another embodiment of the invention.As shown in figures 15-16, steering hardware 42 is provided with main body rack 421, steering linkage member 422 and rotary components 423, and main body rack 421 is connected with main case 22, is mainly used to support as a whole.One end of steering linkage member 422 is connected with the rotary connector of rotating mechanism, and the other end is connected with main body rack 42 by rotary components 423.Rotary components 423 is provided with rubber spring 4231 and S. A. 4232, when there being External Force Acting at steering linkage member 422, rubber spring 4231 is subject to External Force Acting, around S. A. 4232, deformation occurs, and steering linkage member 422 is rotated to an angle, when external force is cancelled, rubber spring 4231 recovers, and can realize steering linkage member 422 and automatically reset.Preferably, the anglec of rotation of this steering linkage member is monolateral 5 to 15 degree.
When turning, left side steering linkage member is rotated to an angle, by giving Self-balance Control System signal feedback by External Force Acting left, again by a series of computing of Self-balance Control System, then signal is exported to the right and left electric locomotive wheel, make the electric locomotive wheel rotating speed on the left side slow, the electric locomotive wheel rotating speed on the right is fast, both sides also form velocity contrast, realize turning left, at the end of turning, when external force is cancelled, rubber spring recovers, and the steering linkage member that can realize automatically resets.When bending to right, the right is made to turn to connection to rotate to an angle, by giving Self-balance Control System signal feedback by External Force Acting, again by a series of computing of Self-balance Control System, then signal is exported to the right and left electric locomotive wheel, make the electric locomotive wheel rotating speed on the right slow, the electric locomotive wheel rotating speed on the left side is fast, both sides also form velocity contrast, realize right-hand turning, at the end of turning, when external force is cancelled, rubber spring recovers, and can realize steering linkage member and automatically reset.
Beneficial effect
In Self-balancing electronic two-wheel car of the present invention, car body has deformable function, namely the state folded can be in, make electric locomotive wheel be positioned at car body two inside, case component is positioned at outside and the upside of car body, or be in the state of expansion, make electric locomotive wheel be positioned at car body two outside, case component is positioned at inner side and the upside of car body.Thus meet the different demands of different user, ensure safer and more effective driving, the driving that improve Self-balancing electronic two-wheel car is recreational.Meanwhile, this Self-balancing electronic two-wheel car car body is small and exquisite, and quality is light and be provided with hand being easy to carry.And its, this Self-balancing electronic two-wheeler structure simple and stable, is beneficial to processing and manufacturing.
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 (13)
1. a deformable Self-balancing electronic two-wheel car, described Self-balancing electronic two-wheel car comprises two electric locomotive wheels, self-balancing controller system, battery and case component, described battery provides the power of operation for described Self-balancing electronic two-wheel car, described Self-balance Control System is located in described case component, operation for controlling described Self-balancing electronic two-wheel car runs, and it is characterized in that:
Described Self-balancing electronic two-wheel car also comprises rotary positioning mechanism, steering hardware and switching induction system; Wherein,
Described electric locomotive wheel is located on described rotary positioning mechanism, and described rotary positioning mechanism is located at the left and right sides of Self-balancing electronic two-wheel car car body, is used for described Self-balancing electronic two-wheel car to be switched to deployed condition or collapse state;
Described steering hardware is located at the midway location of described Self-balancing electronic two-wheel car car body, make car body left-right parts form the individuality that can rotate separately, and car body left-right parts can both rotate to an angle separately, is used for controlling the turning of car body;
Described switching induction system for responding to car body deployed condition and collapse state, and correspondingly drives the Self-balance Control System under two states; And
When described Self-balancing electronic two-wheel car is in deployed condition, two described electric locomotive wheels lay respectively at outside the left and right two of Self-balancing electronic two-wheel car car body; When described Self-balancing electronic two-wheel car is in collapse state, two described electric locomotive wheels are all positioned at the midway location of Self-balancing electronic two-wheel car car body.
2. Self-balancing electronic two-wheel car according to claim 1, it is characterized in that, described case component comprises main case, left casing, right casing and cabinet cover, and described case component inside is provided with the installing space of battery, Self-balance Control System and switching induction system.
3. Self-balancing electronic two-wheel car according to claim 1, it is characterized in that, the described rotary positioning mechanism of left and right sides is each is provided with two rotary connectors be mutually rotatably connected, in described two electric locomotive wheels one to be fixed on one of described two rotary connectors upper and can rotate with this rotary connector, another rotary connector is rotationally connected with on described steering hardware.
4. Self-balancing electronic two-wheel car according to claim 3, it is characterized in that, described Self-balancing electronic two-wheel car is provided with two rotary positioning mechanisms in left and right, and this rotary positioning mechanism is provided with rotary connector one, S. A., rotary connector two and stepping motor, wherein
One end and the stretcher of described rotary connector one are rotatably connected, and the other end is connected with one end of described rotary connector two by described S. A., and described rotary connector two other end is connected with described steering hardware by another S. A.;
Described stepping motor is located in described left casing and described right casing, each rotary positioning mechanism is provided with two stepping motors, one of them is connected with one end of described rotary connector one and described rotary connector two by described S. A., and another stepping motor passes through the other end of another S. A. and described rotary connector two and steering hardware is connected; And
Controlled the rotation of described stepping motor by the output signal of Self-balance Control System, and described S. A. is rotated, drive described rotary connector one and the common 90-degree rotation of described rotary connector two simultaneously, realize car body and launch and fold two states.
5. Self-balancing electronic two-wheel car according to claim 3, is characterized in that, described Self-balancing electronic two-wheel car is provided with two rotary positioning mechanisms in left and right, and this rotary positioning mechanism is provided with rotary connector one, rotating shaft assembly and rotary connector two, wherein,
One end and the stretcher of described rotary connector one are rotatably connected, the other end of described rotary connector one is connected with described rotary connector two by described rotating shaft assembly, and the other end of described rotary connector two is connected with steering hardware by another rotating shaft assembly;
Described rotating shaft assembly is by bolt, spring and nut composition, described bolt is provided with projection radially, described rotary connector one and steering hardware are provided with groove, when Self-balancing electronic two-wheel car car body is switched to collapse state by deployed condition or is switched to deployed condition by collapse state, by giving of described nut side suitable external force, make bolt strainedly to move laterally, described spring is compressed by external force generation elastic deformation, when projection on described bolt in rotating shaft assembly between described rotary connector one and described rotary connector two departs from the groove on described rotary connector one completely, and the projection on described bolt in rotating shaft assembly between described rotary connector two and described steering hardware is when departing from the groove on described steering hardware completely, described rotary connector one and described rotary connector two can be made to rotate to an angle respectively, realize Self-balancing electronic two-wheel car car body thus launch and fold two states.
6. Self-balancing electronic two-wheel car according to claim 3, it is characterized in that, described Self-balancing electronic two-wheel car is provided with two rotary positioning mechanisms in left and right, and this rotary positioning mechanism is provided with rotary connector one, two groups of ratchet assemblies, two S. A.s and rotary connector two, wherein
One end and the stretcher of described rotary connector one are rotatably connected, the other end is rotatably connected by one end of one group of ratchet assembly and S. A. and described rotary connector two, the other end of described rotary connector two is connected with described steering hardware with another S. A. by another group ratchet assembly, by External Force Acting on described ratchet assembly, control described rotary connector one 90-degree rotation together with described rotary connector two, realize Self-balancing electronic two-wheel car car body and launch and fold two states.
7. Self-balancing electronic two-wheel car according to claim 1, it is characterized in that, described Self-balancing electronic two-wheel car is provided with steering hardware, when turning, the steering hardware on the left side or the right is rotated to an angle, by the adjustment of Self-balance Control System by External Force Acting left, the motor on the right is made to produce acceleration/accel, vehicle wheel rotational speed is accelerated, and both sides form velocity contrast, realizes turning left; When bending to right, by External Force Acting, the steering structure on the right or the left side is rotated to an angle, by the adjustment of Self-balance Control System, make the motor on the left side produce acceleration/accel, vehicle wheel rotational speed is accelerated, and both sides form velocity contrast, realize bending to right.
8. Self-balancing electronic two-wheel car according to claim 7, is characterized in that, described steering hardware is provided with main body rack and two steering linkage members, and described two steering linkage members are connected to described main body rack both sides, wherein,
Described main body rack is made up of upper main body rack, lower main body rack and decorative pearl on top of an official cap assembly, and described decorative pearl on top of an official cap assembly comprises the decorative pearl on top of an official cap and elastic component, and described decorative pearl on top of an official cap assembly is on described between main body rack and lower main body rack;
One end that described steering linkage member is connected with described main body rack is provided with lug, and described lug pressure touches described decorative pearl on top of an official cap assembly;
The other end of described steering linkage member is connected with described rotary positioning mechanism, and described steering linkage member can rotate to an angle relative to described main body rack, when there being External Force Acting on described steering linkage member, the elastic component pressurized generation deformation of described decorative pearl on top of an official cap assembly, thus cause described steering linkage member to rotate to an angle, when external force is cancelled, then resetted by the elastic component of described decorative pearl on top of an official cap assembly, steering linkage member can be made to automatically reset.
9. Self-balancing electronic two-wheel car according to claim 7, is characterized in that, described steering hardware is provided with main body rack and two steering linkage members, described two steering linkage members are connected to described main body rack both sides, described main body rack is made up of upper main body rack and lower main body rack, wherein
One end of described steering linkage member is connected with described rotary positioning mechanism, and the other end is located in described main body rack, and described steering linkage member can rotate to an angle relative to described main body rack;
Described main body rack is provided with key, described steering linkage member is provided with corresponding groove, described key and described groove fit, described steering linkage member can only be rotated in certain anglec of rotation, thus ensure namely to realize turning function, by External Force Acting, described steering linkage member is resetted rapidly again.
10. Self-balancing electronic two-wheel car according to claim 7, it is characterized in that, described steering hardware is provided with main body rack, steering linkage member and rotary components, one end of described steering linkage member is connected with the rotary connector of described rotating mechanism, the other end is connected with described main body rack by described rotary components, described rotary components is provided with rubber spring and S. A., thus when there being External Force Acting at described steering linkage member, described rubber spring is subject to External Force Acting around described S. A. generation deformation, and described steering linkage member is rotated to an angle, when external force is cancelled, described rubber spring recovers, thus realize described steering linkage member and automatically reset.
11. Self-balancing electronic two-wheel cars according to claim 1, is characterized in that, when car body is in collapse state, described switching induction system, by responding to and feeding back to control desk, is switched to the control system pattern under collapse state by control desk; When car body is in deployed condition, described switching induction system, by responding to and feeding back to control desk, is switched to the control system pattern under deployed condition by control desk.
12. Self-balancing electronic two-wheel cars according to claim 11, is characterized in that, described switching induction system is potential device induction or optoelectronic induction or switching over.
13. 1 kinds of deformable Self-balancing electronic two-wheel cars, described Self-balancing electronic two-wheel car comprises two electric locomotive wheels, self-balancing controller system, battery and case component, described battery provides the power of operation for described Self-balancing electronic two-wheel car, described Self-balance Control System is located in described case component, operation for controlling described Self-balancing electronic two-wheel car runs, and it is characterized in that:
Described Self-balancing electronic two-wheel car also comprises rotary positioning mechanism and steering hardware, and described Self-balance Control System is provided with two Posture acquisition modules of separating; Wherein,
Described electric locomotive wheel is located on described rotary positioning mechanism, and described rotary positioning mechanism is located at the left and right sides of Self-balancing electronic two-wheel car car body, is used for described Self-balancing electronic two-wheel car to be switched to deployed condition or collapse state;
Described steering hardware is located at the midway location of described Self-balancing electronic two-wheel car car body, make car body left-right parts form the individuality that can rotate separately, and car body left-right parts can both rotate to an angle separately, is used for controlling the turning of car body;
On the left and right sides that described two Posture acquisition modules of separating lay respectively at described steering hardware or be positioned on the electric locomotive wheel of left and right, for gathering the attitude parameter of described Self-balancing electronic two-wheel car; And
When described Self-balancing electronic two-wheel car is in deployed condition, two described electric locomotive wheels lay respectively at outside the left and right two of Self-balancing electronic two-wheel car car body; When described Self-balancing electronic two-wheel car is in collapse state, two described electric locomotive wheels are all positioned at the midway location of Self-balancing electronic two-wheel car car body.
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| CN107340778B (en) * | 2017-06-23 | 2021-02-12 | 纳恩博（北京）科技有限公司 | Balance control method and vehicle |
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| CN107972781A (en) * | 2017-11-14 | 2018-05-01 | 宜昌创源中新光电科技有限公司 | Trolley and control method are scouted based on double-wheel self-balancing is wirelessly transferred |
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