CN105833514B - A kind of electro-mechanical gyro balancing skateboard vehicle - Google Patents

A kind of electro-mechanical gyro balancing skateboard vehicle Download PDF

Info

Publication number
CN105833514B
CN105833514B CN201610332802.1A CN201610332802A CN105833514B CN 105833514 B CN105833514 B CN 105833514B CN 201610332802 A CN201610332802 A CN 201610332802A CN 105833514 B CN105833514 B CN 105833514B
Authority
CN
China
Prior art keywords
motor
electro
wheel
mechanical gyro
balancing skateboard
Prior art date
Application number
CN201610332802.1A
Other languages
Chinese (zh)
Other versions
CN105833514A (en
Inventor
林鸿贵
Original Assignee
林鸿贵
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by 林鸿贵 filed Critical 林鸿贵
Priority to CN201610332802.1A priority Critical patent/CN105833514B/en
Publication of CN105833514A publication Critical patent/CN105833514A/en
Application granted granted Critical
Publication of CN105833514B publication Critical patent/CN105833514B/en

Links

Classifications

    • AHUMAN NECESSITIES
    • A63SPORTS; GAMES; AMUSEMENTS
    • A63CSKATES; SKIS; ROLLER SKATES; DESIGN OR LAYOUT OF COURTS, RINKS OR THE LIKE
    • A63C17/00Roller skates; Skate-boards
    • A63C17/01Skateboards
    • AHUMAN NECESSITIES
    • A63SPORTS; GAMES; AMUSEMENTS
    • A63CSKATES; SKIS; ROLLER SKATES; DESIGN OR LAYOUT OF COURTS, RINKS OR THE LIKE
    • A63C17/00Roller skates; Skate-boards
    • A63C17/04Roller skates; Skate-boards with wheels arranged otherwise than in two pairs
    • A63C17/06Roller skates; Skate-boards with wheels arranged otherwise than in two pairs single-track type
    • A63C17/08Roller skates; Skate-boards with wheels arranged otherwise than in two pairs single-track type single-wheel type with single axis
    • AHUMAN NECESSITIES
    • A63SPORTS; GAMES; AMUSEMENTS
    • A63CSKATES; SKIS; ROLLER SKATES; DESIGN OR LAYOUT OF COURTS, RINKS OR THE LIKE
    • A63C17/00Roller skates; Skate-boards
    • A63C17/22Wheels for roller skates
    • AHUMAN NECESSITIES
    • A63SPORTS; GAMES; AMUSEMENTS
    • A63CSKATES; SKIS; ROLLER SKATES; DESIGN OR LAYOUT OF COURTS, RINKS OR THE LIKE
    • A63C17/00Roller skates; Skate-boards
    • A63C17/26Roller skates; Skate-boards with special auxiliary arrangements, e.g. illuminating, marking, or push-off devices

Abstract

The present invention provides a kind of electro-mechanical gyro balancing skateboard vehicles, comprising: wheel, wheel include built-in first motor and the pneumatic tire that is nested on the outside of first motor;Sliding plate support, sliding plate support are arranged in the outside of wheel and are located at the middle position of wheel;At least one electromechanical gyroscopes, electromechanical gyroscopes are arranged in sliding plate support and are arranged in a manner of not influencing vehicle wheel rotation the side of wheel, electromechanical gyroscopes include the second motor and under the second motor driven high speed rotation to generate the gyro of torque in the horizontal plane;And control panel, control panel for controlling first motor and the rotation of the second motor is arranged to be connect in sliding plate support and respectively with first motor and the second motor, and control panel is equipped with the acceleration transducer of the operation acceleration for detecting electro-mechanical gyro balancing skateboard vehicle.The present invention can all around, direction be able to achieve self-balancing in the case where not needing any outer plus auxiliary strength.

Description

A kind of electro-mechanical gyro balancing skateboard vehicle

Technical field

The present invention relates to single-wheel scooter technical field more particularly to a kind of electro-mechanical gyro balancing skateboard vehicles.

Background technique

Conventional skateboard vehicle is the chain-wales for possessing two or more wheel, scrunches ground by user and advances. Eager to learn easy to operate since slide plate vehicle speed is moderate, the recreation since most, which gradually evolves into people's daily life, rides instead of walk Tool.Meanwhile under the advocating of the theories such as green, environmental protection, people are also increasingly ready to select scooter this not only light but also save About the new traffic tool of the energy is come the vehicles that replace automobile etc. traditional.And in young crowd, scooter is also seen Work is a kind of symbol of fashion, is pursued energetically.

Scooter is many kinds of, and as scientific and technological progress is constantly updated.It is made of from traditional headstock handle and slide plate Two-wheel, three-wheel, four wheel scooters, update to the double-wheel scooter for removing handrail, then arrive single wheel self-balancing scooter, drive Mode by manpower driving becomes to be driven by electricity, use it is also more convenient, and due to the structure of scooter constantly simplify, outside Shape also continuous brief fashion, space occupied is fewer and fewer, and it is also more and more convenient to carry and collect.

Now on the market with it is at most also most favored by customers be a kind of single wheel self-balancing scooter.This kind of scooter Structure generally comprise: wheel, the hollow pedal that shell center of top is arranged in, is set the shell that wheel is fixed on to center In the control circuit board of motor and control motor rotation in wheel.Under normal conditions, it further includes that angle accelerates which, which does, (gyroscope refers to the moment of momentum sensitivity shell relative inertness space of high-speed rotator around being orthogonal to rotation for degree meter and gyroscope The angular movement detection device of one of axis or two axis).Accelerometer and gyroscope are used to detect the tilt angle of pedal.This kind The working principle of scooter is approximately as angular inclination data that control circuit board is detected according to angular accelerometer and gyroscope The tilt angle for calculating car body calculates the speed of service of scooter further according to tilt angle, is finally obtained according to the speed of scooter The revolving speed of motor out, and control circuit board is passed it to, control circuit board controls the revolving speed of motor further according to the information, To realize balance.In scooter operational process, user balances car body by control centre of body weight.

The self-balancing of this kind of single-wheel scooter meaning, in fact only realizes and balances in the front-back direction to car body, for vehicle There is no balance is realized by car body itself for the balance of body left and right directions.Existing single-wheel scooter mostly uses greatly following balance Mode carries out left-right balance.Mode one realizes left-right balance by increasing wheel along axial thickness, since wheel is along axis To thickness it is larger, user only needs to control centre of body weight on scooter, be not required to worry car body left-right balance ask Topic.But this self-balancing single-wheel scooter is since wheel thickness is larger, leads to that entire car body is heavy, volume is big, is inconvenient to take Band is gradually eliminated.Mode two, user keep left-right balance by control centre of body weight, this kind of single-wheel scooter Although can be apparently not to realize left and right by car body itself to avoid the defects of car body is heavy, volume is big, this kind of mode Balance, and this kind of mode operation difficulty is big, especially for not easy to get started for beginner.After user steps on pedal Car body swaying style due to unbalance stress, beginner is difficult to control centre of body weight, therefore, it is difficult to smoothly step on scooter, Stage needs of getting on the bus take a substantial amount of time, and also to adjust centre of body weight at any time in later period single-wheel scooter operational process To guarantee the balance of car body left and right directions.Meanwhile in the stage of begining to learn, user has to by external support, such as other people Help buttresses body or learns by wall supports, is inconvenient.Also, because not easily-controllable for young beginner Balance processed is also easy to fall and hurt during study.

Summary of the invention

The purpose of the present invention is to provide a kind of electro-mechanical gyro balancing skateboard vehicles, can not need any outer plus auxiliary In the case where strength, enable beginner's rapid embarkation, and in later period scooter operational process by car body itself come real The now all around balance in direction, user only need to control by control forward lean or layback scooter advance, after It moves back, acceleration or deceleration.

To achieve the goals above, the present invention is special uses following technical scheme:

A kind of electro-mechanical gyro balancing skateboard vehicle, comprising:

Wheel, wheel include built-in first motor and the pneumatic tire that is nested on the outside of first motor;

Sliding plate support, sliding plate support are arranged in the outside of wheel and are located at the middle position of wheel;

At least one electromechanical gyroscopes, electromechanical gyroscopes are arranged in sliding plate support and not to influence the side of vehicle wheel rotation Formula is arranged in the side of wheel, electromechanical gyroscopes include the second motor and under the second motor driven high speed rotation in level The gyro of torque is generated in face;And

Control panel, the control panel for controlling first motor and the rotation of the second motor is arranged in sliding plate support and difference It is connect with first motor and the second motor, control panel is equipped with adding for the operation acceleration for detecting electro-mechanical gyro balancing skateboard vehicle Velocity sensor.

In the preferred embodiment, above-mentioned wheel further includes the support shaft for being used to support fixed glides bracket, branch Support axle center of the axle position in the first motor and surface from first motor extends outwardly protrusion.

In the preferred embodiment, above-mentioned sliding plate support includes upper bracket and lower bracket, upper bracket and lower bracket A cavity is limited, is equipped with web beam in cavity.

In the preferred embodiment, above-mentioned upper bracket, lower bracket and web beam are respectively corresponding with wheel First through hole, the second through-hole and the third through-hole for being sufficient to accommodate wheel are equipped at position.

In the preferred embodiment, above-mentioned second motor and gyro are arranged in pairs in sliding plate support, wherein Second motor is high-speed DC brushless electric machine, and gyro is in the form of annular discs and the second motor is provided at its axle center.

In the preferred embodiment, above-mentioned control panel is balanced according to the electro-mechanical gyro that acceleration transducer detects The acceleration and formula α=arc sin (g/a) of scooter calculate the tilt angle of electro-mechanical gyro balancing skateboard vehicle, and root Direction of rotation and/or the rotation speed of first motor and/or the second motor are controlled according to calculated tilt angle, wherein α is machine The tilt angle of electric top balancing skateboard vehicle, a are the acceleration of electro-mechanical gyro balancing skateboard vehicle, and g is acceleration of gravity, is equal to 9.8m/s2

In the preferred embodiment, above-mentioned electro-mechanical gyro balancing skateboard vehicle further includes along sliding plate support for branch The Tire protective cover that the first surface of support human body outwardly protrudes, Tire protective cover are kept with the wheel being exposed on the outside of first surface The shape and size to match.

In the preferred embodiment, above-mentioned electro-mechanical gyro balancing skateboard vehicle further includes the indigo plant being arranged on control panel Tooth module, bluetooth module connect with mobile device and are set electro-mechanical gyro balancing skateboard vehicle according to the instruction that mobile device issues It is set to soft ride mode, comfortable ride mode or hot ride mode.

In the preferred embodiment, above-mentioned electro-mechanical gyro balancing skateboard vehicle further includes being arranged in sliding plate support Battery pack, battery pack are connect with first motor, the second motor, control panel and acceleration transducer respectively, and in sliding plate support Outside be equipped with charging interface corresponding with battery pack.

In the preferred embodiment, above-mentioned electro-mechanical gyro balancing skateboard vehicle further includes that headlamp, taillight and USB connect Mouthful, wherein

Headlamp and taillight are separately positioned on two end faces of sliding plate support,

USB interface is arranged on the side corresponding with battery pack of sliding plate support, and USB interface and battery pack connect It connects.

Advantageous effects of the invention:

Electro-mechanical gyro balancing skateboard vehicle of the invention is by being arranged in slide plate kickstand and being located at wheel side at least One electromechanical gyroscopes realizes comprehensive balance of the scooter on direction all around.Electromechanical gyroscopes of the invention are complete Different from the electronic gyroscope in the prior art for detection object tilt angle.Electromechanical gyroscopes of the invention include by height Second motor and gyro of the fast DC brushless motor as driving.Gyro revolves at a high speed under the driving of high-speed DC brushless electric machine Turn, due to gyroscopic effect, gyro in high-speed rotation process in horizontal plane locating for it in all directions, before scooter Left and right directions afterwards, generation torque, to maintain the balance in scooter car body all around direction.Electro-mechanical gyro of the invention is flat Weighing apparatus scooter is not in the case where increasing wheel thickness and not needing user by controlling body to guarantee left-right balance, very Just realizing the self-balancing of single-wheel scooter.Solve the problems, such as beginner " difficulty of getting on the bus ".Meanwhile scooter of the invention In the process of running, it is only necessary to which the direction of motion and the speed of service that user adjusts car body by control centre of body weight are i.e. It can, it is not necessary to worry the equilibrium problem in scooter operational process.

Also, the configuration of the present invention is simple, shape fashion had both remained the entertainment and interest of conventional skateboard vehicle, simultaneously The operational mode of scooter is controlled, by the bluetooth module connecting with mobile device also to meet under different condition of road surface to vehicle The different demands of speed are realized intelligent.The motion state of mobile device remote control scooter can also be passed through simultaneously.

Detailed description of the invention

In order to illustrate the technical solution of the embodiments of the present invention more clearly, below will be to needed in the embodiment attached Figure is briefly described, it should be understood that the following drawings illustrates only certain embodiments of the present invention, therefore is not construed as pair The restriction of range for those of ordinary skill in the art without creative efforts, can also be according to this A little attached drawings obtain other relevant attached drawings.

Fig. 1 is the structure chart of electro-mechanical gyro balancing skateboard vehicle of the invention;

Fig. 2 is the Structure explosion diagram of electro-mechanical gyro balancing skateboard vehicle of the invention;

Fig. 3 is the cross-sectional view of electro-mechanical gyro balancing skateboard vehicle of the invention;

Fig. 4 is the distribution map of electro-mechanical gyro balancing skateboard vehicle of the invention institute's stress in the process of running, due to quality phase Together, therefore in figure it is only indicated with corresponding acceleration, α is the tilt angle of electro-mechanical gyro balancing skateboard vehicle in figure, and a is electromechanical top The acceleration of spiral shell balancing skateboard vehicle, g are acceleration of gravity, are equal to 9.8m/s2

Reference signs list:

Electro-mechanical gyro balancing skateboard vehicle 100;

Wheel 101;Sliding plate support 102;Electromechanical gyroscopes 103;Control panel 104;Tire protective cover 105;Battery pack 106; Charging interface 107;Headlamp 108;Taillight 109;Usb 1 10;Switch 111;

First motor 1011;Pneumatic tire 1012;Support shaft 1013;

Upper bracket 1021;Lower bracket 1022;Web beam 1023;Cavity 1024;First through hole 1025;Second through-hole 1026;Third through-hole 1027;First surface 1028;Hand takes hole 1029;

Second motor 1031;Gyro 1032.

Specific embodiment

In order to make the object, technical scheme and advantages of the embodiment of the invention clearer, below in conjunction with the embodiment of the present invention In attached drawing, technical scheme in the embodiment of the invention is clearly and completely described, it is clear that described embodiment is A part of the embodiment of the present invention, instead of all the embodiments.The present invention being usually described and illustrated herein in the accompanying drawings is implemented The component of example can be arranged and be designed with a variety of different configurations.

Therefore, the detailed description of the embodiment of the present invention provided in the accompanying drawings is not intended to limit below claimed The scope of the present invention, but be merely representative of selected embodiment of the invention.Based on the embodiments of the present invention, this field is common Technical staff's every other embodiment obtained without creative efforts belongs to the model that the present invention protects It encloses.

In the description of the present invention, it should be noted that term " center ", "upper", "lower", "left", "right", "vertical", The orientation or positional relationship of the instructions such as "horizontal", "inner", "outside" is to be based on the orientation or positional relationship shown in the drawings, or be somebody's turn to do Invention product using when the orientation or positional relationship usually put, be merely for convenience of description of the present invention and simplification of the description, without It is that the device of indication or suggestion meaning or element must have a particular orientation, be constructed and operated in a specific orientation, therefore not It can be interpreted as limitation of the present invention.In addition, term " first ", " second ", " third " etc. are only used for distinguishing description, and cannot manage Solution is indication or suggestion relative importance.

In addition, the terms such as term "horizontal", "vertical", " pendency " are not offered as requiring component abswolute level or pendency, and It is that can be slightly tilted.It is not to indicate the structure if "horizontal" only refers to that its direction is more horizontal with respect to for "vertical" It has to fully horizontally, but can be slightly tilted.

In the description of the present invention, it is also necessary to which explanation is unless specifically defined or limited otherwise, term " setting ", " installation ", " connected ", " connection " shall be understood in a broad sense, for example, it may be fixedly connected, may be a detachable connection or one Connect to body;It can be mechanical connection, be also possible to be electrically connected;It can be directly connected, it can also be indirect by intermediary It is connected, can be the connection inside two elements.For the ordinary skill in the art, on being understood with concrete condition State the concrete meaning of term in the present invention.

The present invention is described in detail with reference to the accompanying drawing.

Referring to Fig. 1 and Fig. 2, electro-mechanical gyro balancing skateboard vehicle 100, comprising: wheel 101, sliding plate support 102, electro-mechanical gyro Instrument 103, control panel 104, Tire protective cover 105, battery pack 106, charging interface 107, headlamp 108, taillight 109;USB interface 110 and switch 111.

Wheel 101 include built-in first motor 1011 and be nested in the pneumatic tire 1012 in 1011 outside of first motor with And it is used to support the support shaft 1013 of fixed glides bracket 102.

The shaft core position of wheel is arranged in first motor 1011, specifically, the axial line and wheel 101 of first motor 1011 Axial line be overlapped.Preferably, first motor 1011 is DC brushless motor, small in size, convenient for being built in wheel, is avoided The volume for increasing wheel 101, to realize scooter integral miniaturization.

Preferably, 1012 surface of pneumatic tire is provided with rough non-slip texture, increases the friction of wheel and ground Power, especially on wet-skid road surface.Preferably, 1012 outer diameter of pneumatic tire is 9-12 inches wide, tire thickness 2-3cm.

Support shaft 1013 is located at the axle center of first motor 1011 and extends outwardly protrusion from the surface of first motor 1011.The One motor 1011 rotates under the driving of electric power around support shaft 1013.Support shaft 1013 extends outwardly from 1011 surface of first motor Protrusion part be used to support fixed glides bracket 102, and the length of the protrusion part is to be enough support skid bracket 102 Preferably.Therefore, those skilled in the art can adjust accordingly the length of support shaft 1013 according to 102 width of sliding plate support.

Sliding plate support 102 is arranged in the outside of wheel 101 and is located at the middle position of wheel 101.Wheel 101 setting from The centre of sliding plate support 102 is pierced by, and the upper half of wheel 101 is exposed to the top of sliding plate support 102, the lower half of wheel 101 It is exposed to the lower section of sliding plate support 102.

Sliding plate support 102 includes upper bracket 1021 and lower bracket 1022.Upper bracket 1021 and lower bracket 1022 limit one Cavity 1024, as shown in Figure 3.The web beam 1023 for enhancing 102 intensity of sliding plate support is equipped in cavity 1024.Upper bracket 1021 and lower bracket 1022 be the tabular component made of plastics, mitigate scooter own wt.Web beam 1023 is metal Plate members primarily serve support, load effect, make up 1022 load capacity of the upper bracket 1021 being made of plastics and lower bracket Limited defect.

The intermediate position of upper bracket 1021 is provided with the first through hole 1025 with 101 Corresponding matching of wheel.First through hole 1025 elongate holes to match for shape with upper bracket.First through hole 1025 has the space for being sufficient to accommodate wheel 101, so that Wheel can be freely rotated in first through hole 1025.

The first surface 1028 of sliding plate support 102 is molded on upper bracket 1021, is trampled or is stood for user.First Surface 1028 is neutral straight and both ends are micro- obliquely sticks up, and the upward micro- inclined-plane stuck up or cambered surface of intermediate plane and both ends It is connected smoothly.The present invention is conducive to the upward micro- structure stuck up in first surface design both ends for being used to trample of scooter User's regulation speed improves user to the manipulation ability of scooter, and can also occur to avoid because inertia is excessive Danger.

Web beam 1023 is the sheet metal component for being set in lateral wheel.It is same at the intermediate position of web beam 1023 Sample is provided with the second through-hole 1026 with 101 Corresponding matching of wheel.Second through-hole 1026 is shape and 1023 phase of web beam The elongate holes matched.Second through-hole 1026 has the space for being sufficient to accommodate wheel 101, enables wheel in the second through-hole 1026 Inside it is freely rotated.Since the second through-hole 1026 is in from 101 axial line closer proximity of wheel, the second through-hole 1026 is along cunning The axial length of board mount 102 is greater than the length of first through hole 1025.Certainly, wheel can be sufficient to accommodate in the second through-hole 1026 In the case where 101, first through hole 1025 can have size identical with the second through-hole 1026.

Lower bracket 1022 is matched with upper bracket 1021, constitutes the shell of sliding plate support 102.Preferably, lower bracket 1022 It is cooperatively connected in a manner of snapping connection or being threadedly coupled with upper bracket 1021.Lower bracket 1022 is shaped like canoe shape.In lower branch The bottom surface of frame 1022 is provided with the third through-hole 1027 with 101 Corresponding matching of wheel.Third through-hole 1027 is shape and lower bracket The elongate holes that 1022 shapes match.Third through-hole 1027 has the space for being sufficient to accommodate wheel 101, and wheel is existed It is freely rotated in third through-hole 1027.

Preferably, first through hole 1025, the second through-hole 1026 and third through-hole 1027 keep each other the shape to match and Size.

Hand, which is equipped with, in one end of sliding plate support 102 takes hole 1029.Hand takes hole 1029 to run through upper bracket 1021 and lower bracket 1022, convenient for users to carrying scooter.

Electro-mechanical gyro balancing skateboard vehicle 100 includes at least one electromechanical gyroscopes 103.Electromechanical gyroscopes 103 are arranged in cunning The side of wheel 101 is set in board mount 102 and in a manner of not influencing wheel 101 and rotate.

Preferably, electro-mechanical gyro balancing skateboard vehicle 100 includes two electromechanical gyroscopes 103, and two electromechanical gyroscopes 103 divide The front and rear sides of wheel are not set.

Preferably, electro-mechanical gyro balancing skateboard vehicle 100 includes two electromechanical gyroscopes 103, and two electromechanical gyroscopes 103 divide The left and right sides of wheel is not set.

Preferably, electro-mechanical gyro balancing skateboard vehicle 100 includes four electromechanical gyroscopes 103, and four electromechanical gyroscopes 103 divide Wheel is not set all around.

Preferably, electro-mechanical gyro balancing skateboard vehicle 100 includes at least two electromechanical gyroscopes 103, at least two electromechanical tops The two sides of wheel 101 are symmetrically arranged in spiral shell instrument 103.

Electromechanical gyroscopes 103 include the second motor 1031 and the second motor 1031 driving under high speed rotation in level The gyro 1032 of torque is generated in face.The shaft of second motor 1031 is fixed on the lower bracket 1022 of sliding plate support 102, and Second motor 1031 is arranged at the axle center of gyro 1032 in a manner of insertion.Under the driving of the second motor 1031, gyro 1032 high speed rotations.When gravity center of human body and wheel center of gravity not in one plane when, human body is applied to wheel along its inclined direction On power can be balanced by gyro 1032 in the torque generated in the horizontal plane by high speed rotation, so that car body be made to protect Maintain an equal level weighing apparatus.

Second motor 1031 and gyro 1032 are arranged in pairs in sliding plate support 102.That is, a gyro 1032 just corresponds to One the second motor 1031.Second motor 1031 of the invention is high-speed DC brushless electric machine.Second motor 1031 of the invention It is small in size, and revolving speed is up to 18000-20000r/min.Gyro 1032 it is in the form of annular discs and at its axle center with the second motor 1031 connections.Gyro 1032 is disk-like structure made of ferroalloy.Gyro 1032 of the invention can also be referred to as rotor, High speed rotation under the driving of second motor 1031.Gyro 1032 is under the driving of the second motor 1031, high speed rotation, due to gyro Effect, gyro 1032 generate torque in horizontal plane locating for it in high-speed rotation process in all directions, enable car body Stress equalization in all directions, and then car body is balanced on the whole.

Control panel 104 is for controlling first motor 1011 and the rotation of the second motor 1031.Control panel 104 is arranged in slide plate branch It connect in frame 102 and with first motor 1011 and the second motor 1031 respectively.Control panel 104 is equipped with for detecting electro-mechanical gyro The acceleration transducer of the operation acceleration of balancing skateboard vehicle 100.Acceleration transducer constantly detects detection electro-mechanical gyro balance The operation acceleration of scooter 100, and the accelerator feedback that will test is to control panel 104.Preferably, acceleration transducer Detection cycle is 2ms.

Control panel 104 calculates the tilt angle of detection machine electric top balancing skateboard vehicle 100 according to the accelerometer of feedback, and The direction of rotation of first motor 1011 is controlled according to tilt angle.For example, when calculated tilt angle is greater than zero, explanation Car body, which turns forward, to be write, and control panel 104 controls 1011 back rotation of first motor at this time.When calculated tilt angle is zero, that is, The operation acceleration detected is zero, illustrates that car body is in equilibrium state.When calculated tilt angle is less than zero, illustrate vehicle Body tilts backwards, and control panel 104 controls first motor 1011 and rotates forward.The present invention passes through control panel 104 and acceleration sensing Device detects the self-balancing of electro-mechanical gyro balancing skateboard vehicle 100 in the longitudinal direction to control.

Tire protective cover 105 is outwardly protruded along the first surface 1028 for being used to support human body of sliding plate support 102.Tire is protected Protecting cover 105 keeps the shape and size to match with the wheel 101 for being exposed to 1028 outside of first surface.Such as Fig. 1 or Fig. 2 institute Show, 105 semicircular in shape of Tire protective cover, is arranged at first through hole 1025.Protection is exposed to vehicle at Tire protective cover 105 Other than the tire part of 101 top of wheel, also there is defencive function to user, avoid for the bottom of s trouser leg or skirt angle being involved in wheel, make At danger.

Electro-mechanical gyro balancing skateboard vehicle 100 further includes the bluetooth module being arranged on control panel 104.Bluetooth module and movement The instruction that the bluetooth module of equipment (such as mobile phone or remote controler) connection is issued according to mobile device is by electro-mechanical gyro balancing skateboard Vehicle 100 is set as soft ride mode, comfortable ride mode or hot ride mode.

Soft ride mode is low-speed operation mode, that is, electro-mechanical gyro balancing skateboard vehicle 100 travels under the low speed, generally In 10km/h or less.Soft ride mode is suitable for the poor situation of road conditions, for example, rainy day road, congestion conduit road, hollow Road;Furthermore it is also suitable for the more crossing of crowd, for example, crossroad, school crossing etc..

Comfortable ride mode is middle speed running mode, that is, electro-mechanical gyro balancing skateboard vehicle 100 travels at moderate speed, generally In 10-25km/h.Comfortable ride mode is suitble to general road conditions, between soft ride mode and hot ride mode.

Hot ride mode is high speed operation mode, that is, electro-mechanical gyro balancing skateboard vehicle 100 travels at high speeds, generally In 25km/h or more.But for the sake of security, the highest running speed of electro-mechanical gyro balancing skateboard vehicle 100 is set in production It is set to 40km/h.Hot ride mode is suitable for the preferable situation of road conditions, for example, pedestrian and the less straight road of vehicle.

Soft ride mode, comfortable ride mode and hot ride mode are electro-mechanical gyro balancing skateboard vehicle 100 Automatic running pattern.When user does not open automatic running pattern, user is yet by adjusting body in the movement direction Center of gravity, for example, the body that leans forward or swing back, voluntarily to control the speed of electro-mechanical gyro balancing skateboard vehicle 100.When user opens certainly When dynamic operational mode, that is, any one in above-mentioned Three models being selected, control panel 104 controls the rotation of first motor 1011, Speed is adjusted to the speed to match with setting mode.When the revolving speed of first motor 1011 changes, the second motor 1031 also accordingly occur positively related variation.That is, 1011 revolving speed of first motor increases, the second motor 1031 is increased accordingly, on the contrary ?.

In the process of running, if current vehicle speed is more than the preset threshold under current ride mode, sliding plate support 102 can be certainly It is dynamic to tilt, that is, wraping plate function, and control panel 104 can control 1011 speed of first motor and slow down, at this point, user is just mentioned It wakes up and has exceeded the speed limit.The preset threshold can also be what user was set by mobile phone with software.

Detection electro-mechanical gyro balancing skateboard vehicle 100 of the invention can also be sent out by bluetooth module to mobile devices such as mobile phones Data are sent, for example, speed, system temperature, remaining capacity of battery pack 106 etc..

Battery pack 106 is arranged in sliding plate support 102.Battery pack 106 respectively with first motor 1011, the second motor 1031, the acceleration transducer on control panel 104 and control panel 104 is connected with bluetooth module, provides electric energy for it.Battery pack 106 be the battery group with charging/discharging function.Charging corresponding with battery pack 106 is equipped in the outside of sliding plate support 102 Interface 107.

Preferably, battery pack 106 can achieve 53-67.2V with 16 18650 batteries of string, cell voltage.

The headlamp 108 and taillight 109 of electro-mechanical gyro balancing skateboard vehicle 100 are separately positioned on two of sliding plate support 102 On end face.

Headlamp 108 is for providing illumination when driving on the bad road of light for user.

Preferably, headlamp 108 is built-in with photosensitive sensor, and photosensitive sensor is capable of the change of sensing external environment light Change, when collected light is lower than preset threshold or is higher than preset threshold, headlamp 108 is lighted or extinguished automatically, so that machine Electric top balancing skateboard vehicle 100 is more convenient, intelligent.

Preferably, taillight 109 can be replaced by reflector.The reflective plate surface is coated with layer of fluorescent powder.When on night road Between when driving, the vehicle convenient for travelling below can be seen, play the role of prompting and warning, to improve the safety of driving. Also, the reflector for being coated with fluorescent powder does not need consumption electric energy, energy conservation and environmental protection.

Usb 1 10 is arranged on the side corresponding with battery pack 106 of sliding plate support 102, and usb 1 10 It is connect with battery pack 106.User can be that the mobile devices such as mobile phone charge by usb 1 10.

Below with reference to Fig. 4, the working principle of electro-mechanical gyro balancing skateboard vehicle 100 of the invention is illustrated.

User starts electro-mechanical gyro balancing skateboard vehicle 100 by switch 111, and the control of control panel 104 is arranged in wheel 101 At least one 103 high speed rotation of electromechanical gyroscopes of side, due to gyroscopic effect, the gyro 1032 of electromechanical gyroscopes 103 is in height Torque is generated in all directions in horizontal plane locating for it in fast rotary course, and enabling car body, stress is equal in all directions Weighing apparatus, and then car body is balanced on the whole.The acceleration for the electro-mechanical gyro balancing skateboard vehicle 100 that acceleration transducer will test with The form of pulse signal (PWM) is sent to control panel 104, and control panel 104 is believed according to the pulse of the representative acceleration value received Number (PWM) and antitrigonometric function α=arc sin (g/a) calculate the tilt angle of electro-mechanical gyro balancing skateboard vehicle.When calculating Tilt angle be greater than zero when, illustrate that car body turns forward and write, at this time control panel 104 control 1011 back rotation of first motor.When Calculated tilt angle is zero, that is, the operation acceleration detected is zero, illustrates that car body is in equilibrium state.When calculating Tilt angle less than zero when, illustrate that car body tilts backwards, control panel 104 control first motor 1011 rotate forward.Pass through tune It saves first motor 1011 forward or front and back rotation is to control the balance of electro-mechanical gyro balancing skateboard vehicle 100 in the longitudinal direction.

The foregoing is only a preferred embodiment of the present invention, is not intended to restrict the invention, for the skill of this field For art personnel, the invention may be variously modified and varied.All within the spirits and principles of the present invention, made any to repair Change, equivalent replacement, improvement etc., should all be included in the protection scope of the present invention.

Claims (10)

1. a kind of electro-mechanical gyro balancing skateboard vehicle characterized by comprising
Wheel, the wheel include built-in first motor and the pneumatic tire that is nested on the outside of the first motor;
Sliding plate support, the sliding plate support are arranged in the outside of the wheel and are located at the middle position of the wheel;
At least one electromechanical gyroscopes, the electromechanical gyroscopes are arranged in the sliding plate support and not influence the wheel The side of the wheel is arranged in the mode of rotation, and the electromechanical gyroscopes include the second motor and drive in second motor Lower high speed rotation is moved to generate the gyro of torque in the horizontal plane;And
Control panel, the control panel for controlling the first motor and second motor rotation are arranged in the slide plate branch It connect in frame and with the first motor and second motor respectively, the control panel is equipped with for detecting the electromechanical top The acceleration transducer of the operation acceleration of spiral shell balancing skateboard vehicle.
2. electro-mechanical gyro balancing skateboard vehicle according to claim 1, which is characterized in that the wheel further includes being used to support The support shaft of the fixed sliding plate support, the support shaft are located at the axle center of the first motor and from the tables of the first motor Extend outwardly protrusion.
3. electro-mechanical gyro balancing skateboard vehicle according to claim 1, which is characterized in that the sliding plate support includes upper bracket And lower bracket, the upper bracket and the lower bracket limit a cavity, are equipped with web beam in the cavity.
4. electro-mechanical gyro balancing skateboard vehicle according to claim 3, which is characterized in that the upper bracket, the lower bracket The first through hole for being sufficient to accommodate the wheel, second are equipped at position corresponding with the wheel respectively with the web beam Through-hole and third through-hole.
5. electro-mechanical gyro balancing skateboard vehicle according to claim 1, which is characterized in that second motor and the gyro It is arranged in pairs in the sliding plate support, wherein second motor is high-speed DC brushless electric machine, and the gyro is in disk Shape and second motor is provided at its axle center.
6. electro-mechanical gyro balancing skateboard vehicle according to claim 1, which is characterized in that the control panel is according to the acceleration The acceleration and formula α=arc sin (g/a) for the electro-mechanical gyro balancing skateboard vehicle that degree sensor detects calculate institute State the tilt angle of electro-mechanical gyro balancing skateboard vehicle, and according to the calculated tilt angle control the first motor and/ Or direction of rotation and/or the rotation speed of second motor, wherein α is the inclination angle of the electro-mechanical gyro balancing skateboard vehicle Degree, a are the acceleration of the electro-mechanical gyro balancing skateboard vehicle, and g is acceleration of gravity, are equal to 9.8m/s2
7. electro-mechanical gyro balancing skateboard vehicle according to one of claims 1 to 6, which is characterized in that the electro-mechanical gyro is flat The scooter that weighs further includes the Tire protective cover outwardly protruded along the first surface for being used to support human body of the sliding plate support, described Tire protective cover keeps the shape and size to match with the wheel being exposed on the outside of the first surface.
8. electro-mechanical gyro balancing skateboard vehicle according to claim 7, which is characterized in that the electro-mechanical gyro balancing skateboard vehicle It further include the bluetooth module being arranged on the control panel, the bluetooth module connect with mobile device and according to the movement The electro-mechanical gyro balancing skateboard vehicle is set as soft ride mode, comfortable ride mode or hot ridden by the instruction that equipment issues Row mode.
9. electro-mechanical gyro balancing skateboard vehicle according to claim 8, which is characterized in that the electro-mechanical gyro balancing skateboard vehicle Further include the battery pack being arranged in the sliding plate support, the battery pack respectively with the first motor, second motor, The control panel is connected with the acceleration transducer, and in the outside of the sliding plate support equipped with opposite with the battery pack The charging interface answered.
10. electro-mechanical gyro balancing skateboard vehicle according to claim 9, which is characterized in that the electro-mechanical gyro balancing skateboard Vehicle further includes headlamp, taillight and USB interface, wherein
The headlamp and the taillight are separately positioned on two end faces of the sliding plate support,
The USB interface is arranged on the side corresponding with the battery pack of the sliding plate support, and the USB interface It is connect with the battery pack.
CN201610332802.1A 2016-05-18 2016-05-18 A kind of electro-mechanical gyro balancing skateboard vehicle CN105833514B (en)

Priority Applications (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

Applications Claiming Priority (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

Publications (2)

Publication Number Publication Date
CN105833514A CN105833514A (en) 2016-08-10
CN105833514B true CN105833514B (en) 2018-12-11

Family

ID=56592840

Family Applications (1)

Application Number Title Priority Date Filing Date
CN201610332802.1A 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)

Family Cites Families (10)

* Cited by examiner, † Cited by third party
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
ES2528108T3 (en) * 2010-07-23 2015-02-04 Christian Verduron Motor unicycle
JP6332663B2 (en) * 2013-12-09 2018-05-30 株式会社ジェイテクト Two-wheel inverted pendulum type vehicle
CN103950503B (en) * 2014-05-20 2016-03-09 米勒科技(天津)有限公司 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
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
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

Also Published As

Publication number Publication date
WO2017197682A1 (en) 2017-11-23
CN105833514A (en) 2016-08-10

Similar Documents

Publication Publication Date Title
AU2017232090B2 (en) Electric self-balancing vehicle
US9802109B2 (en) Self-stabilizing skateboard
CN204452718U (en) A kind of electrodynamic balance car of taking turns outer side stand formula
CN206528561U (en) Self-balance electric vehicle
CN103189267B (en) Gyrocontrol formula vehicle
US9085334B2 (en) Electric-powered self-balancing unicycle
US8616313B2 (en) Motorized transport vehicle for a pedestrian
CN204309981U (en) A kind of student uses Self-balance electric vehicle carrying apparatus
US8840131B1 (en) Three-wheeled vehicle
US9682732B2 (en) Fully self-balanced hands-free portable vehicle
TWI392619B (en) A human powered and electricity balanced personal vehicle
CN105129005B (en) A kind of two-wheeled balance car
CN106553728A (en) Self-balancing type haulage vehicle
US6482069B1 (en) Radio controlled bicycle
WO2016045318A1 (en) Intelligent folding electric bicycle
RU2600557C2 (en) Method of movement and transport facility for method implementation (versions)
CN204952213U (en) Electrodynamic balance car
US20120205176A1 (en) Vehicle forming a self-balancing human transporter with an integrated photovoltaic module
US20110295454A1 (en) Two wheeled vehicle with modular features
ES2683426T3 (en) Fully balanced somatosensory smart electric vehicle
US20120319456A1 (en) System and method for providing gyroscopic stabilization to a wheeled vehicle
CN102582738B (en) Variable-structure self-balancing two-wheeled vehicle
US10144477B2 (en) Gear drive two-wheel scooter
CN105109595B (en) Unilateral oilless bearing electrodynamic balance vehicle
CN105270540A (en) Bicycle control system

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