CN105438356B - Self-balanced two-wheel electric vehicle with external motors - Google Patents

Self-balanced two-wheel electric vehicle with external motors Download PDF

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Publication number
CN105438356B
CN105438356B CN201410465809.1A CN201410465809A CN105438356B CN 105438356 B CN105438356 B CN 105438356B CN 201410465809 A CN201410465809 A CN 201410465809A CN 105438356 B CN105438356 B CN 105438356B
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CN
China
Prior art keywords
balancing
wheeled
type self
motor type
electrocars
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Active
Application number
CN201410465809.1A
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Chinese (zh)
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CN105438356A (en
Inventor
不公告发明人
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Changzhou Airwheel Intelligent Technology Co Ltd
Original Assignee
Changzhou Airwheel Intelligent Technology Co Ltd
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First worldwide family litigation filed litigation Critical https://patents.darts-ip.com/?family=55549108&utm_source=google_patent&utm_medium=platform_link&utm_campaign=public_patent_search&patent=CN105438356(B) "Global patent litigation dataset” by Darts-ip is licensed under a Creative Commons Attribution 4.0 International License.
Priority to CN201610512581.6A priority Critical patent/CN106080886B/en
Priority to CN201410465809.1A priority patent/CN105438356B/en
Priority to CN201610504767.7A priority patent/CN106080884B/en
Priority to CN201610512758.2A priority patent/CN106005155B/en
Priority to CN201610515742.7A priority patent/CN106043539A/en
Application filed by Changzhou Airwheel Intelligent Technology Co Ltd filed Critical Changzhou Airwheel Intelligent Technology Co Ltd
Priority to CN201610510193.4A priority patent/CN106080885B/en
Priority to CN201610514797.6A priority patent/CN106005180B/en
Publication of CN105438356A publication Critical patent/CN105438356A/en
Publication of CN105438356B publication Critical patent/CN105438356B/en
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Classifications

    • 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
    • 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
    • B62K3/00—Bicycles
    • B62K3/002—Bicycles without a seat, i.e. the rider operating the vehicle in a standing position, e.g. non-motorized scooters; non-motorized scooters with skis or runners
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62K—CYCLES; CYCLE FRAMES; CYCLE STEERING DEVICES; RIDER-OPERATED TERMINAL CONTROLS SPECIALLY ADAPTED FOR CYCLES; CYCLE AXLE SUSPENSIONS; CYCLE SIDE-CARS, FORECARS, OR THE LIKE
    • B62K15/00—Collapsible or foldable cycles
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
    • B60K7/00—Disposition of motor in, or adjacent to, traction wheel
    • B60K7/0007—Disposition of motor in, or adjacent to, traction wheel the motor being electric
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L15/00—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles
    • B60L15/20—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D11/00—Steering non-deflectable wheels; Steering endless tracks or the like
    • B62D11/001—Steering non-deflectable wheels; Steering endless tracks or the like control systems
    • B62D11/003—Electric or electronic control systems
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D11/00—Steering non-deflectable wheels; Steering endless tracks or the like
    • B62D11/02—Steering non-deflectable wheels; Steering endless tracks or the like by differentially driving ground-engaging elements on opposite vehicle sides
    • B62D11/04—Steering non-deflectable wheels; Steering endless tracks or the like by differentially driving ground-engaging elements on opposite vehicle sides by means of separate power sources
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62M—RIDER PROPULSION OF WHEELED VEHICLES OR SLEDGES; POWERED PROPULSION OF SLEDGES OR SINGLE-TRACK CYCLES; TRANSMISSIONS SPECIALLY ADAPTED FOR SUCH VEHICLES
    • B62M7/00—Motorcycles characterised by position of motor or engine
    • B62M7/12—Motorcycles characterised by position of motor or engine with the engine beside or within the driven wheel
    • 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
    • B62K2204/00—Adaptations for driving cycles by electric motor
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/72—Electric energy management in electromobility

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Transportation (AREA)
  • Automation & Control Theory (AREA)
  • Power Engineering (AREA)
  • Motorcycle And Bicycle Frame (AREA)

Abstract

The invention relates to a self-balanced two-wheel electric vehicle with external motors, belonging to the technical field of a self-balanced electric vehicle. The self-balanced two-wheel electric vehicle with external motors is composed of two wheels, batteries, a control panel, two external motors, a base, handles and the like, wherein the two external motors are externally arranged in the two wheels at two sides of the base respectively; the two wheels are mechanically fixed on the base through respective single-side shafts respectively; the control panel and the batteries are arranged in the base; and the handles are mechanically connected to the base.

Description

A kind of external motor type self-balancing two-wheeled electrocar
Technical field
The present invention relates to a kind of external motor type self-balancing two-wheeled electrocar, belong to technical field of transportation means.
Background technology
Today's society economy constantly develops, and the vehicles are increasing, faces more and more crowded urban road, and road surface provides Contradiction between the sharp increase of source and automobile quantity is becoming increasingly acute, and to the China having population more than 1,300,000,000, allows urban road to adapt to Our vehicles are unrealistic, and only the vehicles of let us are only outlet come the road to adapt to us, with When global warming, ozone hole, sea level rise etc., and series of environmental problems annoyings us, and leads to the weight of this situation One of arch-criminal is wanted to be motor vehicle exhaust emission.So we need a kind of energy-saving and environmental protection again can be in single file in the traffic of crowded crowd Instrument, to solve the contradiction that these are becoming increasingly acute.
Start the Self-balance electric vehicle spreading, also referred to as thinking car in the market, by the use of lithium battery as power Power supply, environmental protection and energy-conservation, perhaps will be the vehicles of our a new generations, and its operation logic is based primarily upon a kind of " dynamically steady Fixed ", balance on traffic direction for the car body is maintained by electric motor car autobalance ability itself, typically arranges in vehicle body Gyroscope is body-sensing balance system, perceives car body real time status by body-sensing balance system, conveys information to information processing System, calculates suitable instruction after the information processing to perception for the information processing system and passes to motor, controlled motor is come real The poised state that existing car body runs, so driver can directly control the acceleration and deceleration of car body to realize operation by displacement of center of gravity put down Weighing apparatus.Double-wheel self-balancing underbody seat in the market is bigger than normal, and road surface is poor by property, is unfavorable for carrying, assembling loaded down with trivial details, handling not Good, when riding, comfort level is not high, meets road barrier or other burst obstacles no repair regulating system automatically.
Content of the invention
The invention discloses a kind of external motor type self-balancing two-wheeled electrocar, by wheel, battery, control system, motor, Base, handle etc. form, and described external motor type is two inside wheels that two motors are placed on base body both sides respectively, Originally the motor that base should be arranged at is taken out from base, is divided into the inside wheel of base the right and left, has saved base Inner space, improves chassis of vehicle body height, makes the car property passed through more preferably, due to motor being divided into inside wheel although car Body chassis is improved, but car center of gravity is not high, and motor is divided into base the right and left wheel, and complete vehicle weight is set up separately outward, can have Effect improves the overall stability of car body.Two motors are arranged at outside and can improve motor operationally radiating rate simultaneously.Two cars Wheel has oneself independent axle respectively, and two axles are not attached to, and are independently arranged, and described axle is single side axis, and single side axis are only from wheel While passing, another side does not pass in wheel, so that wheel external mechanical is connected by the axle passing, the car in the present invention Wheel be mechanically fastened on base by respective single side axis, be separately separately provided between axle and axle, two-wheeled have respective axle and There is respective motor so that this electric motor car operation is more flexible, two-wheeled is to control by same control system at the same speed, handle is left Right direction controls car two wheel guide robot to control car left and right directions to run, and car is ridden by gyroscope perception in the longitudinal direction The skew on the center of gravity fore-and-aft direction of an entirety that administrative staff is formed with car body controls the operation on car fore-and-aft direction, center of gravity During reach, car runs forward, and when moving after center of gravity, car runs backward, and when car runs forward, when moving after center of gravity, car can be through Go through deceleration, stopping, fallback procedures, car stops when center of gravity does not offset, when running backward, during center of gravity reach, car can for car The process that experience is slowed down, stopped, running forward；When having force on the personnel of riding are to handle fore-and-aft direction, before human body is to handle Operation on the Comprehensive Control car fore-and-aft direction of power of rear direction force and car and personnel's entirety gravity of riding.Control system And battery is arranged in base, handle is mechanically connected on base.Battery is arranged at the bottom of base and away from handle end, with Lever principle between handle, balances last point of weight of car fore-and-aft direction, improves vehicle body stability.
A kind of external motor type self-balancing two-wheeled electrocar of the present invention, it is divided into two motors of inside wheel It is preferably wheel hub motor, inside wheel weight branch is more uniformly distributed, and in conjunction with wheel hub motor intrinsic advantage, is our electric machine external Formula self-balancing two-wheeled electrocar runs more stable.
A kind of external motor type self-balancing two-wheeled electrocar of the present invention, two wheels are respectively by respective monolateral Shaft mechanical is fixed on base, is fixed by fixed component flange nut between axle and base, the pad of flange nut and nut It is integral type, and has anti-skidding groove in flange face, which increase the contact area of nut and workpiece, compare common spiral shell The combination of female cushioning circle, more firmly and pulling force is bigger.
A kind of external motor type self-balancing two-wheeled electrocar of the present invention, the fixed component of fixing axle and base except Flange nut, further includes：Crescent moon piece, adjustment steel disc, axle sleeve, axle sleeve be respect thereto, more matter hard material preparation and Become, by way of die casting base die casting on axle sleeve, so that axle sleeve is connected with base formula, axle is arranged in axle sleeve, because Axle sleeve be hard material constitute, the power that will not be born with axle and produce deformation, for making axle more firmly be connected with base, axle tail End is further secured on base by crescent moon piece, adjustment steel disc and flange nut.
A kind of external motor type self-balancing two-wheeled electrocar of the present invention, fixing axle and the moon in the fixed component of base Tooth part, as the buffering between axle sleeve and flange nut, effectively improves the fastening dynamics of flange nut.Flange nut is typically chosen Using rigid material, preferably process through quenching stiffened.
A kind of external motor type self-balancing two-wheeled electrocar of the present invention, fixing axle and the moon in the fixed component of base Tooth part is two, and crescent moon part depressed area is to being buckled on axle, and is arranged between flange nut and axle sleeve, crescent moon part and base it Between be lined with adjustment steel disc.On the one hand because of susceptor surface rough, using steel disc, available steel disc, as medium, reduces crescent moon Frictional force between part and base, steel disc play lubrication part effect, be easy to flange nut screw in, on the other hand according to crescent moon part with The steel disc of the Interval selecting suitable depth between base, to reduce gap, improves overall tightness with this.
In a kind of fixing axle of external motor type self-balancing two-wheeled electrocar of the present invention and the fixed component of base Crescent moon part depressed area opposite be inclined-plane, tilt to axle at nearly wheel, also incline for one in the face of the screw hole on corresponding base Inclined-plane, flange nut heads on crescent moon part screw-in toward at nearly wheel and makes, and because the face of screw hole is inclined-plane, hole is less and less, adjusts steel Piece is padded between crescent moon part and base, the inclination corresponding with crescent moon part of corresponding seating plane, tilts to axle at nearly wheel, so During constantly screwing between flange nut and crescent moon part, between crescent moon part and axle, between crescent moon part and adjustment steel disc, adjustment Contact more and more tightr between steel disc and base.
In a kind of fixing axle of external motor type self-balancing two-wheeled electrocar of the present invention and the fixed component of base Flange nut axle below on carry hole at adjacent flange nut, fixed component further includes split pin, and split pin is arranged In the hole on axle.Split pin is used for limiting flange nut back-out.Countershaft upper add split pin further, for flange nut Fastening, prevents flange nut from having loosening, can effectively stop flange nut outward turning.
In a kind of fixing axle of external motor type self-balancing two-wheeled electrocar of the present invention and the fixed component of base Axle sleeve, be that base is fixed on axle sleeve by die casting, from the material axle sleeve more harder than base as axle and base it Between medium, improve the overall load-bearing dynamics of car body.
In a kind of fixing axle of external motor type self-balancing two-wheeled electrocar of the present invention and the fixed component of base Axle sleeve, be to be connected with base by way of die casting, base is fixed on axle sleeve by die casting, sleeve outer surface is fitted with base Contact, the outer surface of axle sleeve is coarse or is provided with depressed area on surface, can effectively improve the adhesion and base between, by right Boss surfaces are coarse or the such die casting of depression treatment if base is peeled off in the horizontal direction between the two in its surface, its needs Peeling force bigger, make fixing more firm of axle sleeve and base, effectively prevent axle sleeve from coming off with base.
In a kind of fixing axle of external motor type self-balancing two-wheeled electrocar of the present invention and the fixed component of base Axle sleeve, inner hole of shaft sleeve two ends diameter, the diameter of bore of nearly road wheel end is more than remote road wheel end, the line on two ends and level Between angle between face is preferably 1 ° -3 °.
A kind of external motor type self-balancing two-wheeled electrocar of the present invention, the single side axis of described wheel, are fixed on car The electric machine support center of wheel, passes through from electric machine support center, and the aperture for fixing the electric machine support center of single side axis is less than single The diameter of side axle, single side axis are pressed into electric machine support in the hole.
A kind of external motor type self-balancing two-wheeled electrocar of the present invention, the maximum pole in the aperture of described electric machine support The difference that limit size subtracts the minimum limit of size gained of axle that single side axis are fixed into electric machine support in the hole is interference Ymin, be hole with The relaxed state of axle cooperation；The minimum limit of size in the aperture of electric machine support subtracts the axle that single side axis are fixed into electric machine support in the hole The difference of maximum limit of size gained be interference Ymax, the compact state being hole with axle cooperation, Ymin≤- 0.01mm, Ymax >=-0.5, Ymin >=Ymax.
A kind of external motor type self-balancing two-wheeled electrocar of the present invention, the single side axis of described wheel, are fixed on car The electric machine support center of wheel, carriage center has hole to communicate with axle corresponding position, is inserted with pin in hole.Pin inserts in the hole, Axle and support is made to be further secured on left and right directions do not have any displacement.
A kind of external motor type self-balancing two-wheeled electrocar of the present invention, wheel both sides comprise vehicle wheel side further Lid, vehicle wheel side lid is connected with shaft mechanical by bearing, vehicle wheel side lid and bearing, is interference fit and is connected between bearing and axle, By pressing by outside force.Vehicle wheel side lid is pressed into bearing by pressing mode, axial compression enters bearing, it is more simple with respect to other techniques Just, and simplify structure, outward appearance is more attractive.
A kind of external motor type self-balancing two-wheeled electrocar of the present invention, including two open systems, respectively electricity Source switch system and electric motor car run and start closing system.
A kind of external motor type self-balancing two-wheeled electrocar of the present invention, power switch system and electric motor car run and open Dynamic closing system, after power switch system is opened, enters back into operation activation system according to after the perception to human body for the electric motor car.
A kind of external motor type self-balancing two-wheeled electrocar of the present invention, including two opening devices, respectively electricity Vehicle power switching device and electric motor car run and start shutoff device.After power switch device is opened, according to the sense to human body for the electric motor car Operation starter is entered back into after knowing.The run switch of Self-balance electric vehicle in the market is arranged on handle, is opening The balance system of front electric motor car is run, and car is in unbalanced state, and the personnel of riding can not stand on car, rides Switch on the opening handle of car side for the general station of personnel, and can be to the effect of one power of handle, when handle stress is given One fore-and-aft direction of car or the instruction of left and right directions operation, car setting in motion, the motion personnel of being ridden when therefore anticipate Know and control it is likely that the personnel of riding can be bumped against, or this now rides and performs relative motion between personnel and car, the personnel of riding want to stand Car in upper motion, acquires a certain degree of difficulty, and has very big danger, dangerous for reducing, and wherein electric motor car runs to open and closes Close device to be arranged in base, stand or leave base by human body and started or closed the running gear of electric motor car.People After body stands on base, after electric motor car operation opening device detects human body, automatically into running status, by people's body weight The perception of heart displacement come to be supplied to car body operation signal, when gravity center of human body moves forward, car body starts to travel forward, when people's body weight When moving after the heart, car body slows down or stops or retreat.Human body can run simultaneously with car body, improves safety.
A kind of external motor type self-balancing two-wheeled electrocar of the present invention, described opening closure includes：Letter Number induction installation, elastic component, induction of signal partitions, wherein signal induction device is arranged at the Double-wheel self-balancing below pedal In electronic underbody seat, elastic component is arranged above signal induction device, just to signal induction device, induction of signal partitions and bullet Property part be fixedly connected, be fixed on below elastic component, with signal induction device induced signal transmit vertical corresponding.
A kind of external motor type self-balancing two-wheeled electrocar of the present invention, wherein signal induction device includes：Circuit Plate, optical signal launch part, optical signal receiving element, signal transmission interface, current-limiting resistance, filter capacitor, load resistance, are mounted on On wiring board.
A kind of external motor type self-balancing two-wheeled electrocar of the present invention, wherein passes to the electricity of optical signal launch part The filtered capacitive filter in source filters out the interference of power supply impurity, after current-limiting resistance current limliting, optical signal launch part in the form of light Induced signal is transmitted to optical signal receiver, by optical signal receiver, optical signal is transformed into current signal, turns through load resistance Become voltage signal and pass to signal transmission interface, pass to the controller of Double-wheel self-balancing electric motor car, controller receives electricity Pressure signal Double-wheel self-balancing electric motor car runs and is closed.
A kind of external motor type self-balancing two-wheeled electrocar of the present invention, wherein said signal induction device is arranged In the base of Double-wheel self-balancing electric motor car, the pedal on base is provided with aperture, and aperture corresponds to signal induction device and senses The top of signal transmission, what elastic component projected is arranged on pedal aperture, and the induction of signal partitions on elastic component is from aperture Penetrate, the sensing letter of induction of signal partitions disabling signal induction installation during downward deformation, when elastic component is acted on by external force, occurs Number.
A kind of external motor type self-balancing two-wheeled electrocar of the present invention, wherein induction of signal partitions disabling signal The induced signal of induction installation, the optical signal that optical signal launch part is launched can not pass to and accept optical signal receiver, two-wheel The controller of Self-balance electric vehicle does not receive the voltage signal launching from signal induction device, Double-wheel self-balancing electric motor car Operation is in opening.
A kind of external motor type self-balancing two-wheeled electrocar of the present invention, wherein elastic component is sealingly fastened in pedal On.
A kind of external motor type self-balancing two-wheeled electrocar of the present invention, above the elastic component of wherein said pedal Comprise callosity further, callosity is not subject to downward pressure, that is, when personnel foot of riding does not step down on callosity, callosity is with elastic component no The effect of mutual power, or between mutual power elastic component can not be made to produce deformation, induced signal is not blocked from breaking, Double-wheel self-balancing electricity Motor-car runs and is closed.When personnel foot of riding steps down on callosity, the mutual power between callosity and elastic component makes bullet Property part produce deformation, induced signal blocked, and Double-wheel self-balancing electric motor car operation is in opening.
A kind of external motor type self-balancing two-wheeled electrocar of the present invention, each external motor type self-balancing two-wheel electricity Motor-car, comprises one or several Double-wheel self-balancing electric motor cars and runs opening closure, wherein at least one induction of signal fills The induction of signal put is blocked by induction of signal partitions, and Double-wheel self-balancing electric motor car enters and runs opening.
A kind of external motor type self-balancing two-wheeled electrocar of the present invention, is wherein provided with bullet between base and handle Property resetting-mechanism, including stator, rotor, dynamic clamping head and quiet clamping head, handle is directly or indirectly mechanically fixed with rotor and is connected, stator with Base is directly or indirectly mechanically fixed and is connected, and passes through dynamic clamping head and quiet clamping head elastic connection between stator and rotor, outside handle is subject to When power is subjected to displacement, rotor driven does the position skew of equal angular, after external force disappears, is made by dynamic clamping head and quiet clamping head resilience force Restored to the original state state with rotor, drive handle reinstatement state simultaneously.Stator mentioned here, rotor are unrelated with motor, stator Only refer to actionless part in flexible restoring organ, rotor refers to the part in flexible restoring organ with respect to stator rotation, Rotor is with the axle center of stator as axis rotation.
A kind of external motor type self-balancing two-wheeled electrocar of the present invention, wherein stator is arranged at internal rotor；Or Person's rotor is arranged at stator interior.It is characterized in that dynamic clamping head and quiet clamping head is filled in gap between stator and rotor, stator and rotor One entirety is linked to be by dynamic clamping head and quiet clamping head, rotor is driven relative initial position to rotate by external force, drives dynamic clamping head and quiet clamping head to produce Deformation, after the external force driving force suffered by when rotor weakens or disappears, dynamic clamping head and quiet clamping head pass through its elastic reset power rotor driven to Initial position moves or returns to initial position.
A kind of external motor type self-balancing two-wheeled electrocar of the present invention, wherein arranges limited between stator and rotor Position part, limits other all motions in addition to rotating of rotor relative stator.
A kind of external motor type self-balancing two-wheeled electrocar of the present invention, passes through elasticity wherein between stator and rotor Return unit elastic connection, described dynamic clamping head and quiet clamping head is rubber parts or silica gel part, fixes with stator and rotor for improving rubber parts Dynamics, rubber parts is molded between stator and rotor.
A kind of external motor type self-balancing two-wheeled electrocar of the present invention, for improving the resilience of rubber parts and making to ride Personnel can utilize optimum dynamics, is more convenient comfortable manipulation handle, corresponding Hardness Control is in 55-65A, tensile strength 13- 15MPa, percentage elongation 600-650%, peel strength 7-8MPa, described rubber parts composition includes rubber NR, white carbon black N774, white carbon black N330, naphthenic oil, zinc oxide, antiaging agent MB, stearic acid, RD, WB212, altax, accelerant CZ, each account for gross mass Proportion 50%-65%, 15%-25%, 7%-15%, 3%-9%, 1%-5%, 0.1%-0.5%, 0.1%-0.5%, 0.1%-0.5%, 0.1%- 0.5%、0.1%-0.5%、0.5%-1.2%.
A kind of external motor type self-balancing two-wheeled electrocar of the present invention, in flexible restoring organ, dynamic clamping head and quiet clamping head is Rubber parts, its rubber is prepared into by following manner：By the preparation of total material quality 10kg, rubber NR is on the machine of beginning to pratise at 100 DEG C ± 2 Continue 75 seconds -85 seconds for 5 times altogether by two tumble blend at DEG C, add white carbon black N774, white carbon black N330, naphthenic oil, zinc oxide, Antiaging agent MB, stearic acid, RD, WB212 knead at 110 DEG C ± 2 DEG C and continue 110 seconds -130 seconds, add naphthenic oil at 120 DEG C At ± 2 DEG C mixing continue 90 seconds -110 seconds, surface is cleaned simultaneously, clean continue 150 seconds -170 seconds, park 8 hours with On, add altax, accelerant CZ and sulfur to be pressed into thin slice by cylinder after kneading the lasting 75-85 second at 50 DEG C -60 DEG C, Complete rubber system standby.
A kind of external motor type self-balancing two-wheeled electrocar of the present invention, multiple for improving stator, rotor and elasticity It is stripped required dynamics, for rough surface or there is depression on the surface that stator, rotor contacts with dynamic clamping head and quiet clamping head between the part of position Patterned surface.
A kind of external motor type self-balancing two-wheeled electrocar of the present invention, the bullet of setting wherein between base and handle Property resetting-mechanism further include angular stop means, limiting rotor rotates in certain angle, and the corresponding handle that limits exists Motion in this angle.
A kind of external motor type self-balancing two-wheeled electrocar of the present invention, wherein limits rotor and turns in certain angle Dynamic angular stop means, including limited cover, spacer pin, limited cover is directly or indirectly fixedly connected with stator machinery, limited cover It is provided with spacing hole, spacer pin is directly or indirectly mechanically fixed with rotor and is connected, rotor rotates and drives spacer pin on limited cover Spacing in the hole do in certain angle and rotate.
A kind of external motor type self-balancing two-wheeled electrocar of the present invention, passes through handle wherein between handle and rotor Base tool is fixedly connected, and spacer pin is fixed on handle base, and handle is rotated on drive handle base and handle base by external force effect Spacer pin rotates, and in rotation process, spacer pin is limited by the spacing spacing hole that covers, and rotates in certain angle.
A kind of external motor type self-balancing two-wheeled electrocar of the present invention, wherein limits rotor and turns in certain angle Dynamic, that is, corresponding handle rotates in this angle, between described certain angle is preferably ± 30 °, rotates phase in this angle Pleasant to the human users that ride.
A kind of external motor type self-balancing two-wheeled electrocar of the present invention, the elasticity wherein between base and handle is multiple The positional information acquisition system of handling position change when car body turns round is comprised further on the mechanism of position, catches handling position change Instant messages.
A kind of external motor type self-balancing two-wheeled electrocar of the present invention, wherein positional information acquisition system comprises letter Breath catches and the composition such as information processing transmitting device, information launcher.
A kind of external motor type self-balancing two-wheeled electrocar of the present invention, wherein information launcher is direct or indirect It is fixedly installed on and is directly or indirectly mechanically fixed on the rotor being connected with handle, information capture and information processing transmitting device are straight Connect or be indirectly fixedly installed on and be directly or indirectly mechanically fixed on the stator being connected with base, turned with respect to stator by rotor Dynamic, drive information launcher to rotate with respect to information capture and information processing transmitting device, information launcher is rotating During because of the displacement different signals of transmitting that its relative information catches and information processing transmitting device is different, information capture and Information processing transmitting device captures after unlike signal after treatment, corresponding information transmission to control system, through controlling system System passes to motor corresponding information after processing, and gives two wheels different drivings respectively.
A kind of external motor type self-balancing two-wheeled electrocar of the present invention, wherein information launcher is direct or indirect It is fixedly installed on and is directly or indirectly mechanically fixed on the stator being connected with base, information capture and information processing transmitting device are straight Connect or be indirectly fixedly installed on and be directly or indirectly mechanically fixed on the rotor being connected with handle, turned with respect to stator by rotor Dynamic, drive information capture and information processing transmitting device with respect to information launcher rotation, information capture and information processing Transmitting device is during rotating because the different displacement of its relative information discharger receives different signals, information capture And information processing transmitting device captures after unlike signal after treatment, corresponding information transmission to control system, through controlling System passes to motor corresponding information after processing, and gives two wheels different drivings respectively.
A kind of external motor type self-balancing two-wheeled electrocar of the present invention, wherein said information launcher is magnetic Ferrum, described information capture and information processing transmitting device are linear hall sensor, and linear hall sensor passes through to catch Changes of magnetic field information caused by the magnet positions change being done relative motion with it after treatment, is given corresponding information transmission and is controlled System, passes to motor corresponding information after processing through control system, gives two wheels different drivings respectively.
A kind of external motor type self-balancing two-wheeled electrocar of the present invention, wherein said Magnet is a pair of magnet, In a center of symmetry be directly or indirectly mechanically fastened on stator or rotor, central point be rotor center of rotation, in two magnetic blow out centre Point corresponding position fixed linear Hall element.
For improving the balance when turning to for the car, another aspect of the present invention discloses external motor type self-balancing of the present invention Two-wheeled electrocar rotating direction control method, because of handle displacement, linear hall sensor by relatively rotating the change of angle with Magnet Catch the changes of magnetic field information of Magnet after treatment, corresponding information transmission is calculated two-wheeled motor control to control system Amount, after corresponding information is passed to motor, give two wheels different driving respectively, make two wheels produce speed differences, thus Realize turning to.
External motor type self-balancing two-wheeled electrocar rotating direction control method of the present invention, wherein external motor type self-balancing two-wheel Electric vehicle rotary to when two wheels produce speed differences during add the speed of service on car body fore-and-aft direction overall as car body The speed controlling run, control system detects the angle that handle rotates, simultaneously according to the speed of service on the current fore-and-aft direction of car body Obtain corresponding proportionality coefficient, corresponding proportionality coefficient is multiplied by by the angle that handle rotates and calculates the comprehensively control of final motor Amount processed.
External motor type self-balancing two-wheeled electrocar rotating direction control method of the present invention, wherein further includes that motor operation is adjusted Whole control, control system captures gyroscope, accelerometer data and Motor drive data, calculates current vehicle running body direction And speed, simultaneously according in flexible restoring organ because rotor rotates the information that captures of linear hall sensor after filtering, Linearization process, obtains handle rotational angle, according to velocity magnitude now, calculates corresponding proportionality coefficient, then uses handle The angle rotating is multiplied by corresponding proportionality coefficient, obtains motor control adjustment amount.
External motor type self-balancing two-wheeled electrocar rotating direction control method of the present invention, wherein said self-balancing two wheeled electric Car further includes motor operation adjustment controller, and adjustment controller captures gyroscope in car body, accelerometer data and electricity Machine driving data, calculates current vehicle running body direction and speed, and basis is installed on self-balancing two-wheeled electrocar and turns to dress simultaneously The direction information that the Hall element put captures after filtering, linearization process, obtain car body transfer rotational angle, According to velocity magnitude now, calculate corresponding proportionality coefficient, then turn to dress with external motor type self-balancing two-wheeled electrocar The angle putting rotation is multiplied by corresponding proportionality coefficient, obtains motor control adjustment amount, and controller is adjusted according to the motor control obtaining Whole amount U sends driving control system for electric machine to, makes two motors produce speed difference, realizes turning to.
External motor type self-balancing two-wheeled electrocar rotating direction control method of the present invention, wherein motor real-time rotating speed v is in difference When interval, external motor type self-balancing two-wheeled electrocar rotating direction control method：K be transfer rotational angle proportionality coefficient, KpFor speed proportional coefficient (the speed proportional coefficient that the individual variation according to each motor sets), VLFor coefficient adjustment lower velocity limit, VHFor coefficient adjustment speed limit, v be the real-time rotating speed of motor, V be range of motor speeds according to actual set, U be motor control Adjustment amount, θ are steering yoke rotational angle, when controller detects motor real-time rotating speed v≤coefficient adjustment lower velocity limit VLWhen, U= θ * k, k=Kp* V/VL, now the proportionality coefficient k of transfer rotational angle fix and reach maximum, controller is only with electricity The angle change that machine external self-balancing two-wheeled electrocar rotates, as Variable Control motor adjustment amount, adjusts motor；Work as VH>v> VLWhen：U=θ * k, k=Kp* V/v；Now the proportionality coefficient k of transfer rotational angle rotates speed for variable in real time according to motor Degree linear change, the angle that controller is rotated with self-balancing two-wheeled electrocar simultaneously is long-pending with k's, makees controlled motor adjustment amount, tune Whole motor；Work as v>VHWhen：U=θ * k, k=Kp* V/VH,Now the proportionality coefficient k of transfer rotational angle fixes and reaches Little value, controller only using the angle change of self-balancing two-wheeled electrocar rotation as Variable Control motor adjustment amount, adjusts motor.
External motor type self-balancing two-wheeled electrocar rotating direction control method of the present invention, wherein said motor control adjusts Amount, makes two motors produce speed difference, is the wheel electrical machine drive volume only to non-turn side for the controller, now motor control adjustment amount For Motor drive amount；Or controller give non-turn side wheel Motor drive amount, simultaneously give turn side wheel motor limit amount, now Motor control adjustment amount be Motor drive amount and motor limit amount and；Or control its wheel electrical machine limit amount only to turn side, Now motor control adjustment amount is motor limit amount.As v≤VLPreferably only give the wheel electrical machine drive volume of non-turn side, or give Turn side wheel limit amount（Described limit amount can be the reverse drive amount of motor.）；Work as v>VHPreferably only limit to turn side wheel Amount processed.
The present invention for raising ride personnel straight trip when balance, the present invention provide external motor type self-balancing two-wheel electricity Motor-car comprises control method for stably operating, does not rotate when external motor type self-balancing two-wheeled electrocar detects car transfer, Single motor runs and is obstructed, and controller detects car body and turns to, and gives to be subject to according to the size that car body turns to deviation predetermined value Resistance motor adequate compensation amount, or the motor adequate compensation amount that gives to be obstructed gives another motor suitable limit amount, or be given only Another motor limit amount, so that car body returns to steady operational status.
The maximum drive volume of running of external motor type self-balancing two-wheeled electrocar of the present invention, wherein motor is Umax, Motor moment drive volume before being obstructed of being obstructed is UFormer, drive volume U that the motor that is obstructed is obstructedResistance, when controller detects 0 ＜ UResistance＜ Umax-UFormer, single motor is obstructed, and controller detects car body and turns to, and turns to the size deviateing predetermined value according to car body, only Give motor adequate compensation amount of being obstructed, make car body return to former steady operational status；Or, give to be obstructed motor adequate compensation amount to Give the suitable limit amount of another motor, make car body return to steady operational status；Or, it is given only another motor limit amount, make car body Return to steady operational status.Preferably it is given only motor adequate compensation amount of being obstructed, make car body return to former steady operational status.
External motor type self-balancing two-wheeled electrocar of the present invention, single motor is obstructed, and controller detects car body Turn to, as 0 ＜ UResistance＜ Umax-UFormer, the size deviateing predetermined value is turned to according to car body, is given only the motor adequate compensation that is obstructed Amount, angle W that compensation dosage is equal to car body deviation predetermined value rotation for U is taken advantage of in penalty coefficient K, makes car body return to former stable operation State.
External motor type self-balancing two-wheeled electrocar of the present invention, the maximum drive volume of running of motor is Umax, certainly flat Weighing apparatus two-wheeled electrocar transfer does not rotate, and single motor is obstructed, and controller detects car body and turns to, and the motor that is obstructed is being subject to Before resistance, moment drive volume is UFormer, drive volume U that the motor that is obstructed is obstructedResistance, as Umax ＞ UResistance≥Umax-UFormer, single motor is obstructed, and controls Device processed detects car body and turns to, and turns to, according to car body, the size deviateing predetermined value, give to be obstructed motor adequate compensation amount to Give the suitable limit amount of another motor, make car body return to steady operational status；Or, it is given only another motor limit amount, make car body Return to steady operational status.
External motor type self-balancing two-wheeled electrocar of the present invention, single motor is obstructed, and controller detects car body Turn to, 0 ＜ UResistance＜ Umax-UFormerOr Umax ＞ UResistance≥Umax-UFormer, the size deviateing predetermined value is turned to according to car body, gives Motor adequate compensation amount of being obstructed gives another motor suitable limit amount, and compensation dosage is equal to car body for U and deviates the angle that predetermined value rotates Degree W takes advantage of in penalty coefficient K, and angle W that limit amount is equal to car body deviation predetermined value rotation for U is taken advantage of in limit coefficient K, makes car body Return to steady operational status；
The maximum drive volume of running of external motor type self-balancing two-wheeled electrocar of the present invention, wherein motor is Umax, External motor type self-balancing two-wheeled electrocar transfer does not rotate, and single motor is obstructed, and controller detects car body and occurs to turn To motor moment drive volume before being obstructed of being obstructed is UFormer, drive volume U that the motor that is obstructed is obstructedResistance, work as UResistanceIt is given only another during >=Umax One motor limit amount, makes car body return to steady operational status.
External motor type self-balancing two-wheeled electrocar of the present invention it is characterised in that single motor is obstructed, controller Car body is detected to turn to, turn to the size deviateing predetermined value, U according to car bodyResistance>=Umax or 0 ＜ UResistance＜ Umax-UFormerOr Umax ＞ UResistance≥Umax-UFormerIt is given only another motor limit amount, limit amount is equal to car body for U and deviates angle W that predetermined value rotates Take advantage of in limit coefficient K, make car body return to steady operational status.
External motor type self-balancing two-wheeled electrocar of the present invention, described compensation or compensation and restriction or restriction, The not operation that is causing because motor characteristic difference is larger can be can be used for turn to simultaneously.
External motor type self-balancing two-wheeled electrocar of the present invention, may further include the releasing detector that is obstructed, When self-balancing two-wheeled electrocar detects releasing of being obstructed by detector, to controller signals, the compensation of controller controlled motor Limit or compensate with restriction all immediately cancel, return to steady operational status before being obstructed.
External motor type self-balancing two-wheeled electrocar of the present invention, for improving the balance that the personnel of riding ride, partially From mensure and motor compensating, limit control, using 1-10 millisecond as a detection cycle.
A kind of external motor type self-balancing two-wheeled electrocar of the present invention, wherein handle can be folding handle, Handss include up knob arm, lower handle arm, the foldable mechanism between upper and lower handle, handgrip part.
A kind of external motor type self-balancing two-wheeled electrocar of the present invention, wherein said handgrip part is in two handles Between be provided with car body display device or and car body control device.
A kind of external motor type self-balancing two-wheeled electrocar of the present invention, wherein said handgrip part is in two handles Between setting car body control device, including vehicle body Bluetooth control system, car remote upgrade control system, car power supply are long-range Switching system.
A kind of external motor type self-balancing two-wheeled electrocar of the present invention, wherein between up knob arm and lower handle arm By foldable mechanism, folding is fixedly connected.
A kind of external motor type self-balancing two-wheeled electrocar of the present invention, wherein foldable mechanism include folded piece, Fold positioning limiting fixator, sealing member.Wherein said folded piece is hinge, including upper hinge, lower jaw and the upper and lower hinge of connection Rotating shaft, upper and lower hinge is individually fixed on upper and lower handle arm.Upper and lower handle arm is realized connecting by the folding of hinge or is rolled over Folded.Wherein said connection fixture is so that upper and lower handle arm is fixedly connected, including hasp hook, hasp circle, hasp shell, hasp Locking device, hasp hook is fixed on one of handle arm, and hasp circle, hasp shell, snap lock device are arranged at another On individual handle arm, hasp circle hasp is realized upper and lower handle arm on hasp is linked up with and is fixedly connected, and hasp circle rotary machine connects On hasp shell, snap lock device locks hasp shell.Wherein said hasp shell includes hasp lower casing, hasp upper casing, hasp Lower casing is fixed on handle, on hasp lower casing by hasp rotating shaft make hasp upper casing be rotatably connected with hasp lower casing on, hasp circle It is rotatably connected on hasp upper casing, when hasp upper casing is opened, hasp circle corresponds to hasp and links up with position, and close hasp upper casing, hasp Circle is fixedly connected with hasp hook, and when opening hasp upper casing, hasp circle comes off from hasp hook.Wherein said hasp shell lock Determine device, including：Spring, hasp locking plate, hasp locking and hanging hook, hasp locking plate is arranged on hasp upper casing, and spring is arranged at hasp On locking plate, hasp locking and hanging hook is arranged on hasp lower casing, catches on hasp locking plate by hasp locking and hanging hook, be hasp upper casing locking with On hasp lower casing.Wherein hasp locking plate includes hasp locking plate press section position, hasp lock film perforation, hasp locking plate angle, on two springs It is provided with two springs, two springs be arranged in parallel, hasp locking plate is laterally inserted on hasp upper casing, hasp locking plate press section position is being taken Buckle outside the housing of shell side, the hasp lock outside the housing of hasp upper casing opposite side, in hasp upper casing is stretched out at hasp locking plate angle Spring is provided with piece angle, spring one end props up the top at hasp locking plate angle, the other end props up hasp upper casing internal side wall, hasp Restricted hasp lock piece angle is arranged on locking plate hole completely into the projection in hasp upper casing, spring in hasp shell locking device During big stretching, projection props up inside the hasp upper casing of hasp locking plate press section position, and when hasp upper casing is closed, hasp locking and hanging hook catches on to be taken On padlock piece bore edges, when hasp locking plate press section position is pressed, hasp lock film perforation is subjected to displacement, and hasp locking and hanging hook departs from hasp Locking plate bore edges, enter hasp lock film perforation, hasp locking plate press section position is pressed hasp upper casing can free switch.
A kind of external motor type self-balancing two-wheeled electrocar of the present invention, wherein said sealing member is elastic water-proof Material, is sealingly fastened on the interface of upper and lower handle arm, for connecting as the interface between upper and lower handle arm, makes interface close Envelope connects, and has waterproof action, simultaneously elastomeric material, can make the personnel of riding in bumpy sections, handgrip part has certain elasticity Power resilience buffers, and can effectively reduce the human hand that rides and jolt sense.
A kind of external motor type self-balancing two-wheeled electrocar of the present invention, wherein said sealing member be rubber parts or Silica gel part, including further above can be by the string holes of transmission line, for by connecting handgrip part between two handles Car body display device or and car body control device and base interior power and control system transmission line.
A kind of external motor type self-balancing two-wheeled electrocar of the present invention, wherein said transmission line is arranged on folded tube Interior, folded tube is stuck in string holes, folds pipe outer wall and forms sealing with string holes, on the one hand can effectively prevent transmission line exposed, another Aspect folded tube can fold with upper and lower handle arm and stretch.The folding of upper and lower handle arm will not damage transmission line.
Divide on a kind of external motor type self-balancing two-wheeled electrocar of the present invention, wherein up knob arm, lower handle arm It is not provided with groove, comprise LED decorative lamp in groove further, outside is provided with transparent silica gel and LED is packaged in groove.
A kind of external motor type self-balancing two-wheeled electrocar of the present invention, for ease of assembling, wherein carries on handle The power supply extending out in power supply, information transmission and control interface end, with base and the pluggable connection of information transmission and control interface.
A kind of external motor type self-balancing two-wheeled electrocar of the present invention, wherein handle comprises further at hand Seat, handle base is directly or indirectly connected on base, and between handle and handle base, power supply and information transmission and control interface can It is fixedly connected by screw machine between plug-in connection, and handle and handle base.
A kind of external motor type self-balancing two-wheeled electrocar of the present invention, wherein up knob arm is electrical with handgrip part Pluggable connection, and be screwed.
Brief description
The accompanying drawing of the present invention is in order to the present invention is further described, rather than the restriction to invention scope.
Fig. 1 is external motor type self-balancing two-wheeled electrocar schematic diagram of the present invention.
Fig. 2 is external motor type self-balancing two-wheeled electrocar axletree of the present invention and vehicle body bindiny mechanism schematic diagram.
Fig. 3 is external motor type self-balancing two-wheeled electrocar axletree of the present invention and vehicle body bindiny mechanism generalized section.
Fig. 4 is the attachment structure section between external motor type self-balancing two-wheeled electrocar axletree of the present invention and wheel Schematic diagram.
Fig. 5 is that external motor type self-balancing two-wheeled electrocar car of the present invention runs opening closure generalized section.
Fig. 6 is external motor type self-balancing two-wheeled electrocar elastic reset steering mechanism of the present invention decomposing schematic representation.
Fig. 7 is that the upper and lower handle arm of external motor type self-balancing two-wheeled electrocar of the present invention splits signal with foldable mechanism Figure.
Fig. 8 is external motor type self-balancing two-wheeled electrocar foldable mechanism schematic diagram of the present invention.
Fig. 9 is that the fractionation between each building block of external motor type self-balancing two-wheeled electrocar folding handles of the present invention is shown It is intended to.
Figure 10 is external motor type self-balancing two-wheeled electrocar rotating direction control method of the present invention and control method for stably operating Flow chart.
, handle, 101, be up knob arm, 102 be hinge, 103 is screw hinge being fixed on upper and lower handle arm, 104 is sealing member, and 105 is hasp shell, and 106 is screw hasp shell being fixed on handle, and 107 is lower handle arm, and 108 is to take Button locking device, 109 is hasp circle, and 110 is hasp hook, and 111 is screw hasp hook being fixed on handle arm, 112 For handgrip part, 113 is handle, and 114 is power supply and information transmission and control interface, and 115 is handle base, and 116 is fixed handle With the screw of handle base, 117 is handgrip part and the pluggable position of handle, and 118 is base and the pluggable position of handle, 119 For handle and the pluggable position of handgrip part, 120 is handle and the pluggable position of base, 200, be wheel, 201, be screw, 202nd, be motor side lid, 203, be electric machine support, 204, be bearing, 205, be bearing holder (housing, cover), 206, be pin, 207, be motor Axle, 208, be line position hole, 209, for connecting line between vehicle body and wheel hub motor, 210, be wheel hub, 211, be magnetic links, 301, Split pin, 300, be base, 303, be axle sleeve, 304, be wheel, 305, for adjustment steel disc, 306 be crescent moon piece, 307, be flange Nut, 308, be boss surfaces groove, 309, be axletree, 401, be pedal, 403 be elastic component, 404, be signal sense Answer partitions, 405, optical signal transmitter, 406, optical signal receiver, 407, signal transmission interface, 408, wiring board, 501, be Stator, 502, for limiting component between stator and rotor, 503, be limited cover, 504, the screw for fixing limited cover, 505, For spacer pin, 506, be handle base, 508, be that information capture and information processing transmitting device are fixed on the spiral shell on stator Silk, the base of 509, information capture and information processing transmitting device, 510, stator is fixed on the screw of vehicle body, 511, be bullet Property return unit, 512, be rotor.
The body gesture speed of collection calculating external motor type self-balancing two-wheeled electrocar, the rotational angle of transfer, When transfer rotates, judge the real-time rotating speed of motor, according to v≤V；VH>v>During VL；v>VH counts in tri- different intervals respectively Calculate transfer angle proportionality coefficient, calculate motor control adjustment amount, be sent to Motor drive part by controlling adjustment amount；When turn Do not rotate to device, when car body rotates, calculating motor control adjustment amount will control adjustment amount to be sent to Motor drive part；When turn Do not rotate to device, when car body also rotates, keep existing steady operational status.
Specific embodiment
Embodiments of the invention are to further explain to the present invention, rather than the invention scope limit to the present invention System.
Embodiment 1.
External motor type self-balancing two-wheeled electrocar, including wheel, battery, control device, motor, base, handle, two Motor is placed on two inside wheels of base body both sides respectively for wheel hub motor, and two wheels pass through respective single side axis respectively Be mechanically fastened on base, control device and battery are arranged in base, and handle is mechanically connected on base, Electricmotor car wheel with In base fixed connection structure, fixed component includes：Flange nut, crescent moon piece, adjustment steel disc, axle sleeve etc., axle sleeve material compares base More hard, the outer surface of axle sleeve is coarse or is provided with depressed area on surface, inner hole of shaft sleeve two ends diameter, nearly road wheel end Diameter of bore is more than remote road wheel end, and between the angle between the line on two ends and horizontal plane is preferably 1 ° -3 °, base passes through pressure Casting is fixed on axle sleeve, and axletree therein is inclined-plane with the crescent moon part depressed area opposite in the fixed component of base, nearly car Tilt to axle at wheel, the face of the screw hole on corresponding base is also an inclined plane, and flange nut heads on crescent moon part toward at nearly wheel Screw-in makes, and because the face of screw hole is inclined-plane, hole is less and less, and adjustment steel disc is padded between crescent moon part and base, corresponding bottom Seat surface inclination corresponding with crescent moon part, tilts to axle at nearly wheel, during continuous screw-in flange nut and crescent moon part it Between, between crescent moon part and axle, between crescent moon part and adjustment steel disc, contact more and more tightr between adjustment steel disc and base.In car Hole is carried at adjacent flange nut, fixed component is further on flange nut in the fixed component of wheel shaft and base axle below Including split pin, split pin is arranged at the in the hole on axle.Split pin is used for limiting flange nut back-out.Countershaft upper add further Split pin, for fastening to flange nut, prevents flange nut from having loosening, can effectively stop flange nut outward turning.
Embodiment 2
External motor type self-balancing two-wheeled electrocar, including wheel, battery, control device, motor, base, handle, two Motor is placed on two inside wheels of base body both sides respectively for wheel hub motor, and two wheels pass through respective single side axis respectively It is mechanically fastened on base, control device and battery are arranged in base, and handle is mechanically connected on base, self-balancing two-wheel electricity Motor-car wheel hub motor axle is 0.3mm with the difference in wheel electrical machine support aperture, and motor shaft is fixed on the electric machine support of wheel Center, motor shaft is through the center in the hole of electric machine support, and the diameter of electric machine support centre bore is less than the diameter of motor shaft, motor shaft Press-in electric machine support in the hole, the motor shaft of wheel has hole, the electric machine support supercentral hole phase with the wheel of fixing motor shaft Logical, insert pin in hole, vehicle wheel side lid is connected with shaft mechanical by bearing, vehicle wheel side lid and bearing, it is between bearing and axle Interference fit connects, bearing and vehicle wheel side cap bore footpath difference, and axle and bearing aperture interference difference all control in 0.3mm.Electricity The line position hole of the connecting line between base and wheel hub motor is provided with arbor, line position hole is arranged at the connection of motor shaft and bearing Place, motor shaft is reached the standard grade the external diameter of the connecting line between the aperture ＞ base in a hole and wheel hub motor, and motor shaft is reached the standard grade the hole in a hole The external diameter of the connecting line between footpath≤3/2 times base and wheel hub motor, motor shaft is reached the standard grade+2 times of the length ＞ bearing width in a hole The diameter of the connecting line between base and wheel hub motor, on bearing setting online position hole, line position hole two ends are respectively arranged at bearing Inside and outside.
Embodiment 3
External motor type self-balancing two-wheeled electrocar, including wheel, battery, control device, motor, base, handle, two Motor is placed on two inside wheels of base body both sides respectively for wheel hub motor, and two wheels pass through respective single side axis respectively It is mechanically fastened on base, control device and battery are arranged in base, and handle is mechanically connected on base, and car includes two-wheel Self-balance electric vehicle runs opening closure, is made up of signal induction device, elastic component, induction of signal partitions etc., letter Number induction installation is arranged in the external motor type self-balancing two wheeled electric underbody seat below pedal, and elastic component is arranged at signal Above induction installation, just to signal induction device, induction of signal partitions is fixedly connected with elastic component, is fixed under elastic component Face, vertical corresponding with the transmission of signal induction device induced signal.Signal induction device is arranged at external motor type self-balancing two-wheel In the base of electric motor car, the pedal on base is provided with aperture, and aperture corresponds to the upper of signal induction device induced signal transmission Side, what elastic component projected is arranged on pedal aperture, and the induction of signal partitions on elastic component penetrates from aperture, works as elastic component Acted on by external force, the induced signal of induction of signal partitions disabling signal induction installation during downward deformation occurs.Induction installation by The groups such as wiring board, optical signal launch part, optical signal receiving element, signal transmission interface, current-limiting resistance, filter capacitor, load resistance Become, be mounted on wiring board.Pass to the filtered capacitive filter of power supply of optical signal launch part, after current-limiting resistance current limliting, light Signal transmitting part is transmitted to optical signal receiver induced signal in the form of light, by optical signal receiver, optical signal is transformed into Current signal, is transformed into voltage signal through load resistance and passes to signal transmission interface, passes to external motor type self-balancing double The controller of wheel electric motor car, controller receives the operation of voltage signal external motor type self-balancing two-wheeled electrocar and is in cut out shape State.During optical signal launch part is transmitted to optical signal receiver induced signal in the form of light, signal is by induction of signal Partitions blocks, and optical signal receiver does not receive corresponding signal, and controller does not receive corresponding voltage signal, outside motor Put the operation of formula self-balancing two-wheeled electrocar and be in opening.
Embodiment 4
External motor type self-balancing two-wheeled electrocar, including wheel, battery, control device, motor, base, handle, two Motor is placed on two inside wheels of base body both sides respectively for wheel hub motor, and two wheels pass through respective single side axis respectively Be mechanically fastened on base, control device and battery are arranged in base, and handle is mechanically connected on base, base and handle it Between be provided with elastic reset assembly, handling position modification information harvester is provided with elastic reset assembly, location change is believed Breath harvester comprises information capture and information processing transmitting device, information launcher.Information launcher a pair of magnet In a center of symmetry being directly arranged at directly is mechanically fixed on the rotor being connected with handle, and central point is center of rotation, information capture And information processing transmitting device linear hall sensor is arranged at magnetic blow out centre point corresponding position and the base directly company of being mechanically fixed In the stator cover of the stator connecing, by rotor with respect to stator rotation, drive information launcher with respect to information capture and Information processing transmitting device rotates, and information launcher is during rotating because its relative information catches and information processing transmission The different displacement different signals of transmitting of device, information capture and information processing transmitting device capture after unlike signal through processing Afterwards, corresponding information transmission to control device, after processing through control device, corresponding information is passed to motor, give two respectively The different driving of wheel.
Embodiment 5
External motor type self-balancing two-wheeled electrocar, including wheel, battery, control device, motor, base, handle, two Motor is placed on two inside wheels of base body both sides respectively for wheel hub motor, and two wheels pass through respective single side axis respectively It is mechanically fastened on base, control device and battery are arranged in base, and handle is mechanically connected on base, described handle is Folding handle includes up knob arm, lower handle arm, the foldable mechanism between upper and lower handle, handgrip part, and upper and lower handle leads to Cross foldable mechanism folding to connect, foldable mechanism includes folded piece, connection fixture, sealing member.Folded piece is hinge, Including upper hinge, lower jaw and the rotating shaft connecting upper and lower hinge, upper and lower hinge is individually fixed on upper and lower handle arm.Connect Fixture makes upper and lower handle arm be fixedly connected, and including hasp hook, hasp circle, hasp shell, snap lock device, hasp is linked up with It is fixed on one of handle arm, hasp circle, hasp shell, snap lock device are arranged on another handle arm, hasp circle Hasp is realized upper and lower handle arm on hasp is linked up with and is fixedly connected, and hasp circle rotary machine is connected on hasp shell, hasp lock Determine device locking hasp shell.Sealing member is rubber parts, is sealingly fastened on the interface of upper and lower handle arm.Sealing member be or silica gel Part, including further above can be by the string holes of transmission line.Transmission line is arranged in folded tube, and folded tube is stuck in string holes, Fold pipe outer wall and form sealing with string holes.Handgrip part is mechanically fixed and is arranged on up knob arm, and handgrip part includes two handles, And be arranged on car body display device between two handles or and car body control device, car body control device includes vehicle body bluetooth Control device, car remote upgrade control device, car power supply remote switch device.Set respectively on up knob arm, lower handle arm Fluted, comprise LED decorative lamp in groove further, outside is provided with transparent silica gel and LED is packaged in groove.On handle With power supply, information transmission and control interface end, handle comprises handle base further, and handle base is connected to electronic vehicle main body in succession On, between handle and handle base, power supply and the pluggable connection of information transmission and control interface, lead between handle and handle base again Cross screw machine to be fixedly connected.

Claims (73)

1. a kind of external motor type self-balancing two-wheeled electrocar, including wheel, battery, control system, motor, base, handle, its It is characterised by that described external motor type is two inside wheels that two motors are placed on base body both sides respectively, two wheels divide It is not mechanically fastened on base by respective single side axis, control system and battery are arranged in base, and handle is direct or indirect It is mechanically connected on base, between base and handle, be provided with flexible restoring organ, including stator, rotor, dynamic clamping head and quiet clamping head, Handss are directly or indirectly mechanically fixed with rotor and are connected, and stator is directly or indirectly mechanically fixed with base and is connected, stator with turn Pass through dynamic clamping head and quiet clamping head elastic connection between son.
2. external motor type self-balancing two-wheeled electrocar according to claim 1 is it is characterised in that described motor is wheel Hub motor.
3. external motor type self-balancing two-wheeled electrocar according to claim 1 is it is characterised in that two wheels lead to respectively Cross respective single side axis to be mechanically fastened on base, fixed by fixed component flange nut between axle and base.
4. external motor type self-balancing two-wheeled electrocar according to claim 3 is it is characterised in that fixed component is further Including：Crescent moon part, adjustment steel disc, axle sleeve, axle sleeve is fixed in base, and axle is arranged in axle sleeve, and shaft tail end passes through crescent moon part, tune Whole steel disc and flange nut are fixed.
5. external motor type self-balancing two-wheeled electrocar according to claim 4 is it is characterised in that described crescent moon part is firm Property material, quenched process.
6. external motor type self-balancing two-wheeled electrocar according to claim 4 is it is characterised in that described crescent moon part is Two, crescent moon part depressed area is to being buckled on axle, and is arranged between flange nut and axle sleeve, is lined between crescent moon part and base Adjustment steel disc.
7. external motor type self-balancing two-wheeled electrocar according to claim 6 is it is characterised in that described crescent moon part is recessed Sunken position opposite be inclined-plane, at nearly wheel to axle tilt, adjustment steel disc be padded between crescent moon part and base, corresponding seating plane with The corresponding inclination of crescent moon part, tilts to axle at nearly wheel.
8. external motor type self-balancing two-wheeled electrocar according to claim 4 it is characterised in that flange nut below On axle, adjacent flange nut carries hole, and fixed component further includes split pin, and split pin is arranged at the in the hole on axle.
9. external motor type self-balancing two-wheeled electrocar according to claim 4, it is characterised in that described axle sleeve, is logical The mode crossing die casting is fixed on base die casting on axle sleeve.
10. external motor type self-balancing two-wheeled electrocar according to claim 9 is it is characterised in that described base passes through Axle sleeve is fixed in die casting, and sleeve outer surface is contacted with base laminating, and the outer surface of axle sleeve is coarse or is provided with depressed area on surface.
11. external motor type self-balancing two-wheeled electrocars according to claim 4 are it is characterised in that described inner hole of shaft sleeve Two ends diameter, the diameter of bore of nearly road wheel end is more than remote road wheel end, and the angle between the line on two ends and horizontal plane is Between 1 ° -3 °.
12. external motor type self-balancing two-wheeled electrocars according to claim 1 it is characterised in that described wheel monolateral Axle, is fixed on the electric machine support center of wheel, and the aperture for fixing the electric machine support of single side axis is less than the diameter of single side axis, single Side axial compression enters electric machine support in the hole.
13. external motor type self-balancing two-wheeled electrocars according to claim 12 are it is characterised in that described electric machine support The maximum limit of size in aperture subtract the difference of the minimum limit of size gained of axle that single side axis are fixed into electric machine support in the hole and be Interference Ymin, is the relaxed state in hole and axle cooperation；The minimum limit of size in the aperture of electric machine support subtracts single side axis and is fixed into The difference of the maximum limit of size gained of the axle of electric machine support in the hole is interference Ymax, is the compact state in hole and axle cooperation, Ymin≤- 0.01mm, Ymax >=-0.5.
14. external motor type self-balancing two-wheeled electrocars according to claim 12 are it is characterised in that the list of described wheel Side axle, is fixed on the electric machine support center of wheel, support has hole to communicate with axle corresponding position, is inserted with pin in hole.
15. external motor type self-balancing two-wheeled electrocars according to claim 1 are it is characterised in that wheel both sides are further Comprise vehicle wheel side lid, vehicle wheel side lid is connected with shaft mechanical by bearing, vehicle wheel side lid and bearing, it is interference between bearing and axle It is connected, by pressing by outside force.
16. external motor type self-balancing two-wheeled electrocars according to claim 1 open system it is characterised in that including two System, respectively power switch system and electric motor car run and start shutoff device.
17. external motor type self-balancing two-wheeled electrocars according to claim 16 are it is characterised in that power switch system After unlatching, run according to the described electric motor car that reruns after the perception to human body for the electric motor car and start shutoff device.
18. external motor type self-balancing two-wheeled electrocars according to claim 17 are it is characterised in that electric motor car operation is opened Dynamic shutoff device is arranged in base, stands or leaves base by human body and started or closed the operation system of electric motor car System.
19. external motor type self-balancing two-wheeled electrocars according to claim 16 are it is characterised in that described electric motor car Run and start shutoff device by personnel foot control of riding, including：Signal induction device, elastic component, induction of signal partitions, its Middle signal induction device is arranged in the self-balancing two wheeled electric underbody seat below pedal, and elastic component is arranged at induction of signal dress Put above, just to signal induction device, induction of signal partitions is fixedly connected with elastic component, is fixed on below elastic component, with letter The transmission of number induction installation induced signal vertically corresponds to.
20. external motor type self-balancing two-wheeled electrocars according to claim 19 are it is characterised in that signal induction device Including：Wiring board, optical signal launch part, optical signal receiver, signal transmission interface, current-limiting resistance, filter capacitor, load electricity Resistance, is mounted on wiring board.
21. external motor type self-balancing two-wheeled electrocars according to claim 20 are it is characterised in that pass to optical signal After the filtered capacitive filter of power supply of transmitting part, current-limiting resistance current limliting, optical signal launch part is sent out induced signal in the form of light Penetrate to optical signal receiver, current signal is transformed into optical signal by optical signal receiver, be transformed into voltage letter through load resistance Number pass to signal transmission interface, pass to the controller of self-balancing two-wheeled electrocar, controller receives voltage signal from flat Weighing apparatus two-wheeled electrocar runs and is closed.
22. external motor type self-balancing two-wheeled electrocars according to claim 21 are it is characterised in that described signal sense Device is answered to be arranged in the base of self-balancing two-wheeled electrocar, the pedal on base is provided with aperture, aperture corresponds to signal sense Answer device induced signal transmission top, elastic component project be arranged on pedal aperture, the induction of signal on elastic component every Broken piece penetrates from aperture, when elastic component is acted on by external force, induction of signal partitions disabling signal sensing dress during downward deformation occurs The induced signal put.
23. external motor type self-balancing two-wheeled electrocars according to claim 22 are it is characterised in that induction of signal is separated The induced signal of part disabling signal induction installation, the optical signal that optical signal launch part is launched can not pass to and accept optical signal and connect Receive device, the controller of self-balancing two-wheeled electrocar does not receive the voltage signal launching from signal induction device, self-balancing Two-wheeled electrocar runs and is in opening.
24. external motor type self-balancing two-wheeled electrocars according to claim 22 are it is characterised in that elastic component sealing is solid On pedal.
25. external motor type self-balancing two-wheeled electrocars according to claim 24 are it is characterised in that described pedal Elastic component comprises callosity further above, callosity be not subject to during downward pressure with elastic component no mutual the acting on of power, or between Mutually power can not make elastic component produce deformation, and self-balancing two-wheeled electrocar runs and is closed.
External motor type self-balancing two-wheeled electrocar described in 26. any one of claim 19-25 is it is characterised in that each motor External self-balancing two-wheeled electrocar, comprises one or several electric motor cars and runs startup shutoff device, wherein at least one is believed The induction of signal of number induction installation is blocked by induction of signal partitions, and self-balancing two-wheeled electrocar enters and runs opening.
27. external motor type self-balancing two-wheeled electrocars according to claim 1 are it is characterised in that stator is arranged at rotor Internal.
28. external motor type self-balancing two-wheeled electrocars according to claim 1 are it is characterised in that rotor is arranged at stator Internal.
29. external motor type self-balancing two-wheeled electrocars according to any one of claim 1,27,28 are it is characterised in that bullet Property return unit be filled in gap between stator and rotor, stator and rotor are linked to be an entirety by dynamic clamping head and quiet clamping head, and rotor is subject to External force drive relative initial position rotate, drive dynamic clamping head and quiet clamping head produce deformation, the external force driving force suffered by when rotor weaken or After disappearance, dynamic clamping head and quiet clamping head is moved to initial position or is returned to initial position by its elastic reset power rotor driven.
30. external motor type self-balancing two-wheeled electrocars according to claim 27 it is characterised in that stator and rotor it Between be provided with limiting component, limit rotor relative stator except rotate outer other all move.
31. external motor type self-balancing two-wheeled electrocars according to claim 1 are it is characterised in that between stator and rotor By dynamic clamping head and quiet clamping head elastic connection, described dynamic clamping head and quiet clamping head is rubber parts or silica gel part, is molded in stator and rotor Between.
32. external motor type self-balancing two-wheeled electrocars according to claim 31 are it is characterised in that described rubber parts Composition includes rubber NR, white carbon black N774, white carbon black N330, naphthenic oil, zinc oxide, antiaging agent MB, stearic acid, RD, WB212, rush Enter agent DM, accelerant CZ, each account for gross mass proportion 50%-65%, 15%-25%, 7%-15%, 3%-9%, 1%-5%, 0.1%-0.5%, 0.1%-0.5%, 0.1%-0.5%, 0.1%-0.5%, 0.1%-0.5%, 0.5%-1.2%.
33. external motor type self-balancing two-wheeled electrocars according to claim 31 are it is characterised in that stator, rotor and bullet Property return unit contact surface be rough surface or the patterned surface that has depression.
34. external motor type self-balancing two-wheeled electrocars according to claim 1 are it is characterised in that between base and handle The flexible restoring organ of setting further includes angular stop means, limits rotor and rotates in certain angle.
35. external motor type self-balancing two-wheeled electrocars according to claim 34 it is characterised in that angular stop means, Including limited cover, spacer pin, limited cover is directly or indirectly fixedly connected with stator machinery, and limited cover is provided with spacing hole, spacing Pin is directly or indirectly mechanically fixed with rotor and is connected, and rotor rotates and drives spacing in the hole on limited cover for the spacer pin to do certain angle Rotate in degree.
36. external motor type self-balancing two-wheeled electrocars according to claim 35 it is characterised in that handle and rotor it Between connection is mechanically fixed by handle base, spacer pin is fixed on handle base, handle be subject to external force effect rotate drive handle base and Spacer pin on handle base rotates, and in rotation process, spacer pin is limited by the spacing spacing hole that covers, and rotates in certain angle.
37. external motor type self-balancing two-wheeled electrocars according to any one of claim 35-36 are it is characterised in that described Certain angle be ± 30 ° between.
38. external motor type self-balancing two-wheeled electrocars according to claim 1 are it is characterised in that between base and handle Flexible restoring organ on comprise the positional information acquisition system of the change of handling position when car body turns round further.
The 39. external motor type self-balancing two-wheeled electrocars according to claim 38 are it is characterised in that positional information gathers System comprises information capture and information processing transmitting device, information launcher.
40. external motor type self-balancing two-wheeled electrocars according to claim 39 are it is characterised in that information launcher Directly or indirectly it is fixedly installed on and be directly or indirectly mechanically fixed on the rotor being connected with handle, information capture and information processing Transmitting device is directly or indirectly fixedly installed on and is directly or indirectly mechanically fixed on the stator being connected with base, by rotor relatively In stator rotation, information launcher is driven to rotate with respect to information capture and information processing transmitting device, information transmitting dress Put because of the signal that the displacement transmitting that its relative information catches and information processing transmitting device is different is different during rotating, Information capture and information processing transmitting device capture after unlike signal after treatment, corresponding information transmission is given and controls system System, passes to motor corresponding information after processing through control system, gives two wheels different drivings respectively.
41. external motor type self-balancing two-wheeled electrocars according to claim 39 are it is characterised in that information launcher Directly or indirectly it is fixedly installed on and be directly or indirectly mechanically fixed on the stator being connected with base, information capture and information processing Transmitting device is directly or indirectly fixedly installed on and is directly or indirectly mechanically fixed on the rotor being connected with handle, by rotor relatively In stator rotation, drive information capture and information processing transmitting device to rotate with respect to information launcher, information capture with And information processing transmitting device receives different letters because of the different displacement of its relative information discharger during rotating Number, information capture and information processing transmitting device capture after unlike signal after treatment, give control corresponding information transmission System processed, passes to motor corresponding information after processing through control system, gives two wheels different drivings respectively.
42. according to any one of claim 39-41 external motor type self-balancing two-wheeled electrocar it is characterised in that described Information launcher is Magnet, and described information capture and information processing transmitting device are linear hall sensor, linearly suddenly Your sensor passes through the changes of magnetic field information of seizure Magnet after treatment, corresponding information transmission to control system, through controlling System passes to motor corresponding information after processing, and gives two wheels different drivings respectively.
43. according to claim 42 external motor type self-balancing two-wheeled electrocar it is characterised in that described Magnet is one To Magnet, in a center of symmetry be directly or indirectly fixed on stator or rotor, central point be center of rotation, in magnetic blow out centre point pair Fixed linear Hall element should be located.
44. according to claim 43 external motor type self-balancing two-wheeled electrocar it is characterised in that described external motor type Self-balancing two-wheeled electrocar has a set of rotating direction control method, car body because of handle displacement, linear hall sensor by with Magnet phase To the changes of magnetic field information of the change capture Magnet of rotational angle after treatment, corresponding information transmission is calculated to control system Go out two-wheeled motor control amount, after corresponding information is passed to motor, give two wheels different driving respectively, so that two wheels is produced Raw speed difference, thus realize turning to.
45. according to claim 44 external motor type self-balancing two-wheeled electrocar it is characterised in that self-balancing two wheeled electric When car turns to, two wheels add the speed of service on car body fore-and-aft direction as car body overall operation during producing speed difference Speed controlling, control system detect handle rotate angle, obtained according to the speed of service on the current fore-and-aft direction of car body simultaneously Corresponding proportionality coefficient, is multiplied by corresponding proportionality coefficient by the angle that handle rotates and calculates final motor Comprehensive Control Amount.
46. external motor type self-balancing two-wheeled electrocars according to claim 45 are it is characterised in that further include electricity Machine combustion adjustment controls, and control system captures gyroscope, accelerometer data and Motor drive data, calculates current car body Traffic direction and speed, simultaneously according to the information warp capturing because of rotor rotation linear hall sensor in flexible restoring organ Cross filtering, linearization process, obtain handle rotational angle, according to velocity magnitude now, calculate corresponding proportionality coefficient, then It is multiplied by corresponding proportionality coefficient with the angle that handle rotates, obtain motor control adjustment amount.
47. external motor type self-balancing two-wheeled electrocars according to claim 46 are it is characterised in that motor real-time rotating speed v When different interval, self-balancing two-wheeled electrocar rotating direction control method：K is the proportionality coefficient of transfer rotational angle, KpFor Speed proportional coefficient, VLFor coefficient adjustment lower velocity limit, VHFor coefficient adjustment speed limit, v be the real-time rotating speed of motor, V be motor The range of speeds according to actual set, U be motor control adjustment amount, θ be steering yoke rotational angle, when controller, motor is detected real When rotating speed v≤coefficient adjustment lower velocity limit VLWhen, U=θ * k, k=Kp*V/VL, the now proportionality coefficient of transfer rotational angle K fixes and reaches maximum, and controller is only adjusted using the angle change that self-balancing two-wheeled electrocar rotates as Variable Control motor Whole amount, adjusts motor；Work as VH>v>VLWhen：U=θ * k, k=Kp*V/v；Now the proportionality coefficient k of transfer rotational angle is to become Amount according to motor real-time velocity of rotation linear change, controller is rotated with self-balancing two-wheeled electrocar steering yoke simultaneously angle and K's is long-pending, makees controlled motor adjustment amount, adjusts motor；Work as v>VHWhen：U=θ * k, k=Kp*V/VH, now transfer angle of rotation The proportionality coefficient k of degree fixes and reaches minima, the angle change that controller is only rotated with self-balancing two-wheeled electrocar steering yoke As Variable Control motor adjustment amount, adjust motor.
48. external motor type self-balancing two-wheeled electrocars according to claim 47 are it is characterised in that described motor control Adjustment amount processed, makes two motors produce speed difference, is the wheel drive volume only to non-turn side for the controller；Or controller is to non-steering Side wheel drive volume, gives turn side wheel limit amount simultaneously；Or the controller only wheel to turn side limits.
49. external motor type self-balancing two-wheeled electrocars according to claim 1 are it is characterised in that external motor type is certainly flat Weighing apparatus two-wheeled electrocar is harnessed an animal to a cart control method for stably operating：Steering device for electrombile does not rotate, and single motor runs and is obstructed, control Device processed detects car body and turns to, and gives, according to the size that car body turns to deviation predetermined value, motor adequate compensation amount of being obstructed, or Person's motor adequate compensation amount that gives to be obstructed gives another motor suitable limit amount, or is given only another motor limit amount, thus Car body is made to return to steady operational status.
50. external motor type self-balancing two-wheeled electrocars according to claim 49 are it is characterised in that described controller is examined Measure car body to occur to turn to for controller in collection gyroscope, accelerometer data, after Hall element data, calculate current vehicle Body attitude, show that current car body is in steering state, and described self-balancing two-wheeled electrocar transfer does not rotate, and is that self-balancing is double Hall element data display driver on wheel steering device for electrombile does not carry out steering operation.
The 51. external motor type self-balancing two-wheeled electrocars according to claim 49 or 50 are it is characterised in that motor is maximum Operation drive volume is Umax, and motor moment drive volume before being obstructed of being obstructed is UFormer, drive volume U that the motor that is obstructed is obstructedResistance, as 0 ＜ UResistance＜ Umax-UFormer：Single motor is obstructed, and controller detects car body and turns to, and is turned to according to car body and deviates the big of predetermined value Little, it is given only motor adequate compensation amount of being obstructed, make car body return to former steady operational status；Or, the motor that gives to be obstructed suitably is mended The amount of repaying gives another motor suitable limit amount, makes car body return to steady operational status；Or, it is given only another motor limit amount, Car body is made to return to steady operational status.
52. according to external motor type self-balancing two-wheeled electrocar according to claim 51 it is characterised in that single motor It is obstructed, controller detects car body and turns to, the size deviateing predetermined value is turned to according to car body, is given only the motor that is obstructed suitable Compensation dosage, angle W that compensation dosage is equal to car body deviation predetermined value rotation for U is taken advantage of in penalty coefficient K, makes car body return to former stable fortune Row state.
The 53. external motor type self-balancing two-wheeled electrocars according to claim 49 or 50 are it is characterised in that motor is maximum Operation drive volume is Umax, and self-balancing two-wheeled electrocar transfer does not rotate, and single motor is obstructed, and controller detects car body Turn to, motor moment drive volume before being obstructed of being obstructed is UFormer, drive volume U that the motor that is obstructed is obstructedResistance, as Umax ＞ UResistance≥ Umax-UFormer：Single motor is obstructed, and controller detects car body and turns to, and turns to, according to car body, the size deviateing predetermined value, gives Give motor adequate compensation amount of being obstructed to give another motor suitable limit amount, make car body return to steady operational status；Or, it is given only Another motor limit amount, makes car body return to steady operational status.
54. external motor type self-balancing two-wheeled electrocars according to claim 50 it is characterised in that single motor is obstructed, Controller detects car body and turns to, and turns to, according to car body, the size deviateing predetermined value, gives motor adequate compensation amount of being obstructed Give another motor suitable limit amount, angle W that compensation dosage is equal to car body deviation predetermined value rotation for U is taken advantage of in penalty coefficient K, limits Angle W that amount processed is equal to car body deviation predetermined value rotation for U is taken advantage of in limit coefficient K, makes car body return to steady operational status.
The 55. external motor type self-balancing two-wheeled electrocars according to claim 49 or 50 are it is characterised in that motor is maximum Operation drive volume is Umax, and self-balancing two-wheeled electrocar transfer does not rotate, and single motor is obstructed, and controller detects car body Turn to, motor moment drive volume before being obstructed of being obstructed is UFormer, drive volume U that the motor that is obstructed is obstructedResistance, work as UResistanceDuring >=Umax only Give another motor limit amount, make car body return to steady operational status.
56. external motor type self-balancing two-wheeled electrocars according to claim 50 it is characterised in that single motor is obstructed, Controller detects car body and turns to, and turns to, according to car body, the size deviateing predetermined value, is given only another motor limit amount, limit Angle W that amount processed is equal to car body deviation predetermined value rotation for U is taken advantage of in limit coefficient K, makes car body return to steady operational status.
57. external motor type self-balancing two-wheeled electrocars according to claim 1 are it is characterised in that described handle is folding Stacked handle, handle includes up knob arm, lower handle arm, the foldable mechanism between upper and lower handle, handgrip part.
58. external motor type self-balancing two-wheeled electrocars according to claim 57 are it is characterised in that described Handheld Division Position is provided with car body display device or and car body control device between two handles.
59. external motor type self-balancing two-wheeled electrocars according to claim 58 are it is characterised in that described Handheld Division The car body control device of position setting between two handles, including vehicle body Bluetooth control system, car remote upgrade control system, car Sub- power supply remote switch system.
60. external motor type self-balancing two-wheeled electrocars according to claim 58 it is characterised in that up knob arm with Pass through foldable mechanism, folding is fixedly connected between handle arm.
61. external motor type self-balancing two-wheeled electrocars according to claim 58 are it is characterised in that foldable mechanism bag Include folded piece, connection fixture, sealing member.
62. external motor type self-balancing two-wheeled electrocars according to claim 61 are it is characterised in that described folded piece For hinge, including upper hinge, lower jaw and the rotating shaft connecting upper and lower hinge, upper and lower hinge is individually fixed in upper and lower handle arm On.
63. external motor type self-balancing two-wheeled electrocars according to claim 62 it is characterised in that：Upper and lower handle arm Realize connecting by the folding of hinge or fold.
64. external motor type self-balancing two-wheeled electrocars according to claim 62 are it is characterised in that described be connected Part is so that upper and lower handle arm is fixedly connected, and including hasp hook, hasp circle, hasp shell, snap lock device, hasp hook is solid On one of handle arm, hasp circle, hasp shell, snap lock device are arranged on another handle arm, and hasp circle is taken It is buckled in and realizes upper and lower handle arm and be fixedly connected on hasp hook, hasp circle rotary machine is connected on hasp shell, snap lock Device locks hasp shell.
65. external motor type self-balancing two-wheeled electrocars according to claim 64 are it is characterised in that described hasp shell Including hasp lower casing, hasp upper casing, hasp lower casing is fixed on handle, and on hasp, lower casing makes hasp upper casing revolve by hasp rotating shaft Turn on connection and hasp lower casing, hasp circle is rotatably connected on hasp upper casing, when hasp upper casing is opened, hasp circle corresponds to hasp Hook position, close hasp upper casing, and hasp circle is fixedly connected with hasp hook, and when opening hasp upper casing, hasp circle is linked up with from hasp On come off.
66. external motor type self-balancing two-wheeled electrocars according to claim 65 are it is characterised in that described hasp lock Determine device, including：Spring, hasp locking plate, hasp locking and hanging hook, hasp locking plate is arranged on hasp upper casing, and spring is arranged at hasp On locking plate, hasp locking and hanging hook is arranged on hasp lower casing, catches on hasp locking plate by hasp locking and hanging hook, make hasp upper casing lock with On hasp lower casing.
67. external motor type self-balancing two-wheeled electrocars according to claim 62 are it is characterised in that described sealing member For elastic water-proofing material, it is sealingly fastened on the interface of upper and lower handle arm.
68. external motor type self-balancing two-wheeled electrocars according to claim 67 are it is characterised in that sealing member is rubber Part or silica gel part, including further above can be by the string holes of transmission line.
69. external motor type self-balancing two-wheeled electrocars according to claim 68 are it is characterised in that transmission line is arranged on In folded tube, folded tube is stuck in string holes, folds pipe outer wall and forms sealing with string holes.
70. external motor type self-balancing two-wheeled electrocars according to claim 58 it is characterised in that up knob arm, lower Groove is respectively equipped with arm, comprises LED decorative lamp in groove further, outside is provided with transparent silica gel and LED is packaged in In groove.
71. external motor type self-balancing two-wheeled electrocars according to claim 1 are it is characterised in that carry electricity on handle The power supply extending out in source, information transmission and control interface end, with base and the pluggable connection of information transmission and control interface.
The 72. external motor type self-balancing two-wheeled electrocars according to claim 71 are it is characterised in that handle wraps further Containing handle base, handle base is directly or indirectly connected on base, power supply and information transfer control between handle and handle base The pluggable connection of interface processed, and be fixedly connected by screw machine between handle and handle base.
73. external motor type self-balancing two-wheeled electrocars according to claim 58 are it is characterised in that up knob arm and handss Hold the pluggable connection in position, and be screwed.
CN201410465809.1A 2014-09-15 2014-09-15 Self-balanced two-wheel electric vehicle with external motors Active CN105438356B (en)

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CN201410465809.1A CN105438356B (en) 2014-09-15 2014-09-15 Self-balanced two-wheel electric vehicle with external motors
CN201610504767.7A CN106080884B (en) 2014-09-15 2014-09-15 A kind of external motor type self-balancing two-wheeled electrocar
CN201610512758.2A CN106005155B (en) 2014-09-15 2014-09-15 A kind of external motor type self-balancing two-wheeled electrocar
CN201610515742.7A CN106043539A (en) 2014-09-15 2014-09-15 Motor externally-arranged type self-balance double-wheel electric bicycle
CN201610512581.6A CN106080886B (en) 2014-09-15 2014-09-15 A kind of external motor type self-balancing two-wheeled electrocar
CN201610510193.4A CN106080885B (en) 2014-09-15 2014-09-15 A kind of external motor type self-balancing two-wheeled electrocar
CN201610514797.6A CN106005180B (en) 2014-09-15 2014-09-15 A kind of external motor type self-balancing two-wheeled electrocar

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CN201610510193.4A Division CN106080885B (en) 2014-09-15 2014-09-15 A kind of external motor type self-balancing two-wheeled electrocar
CN201610504767.7A Division CN106080884B (en) 2014-09-15 2014-09-15 A kind of external motor type self-balancing two-wheeled electrocar
CN201610515742.7A Division CN106043539A (en) 2014-09-15 2014-09-15 Motor externally-arranged type self-balance double-wheel electric bicycle
CN201610514797.6A Division CN106005180B (en) 2014-09-15 2014-09-15 A kind of external motor type self-balancing two-wheeled electrocar
CN201610512758.2A Division CN106005155B (en) 2014-09-15 2014-09-15 A kind of external motor type self-balancing two-wheeled electrocar

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CN201410465809.1A Active CN105438356B (en) 2014-09-15 2014-09-15 Self-balanced two-wheel electric vehicle with external motors
CN201610512758.2A Active CN106005155B (en) 2014-09-15 2014-09-15 A kind of external motor type self-balancing two-wheeled electrocar
CN201610504767.7A Active CN106080884B (en) 2014-09-15 2014-09-15 A kind of external motor type self-balancing two-wheeled electrocar
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CN106080885B (en) * 2014-09-15 2019-05-10 常州爱尔威智能科技有限公司 A kind of external motor type self-balancing two-wheeled electrocar
CN106332491A (en) * 2016-08-31 2017-01-11 速珂智能科技（上海）有限公司 External electric vehicle controller
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