CN105905207A - Self-balanced power-driven double-wheeled vehicle - Google Patents

Self-balanced power-driven double-wheeled vehicle Download PDF

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Publication number
CN105905207A
CN105905207A CN201610458612.4A CN201610458612A CN105905207A CN 105905207 A CN105905207 A CN 105905207A CN 201610458612 A CN201610458612 A CN 201610458612A CN 105905207 A CN105905207 A CN 105905207A
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China
Prior art keywords
seat
wheel
controller
pedal
speed
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CN201610458612.4A
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Chinese (zh)
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李陈
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Individual
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Individual
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Priority to CN201610458612.4A priority Critical patent/CN105905207A/en
Publication of CN105905207A publication Critical patent/CN105905207A/en
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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
    • B62K11/00—Motorcycles, engine-assisted cycles or motor scooters with one or two wheels
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62K—CYCLES; CYCLE FRAMES; CYCLE STEERING DEVICES; RIDER-OPERATED TERMINAL CONTROLS SPECIALLY ADAPTED FOR CYCLES; CYCLE AXLE SUSPENSIONS; CYCLE SIDE-CARS, FORECARS, OR THE LIKE
    • B62K2204/00—Adaptations for driving cycles by electric motor

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Motorcycle And Bicycle Frame (AREA)
  • Rehabilitation Tools (AREA)

Abstract

The invention discloses a self-balanced power-driven double-wheeled vehicle which comprises two wheels, wherein torque motors are arranged on inner peripheries of the wheels; one side of an inner stator of each torque motor is fixedly connected with a mounting base; a pedal is connected on one side far away from each wheel, on each mounting base; connecting bases are rotationally connected below the pedals, on the mounting bases; the two connecting bases are connected through a linking base; two ends of the linking base are hinged to the two connecting bases; an angle sensor is mounted in a hinging position between one end of the linking base and one of the connecting bases; the angle sensor is connected with a signal input end of a controller; the controller is used for limiting the running speed of the wheels correspondingly according to angles tested by the angle sensor; the angle sensor detects that the included angle between the linking base and the surfaces of the wheels is reduced and the set speed is increased. The self-balanced power-driven double-wheeled vehicle is convenient to use and beneficial to security when the vehicle runs at a relatively high speed.

Description

A kind of Self-balancing electronic two-wheel car
This patent is:
Invention entitled: a kind of Self-balancing electronic two-wheel car
Application No.: 2014108274476
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 comparatively fast and beneficially health keeps balance, comfortable Self-balancing electronic two-wheel car of riding.
For realizing the purpose of the present invention, it is achieved by the following technical solutions: a kind of Self-balancing electronic two-wheel car, including Having two wheels, wheel inner circumferential is torque motor, and torque motor electrically connects with the outfan of controller, on two torque motors also It is separately installed with the sensor being connected with controller signals input；The inner stator side of torque motor is fixedly connected on a peace On dress seat, in mounting seat, the side connection away from wheel has pedal, and mounting seat is positioned at the connection of pedal rotated down connection seat, Connection seat is mounted opposite the rotational angle range of seat and is 1-10 °, and mounting seat is axially in parallel with wheel with the rotary shaft being connected seat；Two Connected by a linkage seat between individual described connection seat, and to be connected seat with two the most hinged at linkage seat two ends；Described connection Move and be provided with to control link seat length direction and be connected seat corner dimension in articulated position between seat and the connection seat of both sides Two motors, two motors electrically connect with the outfan of controller respectively, controller control motor action The wheel making both sides is in parastate, and, when two-wheel car travel speed is less than the first setting speed, controller controls two Individual motor action, makes linkage seat length direction and two connection seats perpendicular, when two-wheel car travel speed sets more than first When constant speed is spent, controller controls two motor actions, makes linkage seat length direction become sharp with the angle being connected between seat Angle, and along with the increase of two-wheel car travel speed, described sharp angle successively decreases, when two-wheel car travel speed reaches maximum setting During speed, the angle of acute angle is 30-45 °.
As preferably: the first described setting speed is 10-15km/h；Described maximum setting speed is 30-40km/h.
As preferably: when two described connection seats turn to parallel with the seat that links, between the end that two wheels are mutually close Leave gap.
As preferably: in described mounting seat, fixing connection is in order to the housing covering wheel top；Sensing described in two groups Device is fixed in described housing, in described controller is arranged on housing or in linkage seat；It is provided with on described linkage seat or housing One spreading-retracting button being electrically connected with the controller, when once pressing spreading-retracting button, controller controls two motor actions, makes Two connect seat and are expanded to perpendicular with the seat that links, and when again pressing spreading-retracting button, controller controls two motor actions, Make two connection seats turn to and the seat that links is fitted.
As preferably: when described pedal launches its be against in mounting seat near the bottom of side, mounting seat side so that Pedal is positioned at horizontal direction, and at least one described pedal upper surface is provided with inductive switch, inductive switch and described controller Signal input part connect, when described inductive switch is not trampled, controller controls wheel braking.
As preferably: being provided with accumulator in described linkage seat, accumulator is electrically connected with the controller.
As preferably: be rotatably connected to a screw mandrel on described pedal, it is provided with one in pedal in order to drive screw mandrel to turn Dynamic motor, described screw mandrel is connected by screw-driven with described mounting seat；Described motor and an outfan electricity of controller Connecting, 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 traveling side Forwards moving, 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 The rear of direct of travel is moved, and described second normal speed is more than the first normal speed.
As preferably: the first described normal speed is 10km/h, the second described normal speed is 30km/h, described in step on The forward and backward mobile range of plate is 20-50mm.
As preferably: the top of two described pedals is separately installed with pressure transducer, two pressure transducers respectively with The input electrical connection of controller；The pressure differential recorded when two pressure transducers is less than turning setting value, two controller controls Making two wheel constant speed to advance, the pressure differential recorded when two pressure transducers is more than turning setting value, and two pressure sensings When the force value that device records is more than zero, controller controls the wheel velocity of the bigger side of pressure and accelerates to realize turning.
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 About Shi Zidong adjustment, 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 topples over, it is ensured that the safety of user；Simultaneously when two-wheel car higher speed travels, use Person steps down in the double-legged front and back position on two pedals and also pulls open a segment distance, is so more conducive to keep stablizing of health.The present invention With by compared with hand-guided two-wheel balance car, it is not necessary to hand goes control, turns up that rear volume is little to be easy to carry；Put down with single wheel Weighing apparatus car is compared, then have higher 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, motor；22, silk Bar；23, linear reciprocating motor；24, connecting shaft；3, linkage seat.
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 electronic two-wheel car described in the present embodiment, include two wheels 1, in wheel Week is torque motor, and torque motor electrically connects with the outfan of controller, two torque motors is also separately installed with and controls The sensor that device signal input part connects；The inner stator side of torque motor is fixedly connected in a mounting seat 12, mounting seat On away from wheel side connect have pedal 2, mounting seat is positioned at pedal rotated down connect have connection seat 13, connect seat relative The rotational angle range of mounting seat is 1-10 °, and mounting seat is axially in parallel with wheel with the rotary shaft being connected seat；Two described companies Connected by a linkage seat 3 between joint chair 13, and to be connected seat with two the most hinged at linkage seat two ends；Described linkage seat and two Connecting of side is provided with to control link seat length direction and two steps being connected seat corner dimension in articulated position between seat Entering motor, two motors electrically connect with the outfan of controller respectively, and controller controls motor action makes both sides Wheel is in parastate, and, when two-wheel car travel speed is less than 15km/h, controller controls two motors and moves Making, make linkage seat length direction and two connection seats perpendicular, when two-wheel car travel speed is more than 15km/h, controller controls Two motor actions, make linkage seat length direction become acute angle with the angle being connected between seat, and along with two-wheel car travels The increase of speed, described sharp angle successively decreases, and when two-wheel car travel speed reaches 35km/h, the angle of acute angle is 45 °.
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.When a wheel occurs During skidding, relatively rotating the restriction of angle and the existence of torsion spring owing to connecting seat with mounting seat, two-wheel car is at another wheel Driving under remain to continue normally to travel.As in figure 2 it is shown, the upper position connecting post in mounting seat forms one in order to limit System connects the retaining wall of seat slewing area.
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 turn to the side (connection of linkage seat under step motor drive One side of seat fits with linkage one side of seat), in the middle of linkage seat, handle is set, is beneficial to carry two-wheel car.Described company Joint chair 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 and be connected seat laminating two Magnet can be installed on individual surface 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 controller is arranged on housing or in linkage seat；It is provided with one on described linkage seat or housing and controls The spreading-retracting button of device electrical connection, when once pressing spreading-retracting button, controller controls two motor actions, makes two to connect seat Being expanded to perpendicular with the seat that links, when again pressing spreading-retracting button, controller controls two motor actions, makes two connections Seat turns to and the seat that links is fitted.
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 the signal of inductive switch 20, inductive switch and described controller Input connects, and when described inductive switch is not trampled, controller controls wheel braking.So when emergency user from Jumping off on pedal, inductive switch loses signal thus controller controls wheel reversing immediately and realizes braking.Described inductive switch For pressing type contact switch or switching regulator pressure transducer.
Being provided with accumulator in described linkage seat, accumulator is electrically connected with the controller.Accumulator can be by 16 joint 18650 electricity Pond set of cells in series, can use two above-mentioned set of cells used in parallel to increase flying power.
Often organizing described sensor and include gyro sensor and acceleration transducer, gyro sensor makes controller Can control wheel fore-and-aft direction and be in the poised state of level, when body gravity deflection front or behind, controller is corresponding Ground control moment motor forward or reverse, when the amplitude of user body forward, rear-inclined is the biggest, acceleration transducer detects The side-play amount arrived is the biggest, then the rotating speed of 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 22, is provided with one in pedal in order to drive screw mandrel to turn Dynamic motor 21, described screw mandrel is connected by screw-driven with described mounting seat；Described motor and an outfan of controller Electrical connection, when two-wheel car travel speed is less than 10km/h, motor driving screw mandrel rotates forward and makes pedal to two-wheel car advance side Forwards moving, when two-wheel car travel speed is higher than 30km/h, motor driving screw mandrel rotates backward and makes pedal to two-wheel garage The rear entering direction 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 the input of controller Electrical connection；The pressure differential recorded when two pressure transducers controls two wheel constant speed advance less than 100N, two controller, when The pressure differential that two pressure transducers record more than 100N, and the force value that records of two pressure transducers more than zero time, control Device 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 24, 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 23, the output shaft of linear reciprocating motor Coaxially being connected with connecting shaft, described linear reciprocating motor is electrically connected with the controller, when two-wheel car speed is less than 10km/h, and straight line Reciprocating motor drives pedal to move to two-wheel car direct of travel front, when two-wheel car speed is higher than 30km/h, and linear reciprocation electricity Machine 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 the input of controller Electrical connection；The pressure differential recorded when two pressure transducers controls two wheel constant speed advance less than 100N, two controller, when The pressure differential that two pressure transducers record more than 100N, and the force value that records of two pressure transducers more than zero time, control Device 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 (2)

1. a Self-balancing electronic two-wheel car, it is characterised in that: including two wheels, wheel inner circumferential is torque motor, moment Motor electrically connects with the outfan of controller, two torque motors is also separately installed with and is connected with controller signals input Sensor；The inner stator side of torque motor is fixedly connected in a mounting seat, and in mounting seat, the side away from wheel connects There is pedal, mounting seat is positioned at pedal rotated down and connects and have a connection seat, connect seat and be mounted opposite the rotational angle range of seat and be 1-10 °, mounting seat is axially in parallel with wheel with the rotary shaft being connected seat；By a linkage seat between two described connection seats Connect, and to be connected seat with two the most hinged at linkage seat two ends；In articulated position between described linkage seat and the connection seat of both sides Be provided with to control link seat length direction and two motors being connected seat corner dimension, two motors respectively with The outfan electrical connection of controller, controller controls motor action makes the wheel of both sides be in parastate, and, when double Wheel car travel speed less than the first setting speed time, controller control two motor actions, make linkage seat length direction with Two connection seats are perpendicular, and when two-wheel car travel speed is more than the first setting speed, controller controls two motors and moves Make, make linkage seat length direction become acute angle with the angle being connected between seat, and along with the increase of two-wheel car travel speed, described Sharp angle successively decrease, when two-wheel car travel speed reaches maximum setting speed, the angle of acute angle is 30-45 °；
When described pedal launches, it is against in mounting seat so that pedal is positioned at water near the bottom of side, mounting seat side Square to, at least one described pedal upper surface inductive switch is installed, the signal input part of inductive switch and described controller Connecting, when described inductive switch is not trampled, controller controls wheel braking.
A kind of Self-balancing electronic two-wheel car the most according to claim 1, it is characterised in that: the first described setting speed is 10-15km/h；Described maximum setting speed is 30-40km/h.
CN201610458612.4A 2014-12-25 2014-12-25 Self-balanced power-driven double-wheeled vehicle Pending CN105905207A (en)

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CN201610458612.4A CN105905207A (en) 2014-12-25 2014-12-25 Self-balanced power-driven double-wheeled vehicle
CN201410827447.6A CN104527878B (en) 2014-12-25 2014-12-25 Self-balancing electric double-wheel vehicle

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CN201610446809.6A Pending CN106005148A (en) 2014-12-25 2014-12-25 Self-balancing electric two-wheel vehicle
CN201610458612.4A Pending CN105905207A (en) 2014-12-25 2014-12-25 Self-balanced power-driven double-wheeled vehicle
CN201610455340.2A Pending CN105857469A (en) 2014-12-25 2014-12-25 Self-balancing electric two-wheel vehicle
CN201410827447.6A Active CN104527878B (en) 2014-12-25 2014-12-25 Self-balancing electric double-wheel vehicle
CN201610458526.3A Pending CN106043536A (en) 2014-12-25 2014-12-25 Self-balancing electric two-wheel vehicle
CN201610452736.1A Pending CN105947050A (en) 2014-12-25 2014-12-25 Electric self-balancing double-wheel vehicle

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CN201610446809.6A Pending CN106005148A (en) 2014-12-25 2014-12-25 Self-balancing electric two-wheel vehicle

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CN201610455340.2A Pending CN105857469A (en) 2014-12-25 2014-12-25 Self-balancing electric two-wheel vehicle
CN201410827447.6A Active CN104527878B (en) 2014-12-25 2014-12-25 Self-balancing electric double-wheel vehicle
CN201610458526.3A Pending CN106043536A (en) 2014-12-25 2014-12-25 Self-balancing electric two-wheel vehicle
CN201610452736.1A Pending CN105947050A (en) 2014-12-25 2014-12-25 Electric self-balancing double-wheel vehicle

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CN106005148A (en) 2016-10-12
CN105947050A (en) 2016-09-21
CN104527878A (en) 2015-04-22
CN106043536A (en) 2016-10-26
CN104527878B (en) 2017-01-25
CN105857469A (en) 2016-08-17

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Application publication date: 20160831