CN105882827A - Self-balance two-wheel vehicle - Google Patents
Self-balance two-wheel vehicle Download PDFInfo
- Publication number
- CN105882827A CN105882827A CN201610458547.5A CN201610458547A CN105882827A CN 105882827 A CN105882827 A CN 105882827A CN 201610458547 A CN201610458547 A CN 201610458547A CN 105882827 A CN105882827 A CN 105882827A
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- Prior art keywords
- seat
- wheel
- self
- vehicle controller
- speed
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- 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.)
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62M—RIDER PROPULSION OF WHEELED VEHICLES OR SLEDGES; POWERED PROPULSION OF SLEDGES OR SINGLE-TRACK CYCLES; TRANSMISSIONS SPECIALLY ADAPTED FOR SUCH VEHICLES
- B62M6/00—Rider propulsion of wheeled vehicles with additional source of power, e.g. combustion engine or electric motor
- B62M6/40—Rider propelled cycles with auxiliary electric motor
- B62M6/45—Control or actuating devices therefor
- B62M6/50—Control or actuating devices therefor characterised by detectors or sensors, or arrangement thereof
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62K—CYCLES; CYCLE FRAMES; CYCLE STEERING DEVICES; RIDER-OPERATED TERMINAL CONTROLS SPECIALLY ADAPTED FOR CYCLES; CYCLE AXLE SUSPENSIONS; CYCLE SIDE-CARS, FORECARS, OR THE LIKE
- B62K15/00—Collapsible or foldable cycles
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62K—CYCLES; CYCLE FRAMES; CYCLE STEERING DEVICES; RIDER-OPERATED TERMINAL CONTROLS SPECIALLY ADAPTED FOR CYCLES; CYCLE AXLE SUSPENSIONS; CYCLE SIDE-CARS, FORECARS, OR THE LIKE
- B62K2204/00—Adaptations for driving cycles by electric motor
Abstract
The invention discloses a self-balance two-wheel vehicle which comprises two wheels. Torque motors are arranged on the inner peripheries of the wheels. One side of an inner stator of each torque motor is fixedly connected to an installation base. The side, far away from the corresponding wheel, on each installation base is connected with a pedal. A connection base is rotationally connected with the position, below the corresponding pedal, on each installation base. The two connection bases are connected through a linkage base. The two ends of the linkage base are hinged to the two connection bases. An angular sensor is installed on the hinge portion of one end of the linkage base and one connection base. The angular sensor is connected with the signal input end of a self-balance vehicle controller. The self-balance vehicle controller limits the running speed of the wheels correspondingly according to angles measured by the angular sensor, and if the included angles, detected by the angular sensor, between the linkage base and the surfaces of the wheels are reduced, set speed is increased. The two-wheel vehicle is convenient to use, and safety during high-speed running is improved.
Description
This patent is:
Invention entitled: a kind of self-balancing two-wheeled vehicle
Application No.: 2014108271073
Filing date: 2014.12.25
The divisional application of patent application.
Technical field
The invention belongs to electric automobiles, be specifically related to the two-wheel car field with Self-balancing.
Background technology
Electrodynamic balance car, is again body-sensing car, thinking car etc..Its operation principles is mainly built upon one and is referred to as " dynamically
Stably " in the ultimate principle of (Dynamic Stabilization), utilize gyroscope and the acceleration transducer of vehicle body,
Detect the change of vehicle body attitude, and utilize servo-control system, accurately drive motor to be adjusted correspondingly, to keep system
The balance of system.Common are the self-balancing wheelbarrow of single wheel, and the two-wheel car that two, left and right wheel is arranged side by side at present.Wherein
Self-balancing wheelbarrow is balanced by control system automatically at fore-and-aft direction, and left and right directions user to be leaned on balances, for
Preventing from the single wheel from producing in the longitudinal direction to topple over and cause danger, its travel speed is limited in reduced levels, at present
The speed limit of 14 cun of the most common wheelbarrows is 16km/h.Two-wheel car is due to by handle control direction and speed, and left and right
Two wheels, it is not necessary to human body controls the balance of left and right, therefore its speed limit can reach 30-40km/h, right current this two-wheel car
Need manually to be controlled, completely easy to control by health not as wheelbarrow.
Summary of the invention
The technical problem to be solved is: the deficiency existed for prior art, it is provided that a kind of driving is simple, speed
Degree is comparatively fast and beneficially health keeps the self-balancing two-wheeled vehicle of balance.
For realizing the purpose of the present invention, it is achieved by the following technical solutions: a kind of self-balancing two-wheeled vehicle, includes two
Individual wheel, wheel inner circumferential is torque motor, and torque motor electrically connects with the outfan of Self-Balancing vehicle controller, two torque motors
On be also separately installed with the sensor being connected with Self-Balancing vehicle controller signals input；The inner stator side of torque motor is fixed
Being connected in a mounting seat, in mounting seat, the side connection away from wheel has pedal, and mounting seat is positioned at pedal rotated down
Connecting and have connection seat, connection seat is mounted opposite the rotational angle range of seat and is 1-10 °, mounting seat and the rotary shaft being connected seat and car
Take turns axially in parallel；Connected by a linkage seat between two described connection seats, and to be connected seat with two equal at linkage seat two ends
Hinged；Described linkage seat one end is connected between seat with one of them and is provided with an angular transducer in articulated position, and angle passes
Sensor is connected with the signal input part of described Self-Balancing vehicle controller；The angle that Self-Balancing vehicle controller records according to angular transducer
Degree is tackled the travel speed of wheel mutually and is limited, when angular transducer detect linkage seat length direction and wheel surface in
When 90 °, Self-Balancing vehicle controller controls the travel speed of wheel less than setting speed；Angular transducer detects linkage seat and car
The angle of wheel surface reduces, and described setting speed increases.
Described angular transducer detects that when linkage seat length direction is 90 ° with wheel surface, described setting speed is
10-20km/h；Angular transducer detects that linkage seat is reduced to less than 45 ° with the angle of wheel surface, the maximum of setting speed
Value is 30-40km/h.
The described linkage seat other end be connected between seat with another articulated position be provided with one in order to control linkage
Seat length direction and the motor being connected seat corner dimension, motor is electrically connected with an outfan of Self-Balancing vehicle controller
Connecing, Self-Balancing vehicle controller controls motor action makes the wheel of both sides be in parastate.
When two described connection seats turn to parallel with the seat that links, between the end that two wheels are mutually close, leave gap.
In described mounting seat, fixing connection is in order to the housing covering wheel top；Sensor described in two groups is fixed on institute
State in housing, in described Self-Balancing vehicle controller is arranged on housing or in linkage seat.
When described pedal launches, it is against in mounting seat near the bottom of side, mounting seat side so that pedal positions
In the horizontal direction, at least one described pedal upper surface is provided with inductive switch, inductive switch and described Self-Balancing vehicle controller
Signal input part connect, when described inductive switch is not trampled, Self-Balancing vehicle controller controls wheel braking.
Being provided with accumulator in described linkage seat, accumulator electrically connects with Self-Balancing vehicle controller.
Be rotatably connected to a screw mandrel on described pedal, be provided with in pedal one in order to the motor driving screw mandrel to rotate,
Described screw mandrel is connected by screw-driven with described mounting seat；Described motor is electrically connected with an outfan of Self-Balancing vehicle controller
Connecing, when two-wheel car speed is less than the first normal speed, motor driving screw mandrel rotates forward and makes pedal to two-wheel car direct of travel
Front is moved, and when two-wheel car speed is higher than the second normal speed, motor driving screw mandrel rotates backward and makes pedal to two-wheel garage
The rear entering direction is moved, and described second normal speed is more than the first normal speed.
The first described normal speed is 10km/h, and the second described normal speed is 30km/h, described pedal forward and backward
Mobile range is 20-50mm.
The top of two described pedals is separately installed with pressure transducer, two pressure transducers respectively with Self-Balancing vehicle control
The input electrical connection of device processed；The pressure differential recorded when two pressure transducers is less than turning setting value, two Self-Balancing vehicle controls
Device processed controls two wheel constant speed and advances, and the pressure differential recorded when two pressure transducers is more than turning setting value, and two pressures
When the force value that force transducer records is more than zero, Self-Balancing vehicle controller controls the wheel velocity of the bigger side of pressure and accelerates to realize
Turn.
Compared with prior art, the invention has the beneficial effects as follows: the two-wheel car of the present invention can be higher in travel speed
Time adjust about two wheels pull open a segment distance in the longitudinal direction, accordingly even when a wheel moment breaks down, car load
Will not produce in the longitudinal direction and topple over, it is ensured that the safety of user；Additionally when two-wheel car higher speed travels, user
Both feet front and back position also pulls open a segment distance, is so more conducive to keep stablizing of health.The present invention with by hand-guided pair
Wheel balance car is compared, it is not necessary to hand goes to control, and turns up that rear volume is little to be easy to carry；Compared with single wheel balance car, then have more
High stability and faster speed.
Accompanying drawing explanation
Structural representation when Fig. 1 is low-speed running state of the present invention.
Structural representation when Fig. 2 is high-speed travel state of the present invention.
Fig. 3 is the structural representation of pedal part.
Fig. 4 is the another kind of structural representation of pedal part.
1, wheel；11, housing；12, mounting seat；13, seat is connected；2, pedal；20, inductive switch；21, screw mandrel；22, electricity
Machine；23, connecting shaft；3, linkage seat；4, angular transducer.
Detailed description of the invention
Below according to accompanying drawing, the detailed description of the invention of the present invention is made a detailed explanation.
Embodiment 1
According to Fig. 1, Fig. 2, a kind of self-balancing two-wheeled vehicle described in the present embodiment, include two wheels 1, wheel inner circumferential is
Torque motor, torque motor electrically connects with the outfan of Self-Balancing vehicle controller, two torque motors are also separately installed with
The sensor that Self-Balancing vehicle controller signals input connects；The inner stator side of torque motor is fixedly connected on a mounting seat
On 12, in mounting seat, the side connection away from wheel has pedal 2, and mounting seat is positioned at the connection of pedal rotated down connection seat
13, connection seat is mounted opposite the rotational angle range of seat and is 1-10 °, and mounting seat is axially put down with wheel with the rotary shaft being connected seat
OK；Connected by a linkage seat 3 between two described connection seats, and to be connected seat with two the most hinged at linkage seat two ends；Institute
State linkage seat one end to be connected between seat with one of them and in articulated position one angular transducer 4 is installed, angular transducer and
The signal input part of described Self-Balancing vehicle controller connects；The angle that Self-Balancing vehicle controller records according to angular transducer is corresponding
The travel speed of wheel is limited, when angular transducer detects that linkage seat length direction is 90 ° with wheel surface, from
Balance car controller controls the travel speed of wheel less than 15km/h；Angular transducer detects the folder of linkage seat and wheel surface
Angle is reduced to 45 degree, and described travel speed can reach 35km/h.
Described velocity amplitude artificially can be set according to practical situation.It (is only reference that described angle continues to be reduced to 45 °
Value, when the size of two-wheel car is bigger, this angle can suitably reduce) below after, in order to ensure that two-wheel car is unlikely to sideways,
Self-Balancing vehicle controller regulation speed is less than 15km/h.
Form in described mounting seat and be connected the connection post that seat is rotationally connected, connecting seat and also install with being connected between post
Have torsion spring or elastic-like part, torsion spring in the raw time, connect seat perpendicular with mounting seat.Two such wheel has one
Fixed rotational freedom, beneficially bipod control the speed of two wheels respectively and realize keeping straight on or turning.
The described linkage seat other end be connected between seat with another articulated position be provided with one in order to control linkage
Seat length direction and the motor being connected seat corner dimension, motor is electrically connected with an outfan of Self-Balancing vehicle controller
Connecing, Self-Balancing vehicle controller controls motor action makes the wheel of both sides be in parastate.Two-wheel car driving process is with directly
Behavior master, therefore angular-rate sensor, motor can be coordinated to make two, left and right wheel keep flat by Self-Balancing vehicle controller
OK.Described motor is arranged in connection seat, and the output shaft of motor is then fixing with linkage seat to be connected, thus realizes two
The control of corner dimension between person.
When two described connection seats turn to parallel with the seat that links, between the end that two wheels are mutually close, leave gap.
So when two-wheel car does not uses, two wheels can fold to the side of linkage seat, arrange handle, be beneficial to carry in the middle of linkage seat
Two-wheel car.Described connection seat processing is L-shaped, and the seat that links when such wheel is turned up can be with to be connected seat bonded to each other.Linkage seat
With on two surfaces being connected seat laminating, Magnet can be installed or VELCRO or buckle etc. are attached fixing.
In described mounting seat, fixing connection is in order to the housing covering wheel top；Sensor described in two groups is fixed on institute
State in housing, in described Self-Balancing vehicle controller is arranged on housing or in linkage seat.
When described pedal launches, it is against in mounting seat near the bottom of side, mounting seat side so that pedal positions
In the horizontal direction, two described pedal upper surfaces are provided with inductive switch 20, inductive switch and described Self-Balancing vehicle controller
Signal input part connects, and when described inductive switch is not trampled, Self-Balancing vehicle controller controls wheel braking.So in urgent feelings
During condition, user jumps off from pedal, and inductive switch loses signal thus Self-Balancing vehicle controller controls wheel reversing immediately and realizes
Braking.Described inductive switch is pressing type contact switch or switching regulator pressure transducer.
Being provided with accumulator in described linkage seat, accumulator electrically connects with Self-Balancing vehicle controller.Accumulator can be by 16
Save 18650 battery set of cells in series, two above-mentioned set of cells can be used used in parallel in order to increase flying power.
Described sensor includes gyro sensor and acceleration transducer, and gyro sensor makes Self-Balancing vehicle control
Device processed can control wheel fore-and-aft direction and be in the poised state of level, when body gravity deflection front or behind, and self-balancing
Vehicle controller correspondingly control moment motor forward or reverse, when the amplitude of user body forward, rear-inclined is the biggest, accelerates
The side-play amount that degree sensor detects is the biggest, then the rotating speed of Self-Balancing vehicle controller correspondingly control moment motor increases.
The using method of this two-wheel car is similar to self-balancing wheelbarrow, relies on user health to act on the center of gravity on wheel
Control speed.Before riding, owing to the inductive switch on pedal does not has signal, two-wheel car is standby, when user is double
After foot is stepped on two pedals respectively, two-wheel car is just in manipulated state, the most i.e. center of gravity of adjustable health and drives
Two-wheel car moves ahead.Two wheels are directly manipulated by bipod respectively, and motility is strong, can realize flipper turn, be suitable for technology preferable
Car fan use.
Embodiment 2
The present embodiment compared with Example 1, also includes following characteristics:
Shown in Fig. 3, described pedal is rotatably connected to a screw mandrel 21, is provided with one in pedal in order to drive screw mandrel to turn
Dynamic motor 22, described screw mandrel is connected by screw-driven with described mounting seat；Described motor and the one of Self-Balancing vehicle controller
Individual outfan electrically connects, and when two-wheel car travel speed is less than 10km/h, motor driving screw mandrel rotates forward and makes pedal to two-wheel
Car direction of advance front is moved, when two-wheel car travel speed higher than 30km/h time, motor drive screw mandrel rotate backward make pedal to
The rear of two-wheel car direct of travel is moved.
When so needing brake in higher speed driving process, owing to pedal is automatically moved to wheel rear positions, use
As long as person's health is somewhat swung back, center of gravity is the most mobile to wheel rear portion, it is possible to after realizing braking in time and ensureing user health
The amplitude of facing upward will not be excessive and cause falling down；When relatively running at a low speed, pedal is automatically moved to wheel forward position, such user
The health that need not to lean forward can keep two-wheel car low speed and at the uniform velocity travel, thus reduce shank firmly,
The top of two described pedals is separately installed with pressure transducer, two pressure transducers respectively with Self-Balancing vehicle controller
Input electrical connection；The pressure differential recorded when two pressure transducers controls two less than 100N, two Self-Balancing vehicle controllers
Individual wheel constant speed is advanced, and the pressure differential recorded when two pressure transducers is more than 100N, and the pressure that two pressure transducers record
When force value is more than zero, Self-Balancing vehicle controller controls the wheel velocity of the bigger side of pressure and accelerates to realize turning.
The technical characteristic that the present embodiment increases relative to embodiment 1, makes two-wheel car can conveniently keep straight in ride
OK, during turning, need the center of gravity shifting health significantly to drive, be suitable for new hand or security performance requires that high user uses.
Embodiment 3
The present embodiment compared with Example 1, also includes following characteristics:
Shown in Fig. 4, described pedal being rotatably connected to a connecting shaft 23, the middle part of connecting shaft is through mounting seat and passes through
Screw is fixedly connected in mounting post, and pedal one end is installed with linear reciprocating motor 24, the output shaft of linear reciprocating motor
Coaxially being connected with connecting shaft, described linear reciprocating motor electrically connects with Self-Balancing vehicle controller, when two-wheel car speed is less than 10km/
During h, linear reciprocating motor drives pedal to move to two-wheel car direct of travel front, when two-wheel car speed is higher than 30km/h, directly
Line reciprocating motor drives pedal to move to the rear of two-wheel car direct of travel.
Specifically, described linear reciprocating motor can be selected for linear reciprocation electricity disclosed in Publication No. CN103715858A
Machine, is adjusted the relative position of pedal and connecting shaft, thus adjusts the pedal position relative to car body by linear reciprocating motor.
When so needing brake in higher speed driving process, owing to pedal is automatically moved to wheel rear positions, use
As long as person's health is somewhat swung back, center of gravity is the most mobile to wheel rear portion, it is possible to after realizing braking in time and ensureing user health
The amplitude of facing upward will not be excessive and cause falling down；When relatively running at a low speed, pedal is automatically moved to wheel forward position, such user
The health that need not to lean forward can keep two-wheel car low speed and at the uniform velocity travel, thus reduce shank firmly,
The top of two described pedals is separately installed with pressure transducer, two pressure transducers respectively with Self-Balancing vehicle controller
Input electrical connection；The pressure differential recorded when two pressure transducers controls two less than 100N, two Self-Balancing vehicle controllers
Individual wheel constant speed is advanced, and the pressure differential recorded when two pressure transducers is more than 100N, and the pressure that two pressure transducers record
When force value is more than zero, Self-Balancing vehicle controller controls the wheel velocity of the bigger side of pressure and accelerates to realize turning.
The technical characteristic that the present embodiment increases relative to embodiment 1, makes two-wheel car can conveniently keep straight in ride
OK, during turning, need the center of gravity shifting health significantly to drive, be suitable for new hand or security performance requires that high user uses.
Claims (1)
1. a self-balancing two-wheeled vehicle, it is characterised in that: including two wheels, wheel inner circumferential is torque motor, torque motor
Electrically connect with the outfan of Self-Balancing vehicle controller, two torque motors are also separately installed with and Self-Balancing vehicle controller signals
The sensor that input connects；The inner stator side of torque motor is fixedly connected in a mounting seat, away from car in mounting seat
The side of wheel connects pedal, and mounting seat is positioned at the connection of pedal rotated down connection seat, connects seat and is mounted opposite turning of seat
Dynamic angular range is 1-10 °, and mounting seat is axially in parallel with wheel with the rotary shaft being connected seat；Lead between two described connection seats
Cross a linkage seat to connect, and to be connected seat with two the most hinged at linkage seat two ends；Described linkage seat one end is connected with one of them
Being provided with an angular transducer in articulated position between Zuo, angular transducer inputs with the signal of described Self-Balancing vehicle controller
End connects；The travel speed that Self-Balancing vehicle controller tackles wheel mutually according to the angle that angular transducer records limits, when
Angular transducer detects that, when linkage seat length direction is 90 ° with wheel surface, Self-Balancing vehicle controller controls the traveling of wheel
Speed is less than setting speed；Angular transducer detects that linkage seat reduces with the angle of wheel surface, and described setting speed increases
Greatly；
The described linkage seat other end be connected between seat with another articulated position be provided with one in order to control link seat long
Degree direction and the motor being connected seat corner dimension, motor electrically connects with an outfan of Self-Balancing vehicle controller,
Self-Balancing vehicle controller controls motor action makes the wheel of both sides be in parastate；
When two described connection seats turn to parallel with the seat that links, between the end that two wheels are mutually close, leave gap；
Being provided with accumulator in described linkage seat, accumulator electrically connects with Self-Balancing vehicle controller；
Be rotatably connected to a screw mandrel on described pedal, be provided with in pedal one in order to the motor driving screw mandrel to rotate, described
Screw mandrel is connected by screw-driven with described mounting seat；Described motor electrically connects with an outfan of Self-Balancing vehicle controller,
When two-wheel car speed is less than the first normal speed, motor driving screw mandrel rotates forward and makes pedal to two-wheel car direct of travel front
Mobile, when two-wheel car speed is higher than the second normal speed, motor driving screw mandrel rotates backward and makes pedal to two-wheel car traveling side
To rear move, described second normal speed be more than the first normal speed.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610458547.5A CN105882827A (en) | 2014-12-25 | 2014-12-25 | Self-balance two-wheel vehicle |
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410827107.3A CN104494750B (en) | 2014-12-25 | 2014-12-25 | A kind of self-balancing two-wheeled vehicle |
| CN201610458547.5A CN105882827A (en) | 2014-12-25 | 2014-12-25 | Self-balance two-wheel vehicle |
Related Parent Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201410827107.3A Division CN104494750B (en) | 2014-12-25 | 2014-12-25 | A kind of self-balancing two-wheeled vehicle |
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| CN105882827A true CN105882827A (en) | 2016-08-24 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201410827107.3A Active CN104494750B (en) | 2014-12-25 | 2014-12-25 | A kind of self-balancing two-wheeled vehicle |
| CN201610458547.5A Pending CN105882827A (en) | 2014-12-25 | 2014-12-25 | Self-balance two-wheel vehicle |
| CN201610453339.6A Pending CN106005152A (en) | 2014-12-25 | 2014-12-25 | Self-balancing two-wheeled vehicle |
| CN201610455335.1A Pending CN105966510A (en) | 2014-12-25 | 2014-12-25 | Self-balance double-wheel vehicle |
| CN201610452738.0A Pending CN105947051A (en) | 2014-12-25 | 2014-12-25 | Self-balancing double-wheel vehicle |
| CN201610455334.7A Pending CN105947053A (en) | 2014-12-25 | 2014-12-25 | Self-balancing double-wheel vehicle |
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| CN201410827107.3A Active CN104494750B (en) | 2014-12-25 | 2014-12-25 | A kind of self-balancing two-wheeled vehicle |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201610453339.6A Pending CN106005152A (en) | 2014-12-25 | 2014-12-25 | Self-balancing two-wheeled vehicle |
| CN201610455335.1A Pending CN105966510A (en) | 2014-12-25 | 2014-12-25 | Self-balance double-wheel vehicle |
| CN201610452738.0A Pending CN105947051A (en) | 2014-12-25 | 2014-12-25 | Self-balancing double-wheel vehicle |
| CN201610455334.7A Pending CN105947053A (en) | 2014-12-25 | 2014-12-25 | Self-balancing double-wheel vehicle |
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| CN107685815A (en) * | 2016-08-03 | 2018-02-13 | 瑞迪克运输有限责任公司 | Personal vehicles |
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| CN106741408A (en) * | 2017-01-04 | 2017-05-31 | 杭州骑客智能科技有限公司 | Human-computer interaction body-sensing car |
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Also Published As
| Publication number | Publication date |
|---|---|
| CN105947053A (en) | 2016-09-21 |
| CN104494750A (en) | 2015-04-08 |
| CN106005152A (en) | 2016-10-12 |
| CN104494750B (en) | 2016-10-12 |
| CN105947051A (en) | 2016-09-21 |
| CN105966510A (en) | 2016-09-28 |
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Application publication date: 20160824 |