CN105833514A - Electrical and mechanical gyroscope balance scooter - Google Patents
Electrical and mechanical gyroscope balance scooter Download PDFInfo
- Publication number
- CN105833514A CN105833514A CN201610332802.1A CN201610332802A CN105833514A CN 105833514 A CN105833514 A CN 105833514A CN 201610332802 A CN201610332802 A CN 201610332802A CN 105833514 A CN105833514 A CN 105833514A
- Authority
- CN
- China
- Prior art keywords
- motor
- electro
- wheel
- mechanical gyro
- sliding plate
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Classifications
-
- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63C—SKATES; SKIS; ROLLER SKATES; DESIGN OR LAYOUT OF COURTS, RINKS OR THE LIKE
- A63C17/00—Roller skates; Skate-boards
- A63C17/01—Skateboards
-
- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63C—SKATES; SKIS; ROLLER SKATES; DESIGN OR LAYOUT OF COURTS, RINKS OR THE LIKE
- A63C17/00—Roller skates; Skate-boards
- A63C17/04—Roller skates; Skate-boards with wheels arranged otherwise than in two pairs
- A63C17/06—Roller skates; Skate-boards with wheels arranged otherwise than in two pairs single-track type
- A63C17/08—Roller skates; Skate-boards with wheels arranged otherwise than in two pairs single-track type single-wheel type with single axis
-
- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63C—SKATES; SKIS; ROLLER SKATES; DESIGN OR LAYOUT OF COURTS, RINKS OR THE LIKE
- A63C17/00—Roller skates; Skate-boards
- A63C17/22—Wheels for roller skates
-
- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63C—SKATES; SKIS; ROLLER SKATES; DESIGN OR LAYOUT OF COURTS, RINKS OR THE LIKE
- A63C17/00—Roller skates; Skate-boards
- A63C17/26—Roller skates; Skate-boards with special auxiliary arrangements, e.g. illuminating, marking, or push-off devices
-
- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63C—SKATES; SKIS; ROLLER SKATES; DESIGN OR LAYOUT OF COURTS, RINKS OR THE LIKE
- A63C2203/00—Special features of skates, skis, roller-skates, snowboards and courts
- A63C2203/12—Electrically powered or heated
-
- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63C—SKATES; SKIS; ROLLER SKATES; DESIGN OR LAYOUT OF COURTS, RINKS OR THE LIKE
- A63C2203/00—Special features of skates, skis, roller-skates, snowboards and courts
- A63C2203/14—Lighting means
-
- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63C—SKATES; SKIS; ROLLER SKATES; DESIGN OR LAYOUT OF COURTS, RINKS OR THE LIKE
- A63C2203/00—Special features of skates, skis, roller-skates, snowboards and courts
- A63C2203/18—Measuring a physical parameter, e.g. speed, distance
-
- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63C—SKATES; SKIS; ROLLER SKATES; DESIGN OR LAYOUT OF COURTS, RINKS OR THE LIKE
- A63C2203/00—Special features of skates, skis, roller-skates, snowboards and courts
- A63C2203/22—Radio waves emitting or receiving, e.g. remote control, RFID
Abstract
The invention provides an electrical and mechanical gyroscope balance scooter which comprises a wheel, a sliding plate bracket, at least one electrical and mechanical gyroscope, and a control panel, wherein the wheel comprises a built-in first motor and an inflatable tire embedded into the outer side of the first motor; the siding plate bracket is arranged on the outer side of the wheel and is positioned at the middle position of the wheel; each electrical and mechanical gyroscope is arranged in the sliding plate bracket and is positioned beside the wheel in a manner of not affecting the rotation of the wheel; each electrical and mechanical gyroscope comprises a second motor and a gyroscope capable of rotating at high speed under the driving of the second motor to generate torque in a horizontal plane; the control panel for controlling the first motor and the second motor to rotate is arranged in the sliding plate bracket, and is connected with the first motor and the second motor respectively; the control panel is provided with an acceleration sensor for detecting a running acceleration of the electrical and mechanical gyroscope balance scooter. The electrical and mechanical gyroscope balance scooter can realize self-balance in the front, back, left and right directions under the condition of not applying any auxiliary force.
Description
Technical field
The present invention relates to single-wheel scooter technical field, particularly relate to a kind of electro-mechanical gyro balancing skateboard car.
Background technology
Conventional skateboard car is a chain-wales having two or more wheel, relies on user to scrunch
Advance in ground.Owing to scooter speed is moderate, easy operation eager to learn, from the recreation started most progressively
Develop into walking-replacing tool in people's daily life.Meanwhile, under the advocating of the theories such as green, environmental protection,
People are the most increasingly ready to select scooter this lightest but also save the new traffic tool of the energy to carry out generation
For traditional vehicles such as automobiles.And in young crowd, when scooter is also seen as one
Symbol still, is pursued energetically.
Scooter is of a great variety, and along with scientific and technological progress is constantly updated.From traditional by headstock handle
With the two-wheel of slide plate composition, three-wheel, four wheel scooters, update to removing the double-wheel scooter of handrail,
Arriving the self-balancing scooter of single wheel again, type of drive is driven by manpower and becomes driven by power, uses
The most convenient, and owing to the structure of scooter constantly simplifies, the most continuous brief fashion of profile, account for
Space, ground is fewer and feweri, and it is more and more convenient to carry and collect.
What utilization was the most most favored by customers the most on the market is a kind of single wheel self-balancing scooter.
The structure of this kind of scooter generally comprises: wheel, wheel is fixed on center shell, be arranged on outside
The hollow pedal of shell center of top, the motor being placed in wheel and the control circuit of control electric machine rotation
Plate.Under normal circumstances, this control circuit is done and is also included that (gyroscope is for angular accelerometer and gyroscope
The moment of momentum sensitivity housing relative inertness space of finger high-speed rotator around be orthogonal to one of the axis of rotation or
The angular movement detection device of two axles).Accelerometer and gyroscope are for detecting the angle of inclination of pedal.
The operation principle of this kind of scooter is examined according to angular accelerometer and gyroscope approximately as: control circuit buttress
The angular inclination data measured calculates the angle of inclination of car body, calculates scooter further according to angle of inclination
The speed of service, draws the rotating speed of motor, and passes it to control finally according to the speed of scooter
Circuit board processed, control circuit plate controls the rotating speed of motor further according to this information, thus realizes balance.?
In scooter running, user balances car body by controlling centre of body weight.
The self-balancing of this kind of single-wheel scooter indication, the most only achieves and puts down car body fore-and-aft direction
Weighing apparatus, the balance for car body left and right directions does not realize balance by car body self.Existing solely
Wheel scooter uses following balance mode to carry out left-right balance mostly.Mode one, by increasing wheel
Thickness vertically realizes left-right balance, and owing to wheel thickness vertically is relatively big, user is being slided
Have only on wooden handcart control centre of body weight, be not required to worry the left-right balance problem of car body.But this
Plant self-balancing single-wheel scooter relatively big due to wheel thickness, cause whole car body heaviness, volume greatly, no
It is convenient for carrying, is the most gradually eliminated.Mode two, user keeps left by controlling centre of body weight
Right balance, although this kind of single-wheel scooter can avoid the defects such as car body is heavy, volume is big, but should
The mode of kind is apparently not and realizes left-right balance, and this kind of mode operation easier by car body self
Greatly, especially for being difficult to left-hand seat for abecedarian.When user steps on pedal aftercarriage due to stress
Uneven and swaying style, abecedarian is difficult to control centre of body weight, therefore, it is difficult to step on scooter smoothly,
Need to take a substantial amount of time in the stage of getting on the bus, and also want in later stage single-wheel scooter running
Adjust centre of body weight at any time to ensure the balance of car body left and right directions.Meanwhile, in the stage of begining to learn, use
Person has to by external support, and such as other people's help buttresses health or relies on wall supports study,
It is inconvenient for.Further, because of wayward balance for young abecedarian, also hold
Easily fall down injured during study.
Summary of the invention
It is an object of the invention to provide a kind of electro-mechanical gyro balancing skateboard car, it can be appointed need not
In the case of what additional auxiliary strength, enable abecedarian's rapid embarkation, and transport at later stage scooter
Realized the balance in direction all around during row by car body self, user has only to by control
Forward lean processed or layback control the advance of scooter, retrogressing, acceleration or deceleration.
To achieve these goals, spy of the present invention have employed techniques below scheme:
A kind of electro-mechanical gyro balancing skateboard car, including:
Wheel, wheel includes the first built-in motor and is nested in the pneumatic tire outside the first motor；
Sliding plate support, sliding plate support is arranged on the outside of wheel and is positioned at the middle position of wheel；
At least one electromechanical gyroscopes, in electromechanical gyroscopes is arranged on sliding plate support and not affect car
The mode that wheel rotates is arranged on the side of wheel, and electromechanical gyroscopes includes the second motor and at the second electricity
Machine drives lower high speed rotating to produce the gyro of moment of torsion in horizontal plane；And
Panel, is arranged on sliding plate support for controlling the panel of the first motor and the rotation of the second motor
In and is connected with the first motor and the second motor respectively, panel is provided with for testing machine electric top flat
The acceleration transducer running acceleration of weighing apparatus scooter.
In the preferred embodiment, above-mentioned wheel also includes for supporting fixed glides support
Support shaft, support shaft is positioned at the axle center of the first motor the protrusion that stretches out from the surface of the first motor.
In the preferred embodiment, above-mentioned sliding plate support includes upper bracket and lower carriage, upper
Frame and lower carriage limit a cavity, are provided with web beam in cavity.
In the preferred embodiment, above-mentioned upper bracket, lower carriage and web beam respectively with
The position that wheel is corresponding is provided with and be enough to accommodate the first through hole of wheel, the second through hole and third through-hole.
In the preferred embodiment, above-mentioned second motor and gyro are arranged in pairs and prop up at slide plate
In frame, wherein, the second motor is high-speed DC brushless electric machine, and gyro is in the form of annular discs and in its axle center
Place is provided with the second motor.
In the preferred embodiment, the machine that above-mentioned panel detects according to acceleration transducer
The acceleration of electric top balancing skateboard car and formula α=arc sin (g/a) calculate electro-mechanical gyro and put down
The angle of inclination of weighing apparatus scooter, and control the first motor and/or second according to the angle of inclination calculated
The direction of rotation of motor and/or rotary speed, wherein, α is the inclination of electro-mechanical gyro balancing skateboard car
Angle, a is the acceleration of electro-mechanical gyro balancing skateboard car, and g is acceleration of gravity, equal to 9.8m/s2。
In the preferred embodiment, above-mentioned electro-mechanical gyro balancing skateboard car also includes propping up along slide plate
Frame for supporting the Tire protective cover that the first surface of human body is outwardly, Tire protective cover and exposure
Wheel outside first surface keeps the shape and size matched.
In the preferred embodiment, above-mentioned electro-mechanical gyro balancing skateboard car also includes being arranged on control
Bluetooth module in making sheet, the finger that bluetooth module is connected with mobile device and sends according to mobile device
Electro-mechanical gyro balancing skateboard car is set as soft ride mode, comfortable ride mode or hot rides by order
Pattern.
In the preferred embodiment, above-mentioned electro-mechanical gyro balancing skateboard car also includes being arranged on cunning
Set of cells in board mount, set of cells respectively with the first motor, the second motor, panel and acceleration
Sensor connects, and is provided with the charging inlet corresponding with set of cells in the outside of sliding plate support.
In the preferred embodiment, above-mentioned electro-mechanical gyro balancing skateboard car also include illuminating lamp,
Taillight and USB interface, wherein,
Illuminating lamp and taillight are separately positioned on two end faces of sliding plate support,
USB interface is arranged on the side corresponding with set of cells of sliding plate support, and USB interface
It is connected with set of cells.
The Advantageous Effects of the present invention:
The electro-mechanical gyro balancing skateboard car of the present invention is by being arranged on scooter support and be positioned at wheel
At least one electromechanical gyroscopes of side achieves comprehensive flat on direction all around of scooter
Weighing apparatus.The electromechanical gyroscopes of the present invention is totally different from of the prior art for detecting inclined angle of object
Electronic gyroscope.The electromechanical gyroscopes of the present invention includes by high-speed DC brushless electric machine as driving
Second motor and gyro.Gyro is high speed rotating under the driving of high-speed DC brushless electric machine, due to top
Spiral shell effect, gyro in high-speed rotation in horizontal plane residing for it in all directions, including slide plate
Left and right directions before and after car, all produces moment of torsion, thus maintains the flat of scooter car body direction all around
Weighing apparatus.The electro-mechanical gyro balancing skateboard car of the present invention do not increase wheel thickness and need not user lead to
Cross control health in the case of ensureing left-right balance, be truly realized the self-balancing of single-wheel scooter.
The problem efficiently solving abecedarian's " difficulty of getting on the bus ".Meanwhile, the scooter of the present invention is at running
In, it is only necessary to user regulates the direction of motion and the speed of service of car body by controlling centre of body weight
, it is not necessary to worry the equilibrium problem in scooter running.
Further, present configuration is simple, profile fashion, both remained the recreational of conventional skateboard car and
Interest, simultaneously also by the bluetooth module being connected with mobile device to control the operation mould of scooter
Formula, with different demands to speed under satisfied different condition of road surface, it is achieved intelligent.The most all right
Kinestate by mobile device remote control scooter.
Accompanying drawing explanation
In order to be illustrated more clearly that the technical scheme of the embodiment of the present invention, below will be to required in embodiment
Accompanying drawing to be used is briefly described, it will be appreciated that the following drawings illustrate only some of the present invention
Embodiment, is therefore not construed as the restriction to scope, for those of ordinary skill in the art,
On the premise of not paying creative work, it is also possible to obtain other relevant accompanying drawings according to these accompanying drawings.
Fig. 1 is the structure chart of the electro-mechanical gyro balancing skateboard car of the present invention；
Fig. 2 is the structural blast figure of the electro-mechanical gyro balancing skateboard car of the present invention；
Fig. 3 is the sectional view of the electro-mechanical gyro balancing skateboard car of the present invention；
Fig. 4 is the electro-mechanical gyro balancing skateboard car of present invention scattergram of institute's stress in running,
Due to identical in quality, therefore only representing with corresponding acceleration in figure, in figure, α is electro-mechanical gyro balance
The angle of inclination of scooter, a is the acceleration of electro-mechanical gyro balancing skateboard car, and g is acceleration of gravity,
Equal to 9.8m/s2。
Reference numerals list:
Electro-mechanical gyro balancing skateboard car 100；
Wheel 101；Sliding plate support 102；Electromechanical gyroscopes 103；Panel 104；Tire protective cover
105；Set of cells 106；Charging inlet 107；Illuminating lamp 108；Taillight 109；Usb 1 10；
Switch 111；
First motor 1011；Pneumatic tire 1012；Support shaft 1013；
Upper bracket 1021；Lower carriage 1022；Web beam 1023；Cavity 1024；First through hole 1025；
Second through hole 1026；Third through-hole 1027；First surface 1028；Hand-held hole 1029；
Second motor 1031；Gyro 1032.
Detailed description of the invention
For making the purpose of the embodiment of the present invention, technical scheme and advantage clearer, below in conjunction with this
Accompanying drawing in inventive embodiments, clearly and completely retouches the technical scheme in the embodiment of the present invention
State, it is clear that described embodiment is a part of embodiment of the present invention rather than whole embodiments.
Generally herein described in accompanying drawing and the assembly of the embodiment of the present invention that illustrates can be with various different joining
Put and arrange and design.
Therefore, detailed description to the embodiments of the invention provided in the accompanying drawings is not intended to limit below
The scope of claimed invention processed, but it is merely representative of the selected embodiment of the present invention.Based on this
Embodiment in invention, those of ordinary skill in the art are obtained under not making creative work premise
The every other embodiment obtained, broadly falls into the scope of protection of the invention.
In describing the invention, it should be noted that term " " center ", " on ", D score, " left ",
Orientation or the position relationship of the instruction such as " right ", " vertically ", " level ", " interior ", " outward " are based on attached
Orientation shown in figure or position relationship, or the orientation usually put or position when this invention product uses
Put relation, be for only for ease of the description present invention and simplify description rather than instruction or imply indication
Device or element must have specific orientation, with specific azimuth configuration and operation, therefore can not manage
Solve as limitation of the present invention.Additionally, term " first ", " second ", " the 3rd " etc. are only used for district
Divide and describe, and it is not intended that indicate or hint relative importance.
Additionally, the term such as term " level ", " vertically ", " pendency " is not offered as requiring that parts are absolute
Level or pendency, but can be slightly tilted.As " level " only refers to that its direction is relatively " vertically "
For more level, be not to represent that this structure must be perfectly level, but can be slightly tilted.
In describing the invention, in addition it is also necessary to explanation, unless otherwise clearly defined and limited,
Term " is arranged ", " installation ", " being connected ", " connection " should be interpreted broadly, such as, and can
To be fixing connection, it is also possible to be to removably connect, or be integrally connected；Can be to be mechanically connected,
It can also be electrical connection；Can be to be joined directly together, it is also possible to be indirectly connected to by intermediary, permissible
It it is the connection of two element internals.For the ordinary skill in the art, can be with concrete condition
Understand above-mentioned term concrete meaning in the present invention.
The present invention is described in detail below in conjunction with the accompanying drawings.
See Fig. 1 and Fig. 2, electro-mechanical gyro balancing skateboard car 100, including: wheel 101, slide plate
Support 102, electromechanical gyroscopes 103, panel 104, Tire protective cover 105, set of cells 106,
Charging inlet 107, illuminating lamp 108, taillight 109；Usb 1 10 and switch 111.
Wheel 101 includes the first built-in motor 1011 and is nested in filling outside the first motor 1011
Air filled tyre 1012 and for supporting the support shaft 1013 of fixed glides support 102.
First motor 1011 is arranged on the shaft core position of wheel, specifically, the axle of the first motor 1011
Heart line overlaps with the axial line of wheel 101.Preferably, the first motor 1011 is DC brushless motor,
Its volume is little, it is simple to be built in wheel, it is to avoid increases the volume of wheel 101, thus realizes slide plate
Car integral miniaturization.
Preferably, pneumatic tire 1012 surface configuration has rough anti-skidding lines, increases wheel
With the frictional force on ground, especially on wet-skid road surface.Preferably, pneumatic tire 1012 external diameter width
9-12 inch, tire thickness is 2-3cm.
Support shaft 1013 be positioned at the first motor 1011 axle center and from the surface of the first motor 1011 to
Outer extension is protruded.First motor 1011 rotates around support shaft 1013 under the driving of electric power.Support shaft
1013 are used for supporting fixed glides support from the first outward extending projection in motor 1011 surface
102, and the length of this projection is advisable be enough to support skid support 102.Therefore, ability
The length of support shaft 1013 can be adjusted accordingly by field technique personnel according to sliding plate support 102 width.
Sliding plate support 102 is arranged on the outside of wheel 101 and is positioned at the middle position of wheel 101.
Wheel 101 arranges and passes from the centre of sliding plate support 102, and the first half of wheel 101 is exposed to slide plate
The top of support 102, the lower half of wheel 101 is exposed to the lower section of sliding plate support 102.
Sliding plate support 102 includes upper bracket 1021 and lower carriage 1022.Upper bracket 1021 and lower
Frame 1022 limits a cavity 1024, as shown in Figure 3.Cavity 1024 is provided with for strengthening cunning
The web beam 1023 of board mount 102 intensity.Upper bracket 1021 and lower carriage 1022 are by plastics
The tabular component made, alleviates scooter own wt.Web beam 1023 is sheet metal component,
Primarily serve support, load effect, make up the upper bracket 1021 and lower carriage 1022 being made of plastics
The defect that load capacity is limited.
It is provided with in the middle part of upper bracket 1021 and the first through hole of wheel 101 Corresponding matching
1025.First through hole 1025 is the elongate holes that shape matches with upper bracket.First through hole 1025
There is the space that be enough to accommodate wheel 101 so that wheel freely can turn in the first through hole 1025
Dynamic.
The first surface 1028 of sliding plate support 102 is molded on upper bracket 1021, steps on for user
Step on or stand.First surface 1028 is for neutral straight and two ends are the most micro-sticks up, and centre is flat
Face is connected smoothly with the most micro-inclined-plane stuck up or the cambered surface at two ends.The present invention being used for scooter
The most micro-structure stuck up in first surface design two ends trampled, beneficially user regulation speed, improves
The user manipulation ability to scooter, and also can avoid the danger occurred because inertia is excessive
Danger.
Web beam 1023 is the sheet metal component being set in lateral wheel.At web beam 1023
Middle part be again provided with the second through hole 1026 with wheel 101 Corresponding matching.Second through hole
1026 elongate holes matched with web beam 1023 for shape.Second through hole 1026 has foot
To accommodate the space of wheel 101 so that wheel can be freely rotatable in the second through hole 1026.By
It is in from wheel 101 axial line closer proximity in the second through hole 1026, therefore the second through hole 1026
The length of the first through hole 1025 it is more than along the length that sliding plate support 102 is axial.Certainly, lead to second
In the case of hole 1026 can be enough to accommodate wheel 101, the first through hole 1025 can have and second
The size that through hole 1026 is identical.
Lower carriage 1022 matches with upper bracket 1021, constitutes the shell of sliding plate support 102.Preferably
Ground, lower carriage 1022 is connected with upper bracket 1021 in the way of snapping connection or be threaded.
Lower carriage 1022 shape such as canoe shape.It is provided with corresponding with wheel 101 in the bottom surface of lower carriage 1022
The third through-hole 1027 of coupling.Third through-hole 1027 is shape and lower carriage 1022 mating shapes
Elongate holes.Third through-hole 1027 has the space that be enough to accommodate wheel 101 so that wheel energy
Enough freely rotatable in third through-hole 1027.
Preferably, first through hole the 1025, second through hole 1026 and third through-hole 1027 keep each other
The shape and size matched.
Hand-held hole 1029 it is provided with in one end of sliding plate support 102.Upper bracket is run through in hand-held hole 1029
1021 and lower carriage 1022, it facilitates user to carry scooter.
Electro-mechanical gyro balancing skateboard car 100 includes at least one electromechanical gyroscopes 103.Electromechanical gyroscopes
It is arranged on wheel in 103 are arranged on sliding plate support 102 and in the way of not affecting wheel 101 rotation
The side of 101.
Preferably, electro-mechanical gyro balancing skateboard car 100 includes two electromechanical gyroscopes 103, two machines
Electric top instrument 103 is separately positioned on both sides before and after wheel.
Preferably, electro-mechanical gyro balancing skateboard car 100 includes two electromechanical gyroscopes 103, two machines
Electric top instrument 103 is separately positioned on the left and right sides of wheel.
Preferably, electro-mechanical gyro balancing skateboard car 100 includes four electromechanical gyroscopes 103, four machines
Electric top instrument 103 is separately positioned on left and right before and after wheel.
Preferably, electro-mechanical gyro balancing skateboard car 100 includes at least two electromechanical gyroscopes 103, extremely
The both sides being arranged on wheel 101 of few two electromechanical gyroscopes 103 symmetries.
Electromechanical gyroscopes 103 include the second motor 1031 and under the second motor 1031 drives at a high speed
Rotate with the gyro 1032 producing moment of torsion in horizontal plane.The rotating shaft of the second motor 1031 is fixed on cunning
On the lower carriage 1022 of board mount 102, and the second motor 1031 is arranged on top in the way of embedding
At the axle center of spiral shell 1032.Under the driving of the second motor 1031, gyro 1032 high speed rotating.When
Gravity center of human body and wheel center of gravity the most in one plane time, human body is applied on wheel along its incline direction
Power can by gyro 1032 because of high-speed rotary then in horizontal plane produce moment put down
Weighing apparatus, so that car body keeps balance.
Second motor 1031 and gyro 1032 are arranged in pairs in sliding plate support 102.That is, one
Gyro 1032 just corresponding second motor 1031.Second motor 1031 of the present invention is the most straight
Stream brushless electric machine.Second motor 1031 volume of the present invention is little, and rotating speed is up to 18000-20000
r/min.Gyro 1032 is in the form of annular discs and is connected with the second motor 1031 at its axle center.Gyro
1032 disk-like structures made for ferroalloy.The gyro 1032 of the present invention can also be referred to as rotor,
It is high speed rotating under the driving of the second motor 1031.Gyro 1032 drives the second motor 1031
Under Dong, high speed rotating, due to gyroscopic effect, gyro 1032 in high-speed rotation residing for it
Produce moment of torsion in horizontal plane in all directions so that car body can at all directions stress equalization, and then
Balance car body on the whole.
Panel 104 rotates for controlling the first motor 1011 and the second motor 1031.Panel
Connect in 104 are arranged on sliding plate support 102 and respectively with the first motor 1011 and the second motor 1031
Connect.Panel 104 is provided with adding of the operation acceleration for testing machine electric top balancing skateboard car 100
Velocity sensor.Acceleration transducer constantly detects the operation of testing machine electric top balancing skateboard car 100
Acceleration, and by the accelerator feedback that detects to panel 104.Preferably, acceleration transducer
The detection cycle be 2ms.
Panel 104 calculates testing machine electric top balancing skateboard car 100 according to the accelerometer of feedback
Angle of inclination, and the direction of rotation of the first motor 1011 is controlled according to angle of inclination.Such as, when
When the angle of inclination calculated is more than zero, illustrating that car body turns forward and write, now panel 104 controls the
One motor 1011 back rotation.When the angle of inclination calculated is zero, i.e. the operation detected adds
Speed is zero, illustrates that car body is in poised state.When the angle of inclination calculated is less than zero, explanation
Car body tilts backwards, and panel 104 controls the first motor 1011 and rotates forward.The present invention is by control
Making sheet 104 and acceleration transducer control testing machine electric top balancing skateboard car 100 at fore-and-aft direction
On self-balancing.
Tire protective cover 105 along sliding plate support 102 for support the first surface 1028 of human body to
Outer protrusion.Tire protective cover 105 keeps phase with the wheel 101 being exposed to outside first surface 1028
The shape and size of coupling.As shown in Figure 1 or 2, Tire protective cover 105 semicircular in shape, it sets
Put at the first through hole 1025.At Tire protective cover 105, protection is exposed to above wheel 101
Beyond tire part, user is also had defencive function, it is to avoid the bottom of s trouser leg or skirt angle are involved in wheel,
Cause danger.
Electro-mechanical gyro balancing skateboard car 100 also includes the bluetooth module being arranged on panel 104.Blue
The bluetooth module that tooth module is connected with mobile device (such as mobile phone or remote controller) is sent out according to mobile device
Electro-mechanical gyro balancing skateboard car 100 is set as soft ride mode, comfortable ride mode by the instruction gone out
Or hot ride mode.
Soft ride mode is low-speed operation mode, i.e. electro-mechanical gyro balancing skateboard car 100 is at low speed
Lower traveling, typically at below 10km/h.Soft ride mode is applicable to the situation that road conditions are poor, example
As, rainy day road, conduit of blocking up road, hollow road；Additionally it is suitable for the crossing that crowd is more,
Such as, crossroad, school crossing etc..
Comfortable ride mode is middle speed running mode, i.e. electro-mechanical gyro balancing skateboard car 100 is in middling speed
Lower traveling, typically in 10-25km/h.Comfortable ride mode is suitable for general road conditions, and it is between soft
And between ride mode and hot ride mode.
Hot ride mode is high speed operation mode, i.e. electro-mechanical gyro balancing skateboard car 100 is at a high speed
Lower traveling, typically at more than 25km/h.But for the sake of security, when producing, by electro-mechanical gyro
The highest running speed of balancing skateboard car 100 is set to 40km/h.Hot ride mode is applicable to road
The preferable situation of condition, such as, pedestrian and the less straight road of vehicle.
It is sliding that soft ride mode, comfortable ride mode and hot ride mode are electro-mechanical gyro balance
The automatic operational mode of wooden handcart 100.When user does not opens automatic operational mode, user still leads to
Overregulating health center of gravity in the movement direction, such as, lean forward or swing back health, controls machine voluntarily
The speed of electric top balancing skateboard car 100.When user opens automatic operational mode, i.e. select
State in Three models any one, panel 104 controls the rotation of the first motor 1011, by car
Speed is adjusted to and sets the speed of patterns match.When the rotating speed of the first motor 1011 changes,
Second motor 1031 is also corresponding there is positively related change.That is, the first motor 1011 rotating speed increases,
Second motor 1031 increases accordingly, and vice versa.
In running, if current vehicle speed exceedes the predetermined threshold value under current ride mode, slide plate
Support 102 can tilt automatically, i.e. seesaw function, and panel 104 can control the first motor
1011 speeds slow down, and now, user is just alerted and exceeds the speed limit.This predetermined threshold value may also be use
Person uses software to be set by mobile phone.
The testing machine electric top balancing skateboard car 100 of the present invention can also be by bluetooth module to mobile phone
Data, such as, speed, system temperature, the dump energy etc. of set of cells 106 are sent etc. mobile device.
Set of cells 106 is arranged in sliding plate support 102.Set of cells 106 respectively with the first motor 1011,
Acceleration transducer on second motor 1031, panel 104 and panel 104 and bluetooth mould
Block connects, and provides electric energy for it.Set of cells 106 is the accumulator battery with charging/discharging function.Sliding
The outside of board mount 102 is provided with the charging inlet 107 corresponding with set of cells 106.
Preferably, set of cells 106 with 16 string 18650 batteries, cell voltage can reach 53-67.2
V。
The illuminating lamp 108 of electro-mechanical gyro balancing skateboard car 100 and taillight 109 are separately positioned on slide plate and prop up
On two end faces of frame 102.
Illumination is provided for user when illuminating lamp 108 is for travelling on the road that light is bad.
Preferably, illuminating lamp 108 is built-in with light sensor, and light sensor can perception external world ring
The change of environmental light, when the light collected is less than predetermined threshold value or is higher than predetermined threshold value, illuminating lamp
108 automatically light or extinguish so that electro-mechanical gyro balancing skateboard car 100 is convenient, intelligent.
Preferably, taillight 109 can be replaced by reflector.This reflector surface-coated has one layer of fluorescence
Powder.When travelling between on night road, it is simple to the vehicle travelled below can be seen, play and remind and warning
Effect, thus improve the safety of driving.Further, the reflector scribbling fluorescent material need not consume electricity
Can, energy-conserving and environment-protective.
Usb 1 10 is arranged on the side corresponding with set of cells 106 of sliding plate support 102, and
And usb 1 10 is connected with set of cells 106.User can be mobile phone by usb 1 10
It is charged etc. mobile device.
Below in conjunction with Fig. 4, the operation principle of the electro-mechanical gyro balancing skateboard car 100 of the present invention is said
Bright.
User is by switching 111 starter motor electric top balancing skateboard cars 100, and panel 104 controls to set
Put at least one electromechanical gyroscopes 103 high speed rotating at wheel 101 side, due to gyroscopic effect,
The gyro 1032 of electromechanical gyroscopes 103 in high-speed rotation in horizontal plane residing for it along each side
To producing moment of torsion so that car body can be at all directions stress equalization, and then balance car on the whole
Body.The acceleration of the electro-mechanical gyro balancing skateboard car 100 detected is believed by acceleration transducer with pulse
The form of number (PWM) is sent to panel 104, and panel 104 is according to the representative acceleration received
The pulse signal (PWM) of value and antitrigonometric function α=arc sin (g/a) calculate electro-mechanical gyro balance
The angle of inclination of scooter.When the angle of inclination calculated is more than zero, illustrates that car body turns forward and write,
Now panel 104 controls the first motor 1011 back rotation.When the angle of inclination calculated is zero,
That is, the operation acceleration detected is zero, illustrates that car body is in poised state.When the inclination calculated
When angle is less than zero, illustrating that car body tilts backwards, panel 104 controls the first motor 1011 and revolves forward
Turn.By regulating the first motor 1011, forward or rotation front and back controls electro-mechanical gyro balancing skateboard car
100 balances in the longitudinal direction.
The foregoing is only the preferred embodiments of the present invention, be not limited to the present invention, for
For those skilled in the art, the present invention can have various modifications and variations.All essences in the present invention
Within god and principle, any modification, equivalent substitution and improvement etc. made, should be included in the present invention
Protection domain within.
Claims (10)
1. an electro-mechanical gyro balancing skateboard car, it is characterised in that including:
Wheel, described wheel includes the first built-in motor and is nested in filling outside described first motor
Air filled tyre；
Sliding plate support, described sliding plate support is arranged on the outside of described wheel and is positioned in described wheel
Between position；
At least one electromechanical gyroscopes, described electromechanical gyroscopes be arranged in described sliding plate support and with
The mode not affecting described vehicle wheel rotation is arranged on the side of described wheel, and described electromechanical gyroscopes includes
Second motor and under described second motor drives high speed rotating to produce moment of torsion in horizontal plane
Gyro；And
Panel, sets for controlling the described panel of described first motor and described second motor rotation
Put and be connected in described sliding plate support and respectively with described first motor and described second motor, described
Panel is provided with and passes for the acceleration running acceleration detecting described electro-mechanical gyro balancing skateboard car
Sensor.
Electro-mechanical gyro balancing skateboard car the most according to claim 1, it is characterised in that described
Wheel also includes the support shaft for supporting fixing described sliding plate support, and described support shaft is positioned at described
The axle center of one motor the protrusion that stretches out from the surface of described first motor.
Electro-mechanical gyro balancing skateboard car the most according to claim 1, it is characterised in that described
Sliding plate support includes that upper bracket and lower carriage, described upper bracket and described lower carriage limit a cavity,
Described cavity is provided with web beam.
Electro-mechanical gyro balancing skateboard car the most according to claim 3, it is characterised in that described
Upper bracket, described lower carriage are provided with in the position corresponding with described wheel respectively with described web beam
Be enough to accommodate the first through hole of described wheel, the second through hole and third through-hole.
Electro-mechanical gyro balancing skateboard car the most according to claim 1, it is characterised in that described
Second motor and described gyro are arranged in pairs in described sliding plate support, wherein, and described second motor
For high-speed DC brushless electric machine, described gyro is in the form of annular discs and is provided with described second at its axle center
Motor.
Electro-mechanical gyro balancing skateboard car the most according to claim 1, it is characterised in that described
The acceleration of the described electro-mechanical gyro balancing skateboard car that panel detects according to described acceleration transducer
Degree and formula α=arc sin (g/a) calculate the inclination angle of described electro-mechanical gyro balancing skateboard car
Degree, and control described first motor and/or described second motor according to the described angle of inclination calculated
Direction of rotation and/or rotary speed, wherein, α is the inclination of described electro-mechanical gyro balancing skateboard car
Angle, a is the acceleration of described electro-mechanical gyro balancing skateboard car, and g is acceleration of gravity, equal to 9.8
m/s2。
7., according to the electro-mechanical gyro balancing skateboard car one of claim 1 to 6 Suo Shu, its feature exists
In, described electro-mechanical gyro balancing skateboard car also include along described sliding plate support for supporting the of human body
The Tire protective cover that one surface is outwardly, described Tire protective cover be exposed to outside described first surface
The described wheel of side keeps the shape and size matched.
Electro-mechanical gyro balancing skateboard car the most according to claim 7, it is characterised in that described
Electro-mechanical gyro balancing skateboard car also includes the bluetooth module being arranged on described panel, described bluetooth mould
Block is connected with mobile device and described electro-mechanical gyro is put down by the instruction that sends according to described mobile device
Weighing apparatus scooter is set as soft ride mode, comfortable ride mode or hot ride mode.
Electro-mechanical gyro balancing skateboard car the most according to claim 8, it is characterised in that described
Electro-mechanical gyro balancing skateboard car also includes the set of cells being arranged in described sliding plate support, described set of cells
Respectively with described first motor, described second motor, described panel and described acceleration transducer even
Connect, and be provided with the charging inlet corresponding with described set of cells in the outside of described sliding plate support.
Electro-mechanical gyro balancing skateboard car the most according to claim 9, it is characterised in that described
Electro-mechanical gyro balancing skateboard car also includes illuminating lamp, taillight and USB interface, wherein,
Described illuminating lamp and described taillight are separately positioned on two end faces of described sliding plate support,
Described USB interface is arranged on the side corresponding with described set of cells of described sliding plate support,
And described USB interface is connected with described set of cells.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610332802.1A CN105833514B (en) | 2016-05-18 | 2016-05-18 | A kind of electro-mechanical gyro balancing skateboard vehicle |
| PCT/CN2016/085593 WO2017197682A1 (en) | 2016-05-18 | 2016-06-13 | Electromechanical gyro balance scooter |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610332802.1A CN105833514B (en) | 2016-05-18 | 2016-05-18 | A kind of electro-mechanical gyro balancing skateboard vehicle |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN105833514A true CN105833514A (en) | 2016-08-10 |
| CN105833514B CN105833514B (en) | 2018-12-11 |
Family
ID=56592840
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610332802.1A Active CN105833514B (en) | 2016-05-18 | 2016-05-18 | A kind of electro-mechanical gyro balancing skateboard vehicle |
Country Status (2)
| Country | Link |
|---|---|
| CN (1) | CN105833514B (en) |
| WO (1) | WO2017197682A1 (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112590989A (en) * | 2020-12-08 | 2021-04-02 | 林鸿贵 | Electric motorcycle |
Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB2594951A (en) * | 2020-05-12 | 2021-11-17 | Taur Tech Limited | Lighting system |
| CN111486872B (en) * | 2020-06-04 | 2024-04-05 | 苏州威达智科技股份有限公司 | Gyroscope function test equipment |
| CN214356465U (en) * | 2020-12-29 | 2021-10-08 | 美国锐哲有限公司 | Single-wheel electric balance car |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP2409905A1 (en) * | 2010-07-23 | 2012-01-25 | Christian Verduron | Powered unicycle |
| CN103950503A (en) * | 2014-05-20 | 2014-07-30 | 王康康 | Electric single-wheel scooter |
| CN204279807U (en) * | 2014-11-07 | 2015-04-22 | 天津市三枪电动车有限公司 | A kind of single wheel balance truck |
| CN105501348A (en) * | 2016-01-27 | 2016-04-20 | 众城领跑者（北京）科贸有限公司 | Single-wheel self-balancing scooter |
| CN205759586U (en) * | 2016-05-18 | 2016-12-07 | 林鸿贵 | A kind of electro-mechanical gyro balancing skateboard car |
Family Cites Families (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS5660780A (en) * | 1979-10-24 | 1981-05-25 | Tsutomu Sato | Gyroscopic two-wheeled vehicle stably standing even at rest |
| JP6332663B2 (en) * | 2013-12-09 | 2018-05-30 | 株式会社ジェイテクト | Two-wheel inverted pendulum type vehicle |
| CN104386184B (en) * | 2014-11-25 | 2016-12-07 | 王文飞 | Based on two-wheeled vehicles balance system before and after single-gimbal control momentum gyro |
| CN104773239A (en) * | 2015-04-09 | 2015-07-15 | 李威 | Left-and-right self-balancing electric wheelbarrow |
| CN105292344A (en) * | 2015-11-14 | 2016-02-03 | 曹巧君 | Self-balancing electric monocycle based on gyroscope stabilizer |
-
2016
- 2016-05-18 CN CN201610332802.1A patent/CN105833514B/en active Active
- 2016-06-13 WO PCT/CN2016/085593 patent/WO2017197682A1/en active Application Filing
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP2409905A1 (en) * | 2010-07-23 | 2012-01-25 | Christian Verduron | Powered unicycle |
| CN103950503A (en) * | 2014-05-20 | 2014-07-30 | 王康康 | Electric single-wheel scooter |
| CN204279807U (en) * | 2014-11-07 | 2015-04-22 | 天津市三枪电动车有限公司 | A kind of single wheel balance truck |
| CN105501348A (en) * | 2016-01-27 | 2016-04-20 | 众城领跑者（北京）科贸有限公司 | Single-wheel self-balancing scooter |
| CN205759586U (en) * | 2016-05-18 | 2016-12-07 | 林鸿贵 | A kind of electro-mechanical gyro balancing skateboard car |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112590989A (en) * | 2020-12-08 | 2021-04-02 | 林鸿贵 | Electric motorcycle |
Also Published As
| Publication number | Publication date |
|---|---|
| WO2017197682A1 (en) | 2017-11-23 |
| CN105833514B (en) | 2018-12-11 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN105923082B (en) | A kind of electro-mechanical gyro balance wheelbarrow | |
| CN105365965B (en) | A kind of self-balancing and dual-purpose electric vehicle of riding | |
| CN103529850B (en) | Double-wheel self-balancing car control method | |
| JP2017534500A (en) | Two-wheel electric vehicle | |
| CN204489055U (en) | A kind of gravity's center control direction without handle Double-wheel self-balancing battery-driven car | |
| CN105833514A (en) | Electrical and mechanical gyroscope balance scooter | |
| CN104512502A (en) | Double-wheel self-balancing electric vehicle without handle using gravity center to control direction and control method thereof | |
| CN205417931U (en) | Dual -purpose two -wheeled electrodynamic balance car | |
| CN102358364B (en) | Bicycle riding auxiliary device and bicycle with same as well as auxiliary method of bicycle riding auxiliary device | |
| CN108275231A (en) | Electrodynamic balance vehicle and its support lid start method, turning method | |
| CN202879694U (en) | Single wheel self-balancing electric vehicle | |
| CN204110242U (en) | A kind of two wheeled electric motor bike and the two-wheel for Self-balance electric vehicle | |
| CN101585388A (en) | Inertia navigation intelligent vehicle | |
| CN105691505A (en) | Single-pedal steerable two-wheel electric balance vehicle | |
| CN106080908A (en) | The electric bicycle of integrated self-balancing wheelbarrow | |
| CN205365897U (en) | Double -wheel balancing cart | |
| EP3705388A1 (en) | Vehicle | |
| TW201420407A (en) | Electric one-wheeled vehicle and starting operation method thereof | |
| CN205759586U (en) | A kind of electro-mechanical gyro balancing skateboard car | |
| CN205292926U (en) | Convenient electrodynamic balance car of turning | |
| CN205769815U (en) | A kind of electro-mechanical gyro balance wheelbarrow | |
| CN108657343A (en) | Self-balancing electronic drift shoes | |
| CN107021167B (en) | Dual-purpose two-wheeled electrodynamic balance car | |
| CN205417909U (en) | Two -wheeled electrodynamic balance car that single footboard can turn to | |
| CN205524672U (en) | Do not fall electronic wheel barrow |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| TR01 | Transfer of patent right | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20220704 Address after: 523000 No. 3, Xinlian Gaoke Third Road, Humen Town, Dongguan City, Guangdong Province Patentee after: Dongguan bigaode Intelligent Technology Co.,Ltd. Address before: 510000 South 8 Huadi Avenue, Liwan District, Guangzhou City, Guangdong Province Patentee before: Lin Honggui |