CN106005155A - Self-balancing dual-wheel electric vehicle with externally mounted motors - Google Patents

Self-balancing dual-wheel electric vehicle with externally mounted motors Download PDF

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Publication number
CN106005155A
CN106005155A CN201610512758.2A CN201610512758A CN106005155A CN 106005155 A CN106005155 A CN 106005155A CN 201610512758 A CN201610512758 A CN 201610512758A CN 106005155 A CN106005155 A CN 106005155A
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CN
China
Prior art keywords
balancing
signal
base
type self
wheeled electrocar
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Granted
Application number
CN201610512758.2A
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Chinese (zh)
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CN106005155B (en
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不公告发明人
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Changzhou Airwheel Intelligent Technology Co Ltd
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Changzhou Airwheel Intelligent Technology Co Ltd
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Application filed by Changzhou Airwheel Intelligent Technology Co Ltd filed Critical Changzhou Airwheel Intelligent Technology Co Ltd
Priority to CN201610512758.2A priority Critical patent/CN106005155B/en
Publication of CN106005155A publication Critical patent/CN106005155A/en
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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62K—CYCLES; CYCLE FRAMES; CYCLE STEERING DEVICES; RIDER-OPERATED TERMINAL CONTROLS SPECIALLY ADAPTED FOR CYCLES; CYCLE AXLE SUSPENSIONS; CYCLE SIDE-CARS, FORECARS, OR THE LIKE
    • 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
    • B62K3/00—Bicycles
    • B62K3/002—Bicycles without a seat, i.e. the rider operating the vehicle in a standing position, e.g. non-motorized scooters; non-motorized scooters with skis or runners
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62K—CYCLES; CYCLE FRAMES; CYCLE STEERING DEVICES; RIDER-OPERATED TERMINAL CONTROLS SPECIALLY ADAPTED FOR CYCLES; CYCLE AXLE SUSPENSIONS; CYCLE SIDE-CARS, FORECARS, OR THE LIKE
    • B62K11/00—Motorcycles, engine-assisted cycles or motor scooters with one or two wheels
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
    • B60K7/00—Disposition of motor in, or adjacent to, traction wheel
    • B60K7/0007—Disposition of motor in, or adjacent to, traction wheel the motor being electric
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L15/00—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles
    • B60L15/20—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D11/00—Steering non-deflectable wheels; Steering endless tracks or the like
    • B62D11/001—Steering non-deflectable wheels; Steering endless tracks or the like control systems
    • B62D11/003—Electric or electronic control systems
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D11/00—Steering non-deflectable wheels; Steering endless tracks or the like
    • B62D11/02—Steering non-deflectable wheels; Steering endless tracks or the like by differentially driving ground-engaging elements on opposite vehicle sides
    • B62D11/04—Steering non-deflectable wheels; Steering endless tracks or the like by differentially driving ground-engaging elements on opposite vehicle sides by means of separate power sources
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62M—RIDER PROPULSION OF WHEELED VEHICLES OR SLEDGES; POWERED PROPULSION OF SLEDGES OR SINGLE-TRACK CYCLES; TRANSMISSIONS SPECIALLY ADAPTED FOR SUCH VEHICLES
    • B62M7/00—Motorcycles characterised by position of motor or engine
    • B62M7/12—Motorcycles characterised by position of motor or engine with the engine beside or within the driven wheel
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62K—CYCLES; CYCLE FRAMES; CYCLE STEERING DEVICES; RIDER-OPERATED TERMINAL CONTROLS SPECIALLY ADAPTED FOR CYCLES; CYCLE AXLE SUSPENSIONS; CYCLE SIDE-CARS, FORECARS, OR THE LIKE
    • B62K2204/00—Adaptations for driving cycles by electric motor
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/72—Electric energy management in electromobility

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

Abstract

The invention provides a self-balancing dual-wheel electric vehicle with externally mounted motors. The self-balancing dual-wheel electric vehicle comprises wheels, a battery, a control system, motors, a base and a handle and is characterized in that the two motors are respectively arranged in the two wheels which are arranged on the two sides of the base, the two wheels are respectively mechanically fixed on the base through own single side shafts, the control system and the battery are arranged in the base, and the handle is directly or indirectly mechanically connected onto the base. The self-balancing dual-wheel electric vehicle with the externally mounted motors comprises two starting systems, which respectively are a power switch system and an electric vehicle operation starting and closing device.

Description

A kind of external motor type self-balancing two-wheeled electrocar
Technical field
The present invention relates to a kind of external motor type self-balancing two-wheeled electrocar, belong to technical field of transportation means.
Background technology
The economic development of society, the vehicles are increasing, face the most crowded urban road, contradiction between the sharp increase of road surface resource and automobile quantity is becoming increasingly acute, to the China having population more than 1,300,000,000, make urban road the most unrealistic to the vehicles adapting to us, the only vehicles of let us adapt to our road and are only outlet, the series of environmental problems such as global warming simultaneously, ozone hole, sea level rise annoying us, and one of important arch-criminal causing this situation is motor vehicle exhaust emission.So we need a kind of energy-saving and environmental protection can solve these contradiction being becoming increasingly acute in single file in the vehicles of crowded crowd again.
Start the Self-balance electric vehicle spread in the market, also referred to as thinking car, utilize lithium battery as electrical source of power, environmental protection is the most energy-conservation, perhaps will be the vehicles of our a new generation, its operation logic is based primarily upon one " dynamic stability ", car body balance on traffic direction is maintained by electric motor car autobalance ability own, typically gyroscope i.e. body-sensing balance system is set in vehicle body, perception car body real time status is carried out by body-sensing balance system, convey information to information processing system, after the information processing system information processing to perception, calculate suitable instruction pass to motor, control motor and realize the poised state that car body runs, so the acceleration and deceleration that driver can directly control car body by displacement of center of gravity realize running balance.Double-wheel self-balancing underbody seat in the market is bigger than normal, and road surface is poor by property, is unfavorable for carrying, assembles loaded down with trivial details, and handling the best, when riding, comfort level is the highest, meets road barrier or other burst obstacles without automatically repairing regulation system.
Summary of the invention
The invention discloses a kind of external motor type self-balancing two-wheeled electrocar, by wheel, battery, control system, motor, base, handles etc. form, described external motor type is two inside wheels that two motors are placed on base body both sides respectively, originally the motor that should be arranged at base is taken out from base, it is divided into the inside wheel of base the right and left, save chassis interior space, improve chassis of vehicle body height, make the car property passed through more preferable, owing to motor is divided into inside wheel, although chassis of vehicle body improves, but car center of gravity is the highest, motor is divided into base the right and left wheel, complete vehicle weight is set up separately outward, the stability that car body is overall can be effectively improved.Two motors are arranged at outside and can improve motor operationally radiating rate simultaneously.nullTwo wheels have oneself independent axle respectively，Two axles are not attached to，It is independently arranged，Described axle is single side axis，Single side axis be only from wheel while passing，Another side does not passes in wheel，Wheel external mechanical is made to connect by one side axle passed，Wheel in the present invention is mechanically fastened on base by respective single side axis，Separately it is separately provided between axle and axle，Two-wheeled has respective axle and has respective motor，This electric motor car is run the most flexible，Two-wheeled is synchronized is to be controlled by same control system，Handle left and right directions controls car two wheel guide robot and controls the operation of car left and right directions，Car ridden by gyroscope perception in the longitudinal direction personnel and car body composition an overall center of gravity fore-and-aft direction on skew control the operation on car fore-and-aft direction，During center of gravity reach, car runs forward，When moving after center of gravity, car runs backward，When car runs forward，When moving after center of gravity, car can experience deceleration、Stop、Fallback procedures，When center of gravity does not offsets, car stops，Car is when running backward，During center of gravity reach, car can experience deceleration、Stop、The process run forward；When the personnel of riding are to when having force on handle fore-and-aft direction, and human body is to handle fore-and-aft direction force and the operation on the Comprehensive Control car fore-and-aft direction of car and the power of personnel's entirety gravity of riding.Control system and battery are arranged in base, and handle is mechanically connected on base.Battery is arranged at the bottom of base and away from handle end, and lever principle between handle, balances last point of weight of car fore-and-aft direction, improves vehicle body stability.
A kind of external motor type self-balancing two-wheeled electrocar of the present invention, its two motors being divided into inside wheel are preferably wheel hub motor, inside wheel weight branch is more uniformly distributed, and in conjunction with wheel hub motor intrinsic advantage, is that our external motor type self-balancing two-wheeled electrocar runs more stable.
A kind of external motor type self-balancing two-wheeled electrocar of the present invention, two wheels are mechanically fastened on base by respective single side axis respectively, fixed by fixed component flange nut between axle and base, the pad of flange nut and nut are integral types, and have anti-skidding groove at flange face, which increase the contact area of nut and workpiece, compare plain nut and add the combination of packing ring, more firmly and pulling force is bigger.
A kind of external motor type self-balancing two-wheeled electrocar of the present invention, the fixed component of fixing axle and base is except flange nut, farther include: crescent moon sheet, adjust steel disc, axle sleeve, axle sleeve is respect thereto, the material that more matter is hard is prepared from, by the way of die casting base die casting on axle sleeve, axle sleeve is made to be connected with base formula, axle is arranged in axle sleeve, because axle sleeve is that hard material is constituted, the power that will not be born with axle and produce deformation, for making axle the most firmly be connected with base, shaft tail end passes through crescent moon sheet, adjust steel disc and flange nut is further secured on base.
A kind of external motor type self-balancing two-wheeled electrocar of the present invention, in the fixed component of fixing axle and base, crescent moon part is as the buffering between axle sleeve and flange nut, is effectively improved the fastening dynamics of flange nut.Flange nut is typically chosen use rigid material, preferably processes through quenching stiffened.
A kind of external motor type self-balancing two-wheeled electrocar of the present invention, fixing axle is two with crescent moon part in the fixed component of base, crescent moon part depressed area is to being buckled on axle, and is arranged between flange nut and axle sleeve, is lined with adjustment steel disc between crescent moon part and base.On the one hand because of susceptor surface rough, use steel disc, available steel disc is as medium, reduce frictional force between crescent moon part and base, steel disc plays the effect of lubrication part, it is easy to flange nut screw in, on the other hand reduces gap according to the steel disc of the Interval selecting suitable depth between crescent moon part and base, improve overall tightness with this.
A kind of fixing axle of external motor type self-balancing two-wheeled electrocar of the present invention is inclined-plane with the crescent moon part depressed area opposite in the fixed component of base, tilt to axle at nearly wheel, the face of the screw hole on corresponding base is also an inclined plane, flange nut heads on crescent moon part and makes toward screw-in at nearly wheel, owing to the face of screw hole is inclined-plane, hole is more and more less, adjust steel disc to be padded between crescent moon part and base, corresponding seating plane inclination corresponding with crescent moon part, tilt to axle at nearly wheel, so during constantly screwing between flange nut and crescent moon part, between crescent moon part and axle, between crescent moon part and adjustment steel disc, contact more and more tightr between adjustment steel disc and base.
On axle after the fixing axle of a kind of external motor type self-balancing two-wheeled electrocar of the present invention and the flange nut in the fixed component of base, at adjacent flange nut, band is porose, and fixed component farther includes split pin, and split pin is arranged in the hole on axle.Split pin is used for limiting flange nut and screws out.Countershaft upper add split pin further, for flange nut is fastened, prevent flange nut from having loosening, can effectively stop flange nut outward turning.
A kind of fixing axle of external motor type self-balancing two-wheeled electrocar of the present invention and the axle sleeve in the fixed component of base, it is that base is fixed on axle sleeve by die casting, select the axle sleeve that material is harder than base as the medium between axle and base, improve the load-bearing dynamics that car body is overall.
A kind of fixing axle of external motor type self-balancing two-wheeled electrocar of the present invention and the axle sleeve in the fixed component of base, it is to be connected with base by the way of die casting, base is fixed on axle sleeve by die casting, sleeve outer surface contacts with base laminating, the outer surface of axle sleeve is coarse or is provided with depressed area on surface, the adhesion between base can be effectively improved, if peeled off the most between the two by die casting such to axle sleeve rough surface or depression treatment base in its surface, its peeling force needed is bigger, make fixing the most firm of axle sleeve and base, effectively prevent axle sleeve from coming off with base.
A kind of fixing axle of external motor type self-balancing two-wheeled electrocar of the present invention and the axle sleeve in the fixed component of base, inner hole of shaft sleeve two ends diameter, the diameter of bore of nearly road wheel end is more than remote road wheel end, and the angle between line and horizontal plane on two ends is preferably between 1 °-3 °.
A kind of external motor type self-balancing two-wheeled electrocar of the present invention, the single side axis of described wheel, is fixed on the electric machine support center of wheel, passes from electric machine support center, for fixing the aperture diameter less than single side axis at the electric machine support center of single side axis, in single side axis press-in electric machine support hole.
A kind of external motor type self-balancing two-wheeled electrocar of the present invention, the difference of the minimum limit of size gained that the maximum limit of size in the aperture of described electric machine support subtracts the axle that single side axis is fixed in electric machine support hole is interference Ymin, is the relaxed state that coordinates with axle of hole；The difference of the maximum limit of size gained that the minimum limit of size in the aperture of electric machine support subtracts the axle that single side axis is fixed in electric machine support hole is interference Ymax, is the compact state that coordinates with axle of hole, Ymin≤-0.01mm, Ymax >=-0.5, Ymin >=Ymax.
A kind of external motor type self-balancing two-wheeled electrocar of the present invention, the single side axis of described wheel, is fixed on the electric machine support center of wheel, porose with on axle corresponding position in carriage center communicates, be inserted with pin in hole.Pin inserts in the hole, and makes axle and support be further secured on left and right directions do not have any displacement.
A kind of external motor type self-balancing two-wheeled electrocar of the present invention, wheel both sides comprise vehicle wheel side lid further, and vehicle wheel side lid is connected with shaft mechanical by bearing, and vehicle wheel side lid and bearing are interference fit and are connected, pass through pressing by outside force between bearing with axle.By pressing mode, bearing press-in vehicle wheel side lid, axial compression being entered bearing, it is the easiest for other techniques relatively, and simplifies structure, and outward appearance is more attractive.
A kind of external motor type self-balancing two-wheeled electrocar of the present invention, runs to start including two open systems, respectively power switch system and electric motor car and closes closed system.
A kind of external motor type self-balancing two-wheeled electrocar of the present invention, power switch system and electric motor car run to start and close closed system, after power switch system is opened, according to entering back into operation startup system after the electric motor car perception to human body.
A kind of external motor type self-balancing two-wheeled electrocar of the present invention, runs including two opening devices, respectively power switch device and electric motor car and starts shutoff device.After power switch device is opened, enter back into operation starter according to after the electric motor car perception to human body.nullThe run switch of Self-balance electric vehicle in the market is arranged on handle，The balance system of electric motor car is run before opening，Car is in unbalanced state，The personnel of riding can not stand on car，Ride the general station of the personnel switch on the opening handle of car side，And can be to the effect of one power of handle，When the instruction that handle stress is run to one fore-and-aft direction of car or left and right directions，Car setting in motion，Because the motion personnel of not ridden now realize control，It is likely to bump against the personnel of riding，Or this now rides between personnel and car and performs relative motion，The personnel of riding want the car in upper motion of standing，Acquire a certain degree of difficulty，And have the biggest danger，For reducing danger，Wherein electric motor car operation opening closure is arranged in base，Stood by human body or leave base and carry out starting or closing the running gear of electric motor car.After human body stands on base, after electric motor car operation opening device detects human body, automatically into running status, by the perception of gravity center of human body's displacement being supplied to the signal that car body runs, when gravity center of human body moves forward, car body starts to travel forward, and when moving after gravity center of human body, car body slows down or stops or retreating.Human body can run simultaneously with car body, improves safety.
A kind of external motor type self-balancing two-wheeled electrocar of the present invention, described opening closure includes: signal induction device, elastic component, induction of signal partitions, wherein signal induction device is arranged in the Double-wheel self-balancing electric motor car base below pedal, elastic component is arranged at above signal induction device, just to signal induction device, induction of signal partitions is fixing with elastic component to be connected, and is fixed on below elastic component, vertical corresponding with the transmission of signal induction device induced signal.
A kind of external motor type self-balancing two-wheeled electrocar of the present invention, wherein signal induction device includes: wiring board, optical signal launch part, optical signal receiving element, signal transmission interface, current-limiting resistance, filter capacitor, load resistance, is mounted on wiring board.
A kind of external motor type self-balancing two-wheeled electrocar of the present invention, wherein pass to after the filtered capacitive filter of power supply of optical signal launch part filters out the interference of power supply impurity, current-limiting resistance current limliting, optical signal launch part is transmitted to optical signal receiver induced signal in the form of light, by optical signal receiver, optical signal is transformed into current signal, it is transformed into voltage signal through load resistance and passes to signal transmission interface, passing to the controller of Double-wheel self-balancing electric motor car, controller receives voltage signal Double-wheel self-balancing electric motor car operation and is closed.
A kind of external motor type self-balancing two-wheeled electrocar of the present invention, wherein said signal induction device is arranged in the base of Double-wheel self-balancing electric motor car, pedal on base is provided with aperture, aperture is corresponding to the top of signal induction device induced signal transmission, prominent being arranged on pedal aperture of elastic component, induction of signal partitions on elastic component penetrates from aperture, when elastic component is by External Force Acting, the induced signal of induction of signal partitions disabling signal induction installation during downward deformation occurs.
A kind of external motor type self-balancing two-wheeled electrocar of the present invention, the wherein induced signal of induction of signal partitions disabling signal induction installation, the optical signal that optical signal launch part is launched can not pass to accept optical signal receiver, the controller of Double-wheel self-balancing electric motor car does not receives the voltage signal launched from signal induction device, and Double-wheel self-balancing electric motor car runs and is in opening.
A kind of external motor type self-balancing two-wheeled electrocar of the present invention, wherein elastic component is sealingly fastened on pedal.
A kind of external motor type self-balancing two-wheeled electrocar of the present invention, the elastic component of wherein said pedal comprises callosity further above, callosity is not by downward pressure, when personnel foot of i.e. riding does not steps down on callosity, callosity and elastic component are without the effect of mutual power, mutual power between or can not make elastic component produce deformation, and induced signal is not blocked from breaking, and Double-wheel self-balancing electric motor car runs and is closed.When personnel foot of riding steps down on callosity, the mutual power between callosity and elastic component makes elastic component produce deformation, and induced signal is blocked, and Double-wheel self-balancing electric motor car runs and is in opening.
A kind of external motor type self-balancing two-wheeled electrocar of the present invention, each external motor type self-balancing two-wheeled electrocar, comprise one or several Double-wheel self-balancing electric motor car and run opening closure, the induction of signal of at least one of which signal induction device is blocked by induction of signal partitions, and Double-wheel self-balancing electric motor car enters and runs opening.
A kind of external motor type self-balancing two-wheeled electrocar of the present invention, wherein it is provided with flexible restoring organ between base and handle, including stator, rotor, elastic reset part, handle is directly or indirectly mechanically fixed with rotor and is connected, stator is directly or indirectly mechanically fixed with base and is connected, it is connected by elastic reset part elasticity between stator with rotor, when handle is subjected to displacement by external force, rotor driven does the position skew of equal angular, after external force disappears, effect rotor reinstatement state by elastic reset part resilience force, drive handle reinstatement state simultaneously.Stator mentioned here, rotor are unrelated with motor, and stator only refers to actionless parts in flexible restoring organ, and rotor refers to the parts in flexible restoring organ relative to stator rotation, and rotor is with the axle center of stator as axis rotation.
A kind of external motor type self-balancing two-wheeled electrocar of the present invention, wherein stator is arranged at internal rotor；Or rotor is arranged at stator interior.It is characterized in that elastic reset part is filled in gap between stator and rotor, stator and rotor are linked to be an entirety by elastic reset part, rotor is driven relative initial position to rotate by external force, elastic reset part is driven to produce deformation, after the external force driving force suffered by rotor weakens or disappears, elastic reset part to initial position motion or returns to initial position by its elastic reset power rotor driven.
A kind of external motor type self-balancing two-wheeled electrocar of the present invention, is wherein provided with limiting component between stator and rotor, limit other all motions in addition to rotating of rotor relative stator.
A kind of external motor type self-balancing two-wheeled electrocar of the present invention, wherein it is connected by elastic reset part elasticity between stator with rotor, described elastic reset part is rubber parts or silica gel part, fixing dynamics for improving rubber parts with stator and rotor, rubber parts is molded between stator and rotor.
nullA kind of external motor type self-balancing two-wheeled electrocar of the present invention，For improving the resilience of rubber parts and making the personnel of riding can utilize optimum dynamics，More convenient comfortable manipulation handle，Corresponding Hardness Control is at 55-65A，Hot strength 13-15MPa，Percentage elongation 600-650%，Peel strength 7-8MPa，Described rubber parts composition includes rubber NR、White carbon black N774、White carbon black N330、Naphthenic oil、Zinc oxide、Antiaging agent MB、Stearic acid、RD、WB212、Altax、Accelerant CZ，Each account for gross mass proportion 50%-65%、15%-25%、7%-15%、3%-9%、1%-5%、0.1%-0.5%、0.1%-0.5%、0.1%-0.5%、0.1%-0.5%、0.1%-0.5%、0.5%-1.2%.
nullA kind of external motor type self-balancing two-wheeled electrocar of the present invention，Flexible restoring organ Elastic return unit is rubber parts，Its rubber is prepared as by following manner: prepare by total material quality 10kg，Rubber NR amounts to persistently 75 seconds-85 seconds for 5 times by two tumble blend on the machine of beginning to pratise at 100 DEG C ± 2 DEG C，Add white carbon black N774、White carbon black N330、Naphthenic oil、Zinc oxide、Antiaging agent MB、Stearic acid、RD、WB212 is mixing at 110 DEG C ± 2 DEG C continues 110 seconds-130 seconds，Addition naphthenic oil is mixing at 120 DEG C ± 2 DEG C continues 90 seconds-110 seconds，Surface is cleaned simultaneously，Clean and continue 150 seconds-170 seconds，Park more than 8 hours，Add altax、Accelerant CZ and sulfur are pressed into thin slice by cylinder after the mixing lasting 75-85 second at 50 DEG C-60 DEG C，Complete rubber to prepare.
A kind of external motor type self-balancing two-wheeled electrocar of the present invention, for improving stator, being stripped required dynamics between rotor and elastic reset part, the surface that stator, rotor contact with elastic reset part is rough surface or the patterned surface having depression.
A kind of external motor type self-balancing two-wheeled electrocar of the present invention, the flexible restoring organ wherein arranged between base and handle farther includes angular stop means, limits rotor and rotates in certain angle, and the corresponding handle that limits moves in this angle.
A kind of external motor type self-balancing two-wheeled electrocar of the present invention, wherein limit the angular stop means that rotor rotates in certain angle, including limited cover, spacer pin, limited cover is directly or indirectly mechanically fixed with stator and is connected, limited cover is provided with spacing hole, spacer pin is directly or indirectly mechanically fixed with rotor and is connected, and rotor rotates in driving spacer pin spacing hole on limited cover in doing certain angle and rotates.
A kind of external motor type self-balancing two-wheeled electrocar of the present invention, wherein it is mechanically fixed by handle base between handle with rotor and is connected, spacer pin is fixed on handle base, handle is rotated by External Force Acting and drives the spacer pin on handle base and handle base to rotate, in rotation process, spacer pin is limited by the spacing spacing hole that covers, and rotates in certain angle.
A kind of external motor type self-balancing two-wheeled electrocar of the present invention, wherein limit rotor to rotate in certain angle, the most corresponding handle rotates in this angle, between described certain angle is preferably ± 30 °, rotates the human users that relatively rides pleasant in this angle.
A kind of external motor type self-balancing two-wheeled electrocar of the present invention, wherein comprises the positional information acquisition system of handling position change when car body turns round further, catches the instant messages of handling position change on the flexible restoring organ between base and handle.
A kind of external motor type self-balancing two-wheeled electrocar of the present invention, wherein positional information acquisition system comprises the composition such as information capture and information processing transmitting device, information launcher.
A kind of external motor type self-balancing two-wheeled electrocar of the present invention, wherein information launcher is directly or indirectly fixedly installed on and is directly or indirectly mechanically fixed on the rotor being connected with handle, information capture and information processing transmitting device are directly or indirectly fixedly installed on and are directly or indirectly mechanically fixed on the stator being connected with base, by rotor relative to stator rotation, information launcher is driven to rotate relative to information capture and information processing transmitting device, information launcher launches different signals because of the displacement that its relative information catches and information processing transmitting device is different during rotating, information capture and information processing transmitting device capture after unlike signal after treatment, corresponding information is passed to control system, after control system processes, corresponding information is passed to motor, give the driving that two wheels are different respectively.
nullA kind of external motor type self-balancing two-wheeled electrocar of the present invention，Wherein information launcher is directly or indirectly fixedly installed on and is directly or indirectly mechanically fixed on the stator being connected with base，Information capture and information processing transmitting device are directly or indirectly fixedly installed on and are directly or indirectly mechanically fixed on the rotor being connected with handle，By rotor relative to stator rotation，Information capture and information processing transmitting device is driven to rotate relative to information launcher，Information capture and information processing transmitting device receive different signals because of the displacement that its relative information discharger is different during rotating，Information capture and information processing transmitting device capture after unlike signal after treatment，Corresponding information is passed to control system，After control system processes, corresponding information is passed to motor，Give the driving that two wheels are different respectively.
A kind of external motor type self-balancing two-wheeled electrocar of the present invention, wherein said information launcher is Magnet, described information capture and information processing transmitting device are linear hall sensor, linear hall sensor is by catching the changes of magnetic field information caused by the magnet positions change done relative motion with it after treatment, corresponding information is passed to control system, after control system processes, corresponding information is passed to motor, give the driving that two wheels are different respectively.
A kind of external motor type self-balancing two-wheeled electrocar of the present invention, wherein said Magnet is pair of magnet, in a center of symmetry being directly or indirectly mechanically fastened on stator or rotor, central point is rotor center of rotation, at two magnetic blow out centre point corresponding position fixed linear Hall elements.
For improving the car balance when turning to, another aspect of the present invention discloses external motor type self-balancing two-wheeled electrocar rotating direction control method of the present invention, because of handle displacement, linear hall sensor by relatively rotating the changes of magnetic field information of the change capture Magnet of angle after treatment with Magnet, corresponding information is passed to control system and calculates two turbin generator controlled quentity controlled variables, afterwards corresponding information is passed to motor, give the driving that two wheels are different respectively, make two wheels produce speed difference, thus realize turning to.
External motor type self-balancing two-wheeled electrocar rotating direction control method of the present invention, the speed controlling as car body overall operation of the speed of service on car body fore-and-aft direction is added during two wheels produce speed difference when wherein external motor type self-balancing two-wheeled electrocar turns to, the angle that control system detection handle rotates, obtaining corresponding proportionality coefficient according to the speed of service on the current fore-and-aft direction of car body, the angle rotated by handle is multiplied by corresponding proportionality coefficient and calculates final motor Comprehensive Control amount simultaneously.
External motor type self-balancing two-wheeled electrocar rotating direction control method of the present invention, wherein farther include motor combustion adjustment to control, control system captures gyroscope, accelerometer data and motor driving data, calculate current vehicle running body direction and speed, simultaneously according to flexible restoring organ rotates information that linear hall sensor captures after filtering because of rotor, linearization process, obtain handle rotational angle, according to velocity magnitude now, calculate corresponding proportionality coefficient, the angle rotated with handle again is multiplied by corresponding proportionality coefficient, obtain motor and control adjustment amount.
nullExternal motor type self-balancing two-wheeled electrocar rotating direction control method of the present invention，Wherein said self-balancing two-wheeled electrocar farther includes motor combustion adjustment controller，Adjust controller and capture gyroscope in car body、Accelerometer data and motor driving data，Calculate current vehicle running body direction and speed，The direction information that the Hall element that basis is installed on self-balancing two-wheeled electrocar transfer simultaneously captures is after filtering，Linearization process，Obtain car body transfer rotational angle，According to velocity magnitude now，Calculate corresponding proportionality coefficient，The angle rotated with external motor type self-balancing two-wheeled electrocar transfer again is multiplied by corresponding proportionality coefficient，Obtain motor and control adjustment amount，Controller controls adjustment amount U according to the motor obtained and sends driving control system for electric machine to，Two motors are made to produce speed difference，Realization turns to.
External motor type self-balancing two-wheeled electrocar rotating direction control method of the present invention, wherein motor real-time rotating speed v is when different interval, external motor type self-balancing two-wheeled electrocar rotating direction control method: k is the proportionality coefficient of transfer rotational angle, KpFor speed proportional coefficient (the speed proportional coefficient set according to the individual variation of each motor), VLFor coefficient adjustment lower velocity limit, VHFor coefficient adjustment speed limit, v be the real-time rotating speed of motor, V be range of motor speeds be that motor controls adjustment amount, θ is steering yoke rotational angle, when controller detects motor real-time rotating speed v≤coefficient adjustment lower velocity limit V according to actual set, ULTime, U=θ * k, k=Kp* V/VL, now the proportionality coefficient k of transfer rotational angle fixes and reaches maximum, and the angle that controller only rotates using external motor type self-balancing two-wheeled electrocar changes as Variable Control motor adjustment amount, adjusts motor；Work as VH>v>VLTime: U=θ * k, k=Kp* V/v；Now the proportionality coefficient k of transfer rotational angle is that variable amasss with k's according to motor real-time velocity of rotation linear change, the angle that controller rotates with self-balancing two-wheeled electrocar simultaneously, makees to control motor adjustment amount, adjust motor；Work as v > VHTime: U=θ * k, k=Kp* V/VH ,Now the proportionality coefficient k of transfer rotational angle fixes and minimizes value, and the angle that controller only rotates using self-balancing two-wheeled electrocar changes as Variable Control motor adjustment amount, adjusts motor.
External motor type self-balancing two-wheeled electrocar rotating direction control method of the present invention, wherein said motor controls adjustment amount, makes two motors produce speed difference, only gives the wheel electrical machine drive volume of non-turn side for controller, and now motor controls adjustment amount is motor drive volume；Or controller gives non-turn side wheel electrical machine drive volume, give turn side wheel electrical machine limit amount simultaneously, now motor control adjustment amount be motor drive volume with motor limit amount and；Or control it only to the wheel electrical machine limit amount of turn side, now motor controls adjustment amount is motor limit amount.As v≤VLThe most only give the wheel electrical machine drive volume of non-turn side, or (described limit amount can be the reverse drive amount of motor to give turn side wheel limit amount.)；Work as v > VHThe most only give turn side wheel limit amount.
The present invention be raising ride personnel keep straight on time balance, the external motor type self-balancing two-wheeled electrocar that the present invention provides comprises control method for stably operating, when external motor type self-balancing two-wheeled electrocar detects that car transfer does not rotates, single motor runs and is obstructed, controller detects that car body turns to, the size turning to deviation predetermined value according to car body is obstructed motor adequate compensation amount, or motor adequate compensation amount of being obstructed gives another motor suitable limit amount, or it is given only another motor limit amount, so that car body returns to steady operational status.
External motor type self-balancing two-wheeled electrocar of the present invention, wherein motor maximum runs drive volume is Umax, and motor moment drive volume before being obstructed of being obstructed is UFormer, drive volume U that the motor that is obstructed is obstructedResistance, when controller detects 0 ＜ UResistance＜ Umax-UFormer, single motor is obstructed, and controller detects that car body turns to, and turns to the size of deviation predetermined value according to car body, is given only motor adequate compensation amount of being obstructed, makes car body return to former steady operational status；Or, motor adequate compensation amount of being obstructed gives another motor suitable limit amount, makes car body return to steady operational status；Or, it is given only another motor limit amount, makes car body return to steady operational status.Preferably it is given only motor adequate compensation amount of being obstructed, makes car body return to former steady operational status.
External motor type self-balancing two-wheeled electrocar of the present invention, single motor is obstructed, and controller detects that car body turns to, as 0 ＜ UResistance＜ Umax-UFormer, according to car body turn to deviation predetermined value size, be given only motor adequate compensation amount of being obstructed, compensation dosage be U be equal to car body deviation predetermined value rotate angle W take advantage of in penalty coefficient K, make car body return to former steady operational status.
External motor type self-balancing two-wheeled electrocar of the present invention, it is Umax that motor maximum runs drive volume, and self-balancing two-wheeled electrocar transfer does not rotates, and single motor is obstructed, controller detects that car body turns to, and motor moment drive volume before being obstructed of being obstructed is UFormer, drive volume U that the motor that is obstructed is obstructedResistance, as Umax ＞ UResistance≥Umax-UFormer, single motor is obstructed, and controller detects that car body turns to, and turns to the size of deviation predetermined value according to car body, and motor adequate compensation amount of being obstructed gives another motor suitable limit amount, makes car body return to steady operational status；Or, it is given only another motor limit amount, makes car body return to steady operational status.
External motor type self-balancing two-wheeled electrocar of the present invention, single motor is obstructed, and controller detects that car body turns to, 0 ＜ UResistance＜ Umax-UFormerOr Umax ＞ UResistance≥Umax-UFormerThe size of deviation predetermined value is turned to according to car body, motor adequate compensation amount of being obstructed gives another motor suitable limit amount, compensation dosage be U be equal to car body deviation predetermined value rotate angle W take advantage of in penalty coefficient K, limit amount be U be equal to car body deviation predetermined value rotate angle W take advantage of in limit coefficient K, make car body return to steady operational status；
External motor type self-balancing two-wheeled electrocar of the present invention, wherein motor maximum runs drive volume is Umax, and external motor type self-balancing two-wheeled electrocar transfer does not rotates, and single motor is obstructed, controller detects that car body turns to, and motor moment drive volume before being obstructed of being obstructed is UFormer, drive volume U that the motor that is obstructed is obstructedResistance, work as UResistanceIt is given only another motor limit amount during >=Umax, makes car body return to steady operational status.
External motor type self-balancing two-wheeled electrocar of the present invention, it is characterised in that single motor is obstructed, and controller detects that car body turns to, turns to the size of deviation predetermined value, U according to car bodyResistance>=Umax or 0 ＜ UResistance＜ Umax-UFormerOr Umax ＞ UResistance≥Umax-UFormerBe given only another motor limit amount, limit amount be U be equal to car body deviation predetermined value rotate angle W take advantage of in limit coefficient K, make car body return to steady operational status.
External motor type self-balancing two-wheeled electrocar of the present invention, described compensation or compensation and restriction or restriction, can be used for the not operation because motor characteristic difference causes relatively greatly simultaneously and turn to.
External motor type self-balancing two-wheeled electrocar of the present invention, may further include the releasing detector that is obstructed, when self-balancing two-wheeled electrocar detects releasing of being obstructed by detector, to controller signals, the compensation of controller control motor or restriction or compensation are cancelled the most immediately with limiting, steady operational status before returning to be obstructed.
External motor type self-balancing two-wheeled electrocar of the present invention, for improving the balance that the personnel of riding ride, deviation measures and motor compensating, restriction control, using 1-10 millisecond as a detection cycle.
A kind of external motor type self-balancing two-wheeled electrocar of the present invention, wherein handle can be folding handle, and handle includes the foldable mechanism between up knob arm, lower handle arm, upper and lower handle, handgrip part.
A kind of external motor type self-balancing two-wheeled electrocar of the present invention, wherein said handgrip part is provided with car body display device or and car member control apparatus between two handles.
A kind of external motor type self-balancing two-wheeled electrocar of the present invention, the car member control apparatus that wherein said handgrip part is arranged between two handles, including vehicle body Bluetooth control system, car remote upgrade control system, car power supply remote switch system.
A kind of external motor type self-balancing two-wheeled electrocar of the present invention, wherein by foldable mechanism between up knob arm and lower handle arm, folding is fixing to be connected.
A kind of external motor type self-balancing two-wheeled electrocar of the present invention, wherein foldable mechanism includes folded piece, folds positioning limiting fixator, sealing member.Wherein said folded piece is hinge, and including upper hinge, lower jaw and the rotating shaft connecting upper and lower hinge, upper and lower hinge is individually fixed on upper and lower handle arm.Upper and lower handle arm realizes connecting or folding by the folding of hinge.In order to make, upper and lower handle arm is fixing to be connected wherein said connection fixture, including hasp hook, hasp circle, hasp shell, snap lock device, hasp hook is fixed on one of them handle arm, hasp circle, hasp shell, snap lock device are arranged on another handle arm, hasp circle hasp realizes the fixing connection of upper and lower handle arm on hasp is linked up with, hasp circle rotary machine is connected on hasp shell, snap lock device locking hasp shell.Wherein said hasp shell includes hasp lower casing, hasp upper casing, hasp lower casing is fixed on handle, on hasp lower casing by hasp rotating shaft make hasp upper casing be rotatably connected with on hasp lower casing, hasp circle is rotatably connected on hasp upper casing, when hasp upper casing is opened, hasp circle links up with position corresponding to hasp, close hasp upper casing, and hasp circle is fixing with hasp hook to be connected, and when opening hasp upper casing, hasp circle comes off from hasp hook.Wherein said hasp shell locking device, including: spring, hasp locking plate, hasp lock are linked up with, hasp locking plate is arranged on hasp upper casing, spring is arranged on hasp locking plate, hasp lock hook is arranged on hasp lower casing, catch on hasp locking plate by hasp lock hook, be on the locking of hasp upper casing and hasp lower casing.nullWherein hasp locking plate includes position, hasp locking plate press section、Hasp lock film perforation、Hasp locking plate angle，Two springs it are provided with on two springs，Two springs be arranged in parallel，Hasp locking plate is laterally inserted on hasp upper casing，Position, hasp locking plate press section is outside the housing of hasp upper casing side，Hasp locking plate angle is stretched out outside the housing of hasp upper casing opposite side，It is provided with spring on hasp locking plate angle in hasp upper casing，Spring one end props up the top at hasp locking plate angle，The other end props up hasp upper casing internal side wall，Restriction hasp locking plate angle it is provided with completely into the projection in hasp upper casing on hasp lock film perforation，Spring in hasp shell locking device during maximum tension projection prop up inside the hasp upper casing of position, hasp locking plate press section，When hasp upper casing is closed，Hasp lock hook catches on hasp lock sheet bore edges，When position, hasp locking plate press section is pressed, hasp lock film perforation is subjected to displacement，Hasp lock hook departs from hasp lock sheet bore edges，Enter hasp lock film perforation，Position, hasp locking plate press section is pressed hasp upper casing can free switch.
A kind of external motor type self-balancing two-wheeled electrocar of the present invention, wherein said sealing member is elastic water-proofing material, it is sealingly fastened on the interface of upper and lower handle arm, for connecting as the interface between upper and lower handle arm, make sealing joint connect, have waterproof action, elastomeric material simultaneously, can make the personnel of riding in bumpy sections, handgrip part has certain elastic force resilience to buffer, and can effectively reduce the human hand that rides and jolt sense.
A kind of external motor type self-balancing two-wheeled electrocar of the present invention, wherein said sealing member is rubber parts or silica gel part, including further above can be by the string holes of transmission line, for by connecting handgrip part car body display device between two handles or and car member control apparatus and power supply and the transmission line of control system in base.
A kind of external motor type self-balancing two-wheeled electrocar of the present invention, wherein said transmission line is arranged in folded tube, folded tube is stuck in string holes, folded tube outer wall is formed with string holes and seals, on the one hand can effectively prevent transmission line exposed, on the other hand folded tube can fold with upper and lower handle arm and stretch.The folding of upper and lower handle arm will not damage transmission line.
A kind of external motor type self-balancing two-wheeled electrocar of the present invention, is wherein respectively equipped with groove on up knob arm, lower handle arm, comprises LED decorative lamp in groove further, and outside is provided with transparent silica gel and LED is packaged in groove.
A kind of external motor type self-balancing two-wheeled electrocar of the present invention, for ease of assembling, wherein with power supply, information transmission and control interface end on handle, with the power supply extended out in base and information transmission and control interface is pluggable is connected.
A kind of external motor type self-balancing two-wheeled electrocar of the present invention, wherein handle comprises handle base further, handle base is directly or indirectly connected on base, power supply and information transmission and control interface is pluggable is connected between handle with handle base, and be connected by screw machine is fixing between handle with handle base.
A kind of external motor type self-balancing two-wheeled electrocar of the present invention, wherein up knob arm is electrical with handgrip part pluggable is connected, and is screwed.
Accompanying drawing explanation
The accompanying drawing of the present invention is in order to the present invention is further described, rather than the restriction to invention scope.
Fig. 1 is external motor type self-balancing two-wheeled electrocar schematic diagram of the present invention.
Fig. 2 is external motor type self-balancing two-wheeled electrocar axletree of the present invention and vehicle body bindiny mechanism schematic diagram.
Fig. 3 is external motor type self-balancing two-wheeled electrocar axletree of the present invention and vehicle body bindiny mechanism generalized section.
Fig. 4 is the attachment structure generalized section between external motor type self-balancing two-wheeled electrocar axletree of the present invention and wheel.
Fig. 5 is that external motor type self-balancing two-wheeled electrocar car of the present invention runs opening closure generalized section.
Fig. 6 is external motor type of the present invention self-balancing two-wheeled electrocar elastic reset steering mechanism decomposing schematic representation.
Fig. 7 is that the external motor type upper and lower handle arm of self-balancing two-wheeled electrocar of the present invention splits schematic diagram with foldable mechanism.
Fig. 8 is external motor type self-balancing two-wheeled electrocar foldable mechanism schematic diagram of the present invention.
Fig. 9 is the fractionation schematic diagram between the external motor type self-balancing each building block of two-wheeled electrocar folding handles of the present invention.
Figure 10 is external motor type self-balancing two-wheeled electrocar rotating direction control method of the present invention and control method for stably operating flow chart.
null、Handle，101、For up knob arm，102 is hinge，103 for be fixed on the screw on upper and lower handle arm hinge，104 is sealing member，105 is hasp shell，106 is the screw that hasp shell is fixed on handle，107 is lower handle arm，108 is snap lock device，109 is hasp circle，110 link up with for hasp，111 for linking up with hasp on the screw being fixed on handle arm,112 is handgrip part，113 is handle，114 is power supply and information transmission and control interface,115 is handle base，116 is the screw of fixed handle and handle base，117 is handgrip part and the pluggable position of handle，118 is base and the pluggable position of handle，119 is handle and the pluggable position of handgrip part，120 is handle and the pluggable position of base， 200、For wheel，201、For screw，202、For motor limit lid，203、For electric machine support，204、For bearing，205、For bearing holder (housing, cover)，206、For pin，207、For motor shaft，208、For hole, line position，209、For the connecting line between vehicle body and wheel hub motor，210、For wheel hub,211、For magnetic links，301、Split pin，300、For base，303、For axle sleeve，304、For wheel,305、For adjusting steel disc，306 is crescent moon sheet，307、For flange nut，308、For boss surfaces groove,309、For axletree， 401、For pedal，403 is elastic component，404、For induction of signal partitions,405、Optical signal transmitter，406、Optical signal receiver，407、Signal transmission interface，408、Wiring board，501、For stator，502、For the limiting component between stator and rotor，503、For limited cover,504、Screw for fixing limited cover，505、For spacer pin，506、For handle base, 508、For the screw that information capture and information processing transmitting device are fixed on stator，509、Information capture and the base of information processing transmitting device，510、Stator is fixed on the screw of vehicle body,511、For elastic reset part，512、For rotor.
Gathering the body gesture speed calculating external motor type self-balancing two-wheeled electrocar, the rotational angle of transfer, when transfer rotates, it is judged that the real-time rotating speed of motor, according to v≤V；During VH > v > VL；Tri-different intervals of v > VH calculate transfer angle proportionality coefficient respectively, calculate motor and control adjustment amount, control adjustment amount are sent to motor driving part and divide；When transfer does not rotates, when car body rotates, control adjustment amount is sent to motor driving part and divides by calculating motor control adjustment amount；When transfer does not rotates, and car body also rotates, keep existing steady operational status.
Detailed description of the invention
Embodiments of the invention are to further explain the present invention, rather than limit the invention scope of the present invention.
Embodiment 1.
nullExternal motor type self-balancing two-wheeled electrocar，Including wheel、Battery、Control device、Motor、Base、Handle，Two motors are two inside wheels that wheel hub motor is placed on base body both sides respectively，Two wheels are mechanically fastened on base by respective single side axis respectively，Control device and battery is arranged in base，Handle is mechanically connected on base，Electricmotor car wheel includes with fixed component in base fixed connection structure: flange nut、Crescent moon sheet、Adjust steel disc、Axle sleeve etc.，Axle sleeve material is harder than base，The outer surface of axle sleeve is coarse or is provided with depressed area on surface，Inner hole of shaft sleeve two ends diameter，The diameter of bore of nearly road wheel end is more than remote road wheel end，The angle between line and horizontal plane on two ends is preferably between 1 °-3 °，Base is fixed on axle sleeve by die casting，Axletree therein is inclined-plane with the crescent moon part depressed area opposite in the fixed component of base，Tilt to axle at nearly wheel，The face of the screw hole on corresponding base is also an inclined plane，Flange nut heads on crescent moon part and makes toward screw-in at nearly wheel，Owing to the face of screw hole is inclined-plane，Hole is more and more less，Adjust steel disc to be padded between crescent moon part and base，Corresponding seating plane inclination corresponding with crescent moon part，Tilt to axle at nearly wheel，During constantly screwing between flange nut and crescent moon part，Between crescent moon part and axle，Between crescent moon part and adjustment steel disc，Contact more and more tightr between adjustment steel disc and base.On axle after axletree with the flange nut in the fixed component of base, at adjacent flange nut, band is porose, and fixed component farther includes split pin, and split pin is arranged in the hole on axle.Split pin is used for limiting flange nut and screws out.Countershaft upper add split pin further, for flange nut is fastened, prevent flange nut from having loosening, can effectively stop flange nut outward turning.
Embodiment 2
nullExternal motor type self-balancing two-wheeled electrocar，Including wheel、Battery、Control device、Motor、Base、Handle，Two motors are two inside wheels that wheel hub motor is placed on base body both sides respectively，Two wheels are mechanically fastened on base by respective single side axis respectively，Control device and battery is arranged in base，Handle is mechanically connected on base，Self-balancing two-wheeled electrocar wheel hub motor motor shaft is 0.3mm with the difference in wheel electrical machine support aperture,Motor shaft is fixed on the electric machine support center of wheel，Motor shaft is through in the centre bore of electric machine support，The diameter of electric machine support centre bore is less than the diameter of motor shaft，In motor shaft press-in electric machine support hole,On the motor shaft of wheel porose，Hole supercentral with the electric machine support of the wheel of fixing motor shaft communicates，Hole is inserted pin，Vehicle wheel side lid is connected with shaft mechanical by bearing，Vehicle wheel side lid and bearing，It is interference fit between bearing with axle to be connected，Bearing and vehicle wheel side cap bore footpath difference，Axle and bearing aperture interference difference all control at about 0.3mm.The hole, line position of the connecting line being provided with on motor shaft between base and wheel hub motor, hole, line position is arranged at the junction of motor shaft and bearing, motor shaft reach the standard grade a hole aperture ＞ base and wheel hub motor between the external diameter of connecting line, motor shaft reach the standard grade a hole aperture≤3/2 times base and wheel hub motor between the external diameter of connecting line, motor shaft reach the standard grade a hole+2 times of bases of length ＞ bearing width and wheel hub motor between the diameter of connecting line, bearing arranges on hole, online position, and two ends, hole, line position are respectively arranged at bearing internal external both sides.
Embodiment 3
External motor type self-balancing two-wheeled electrocar, including wheel, battery, control device, motor, base, handle, two motors are two inside wheels that wheel hub motor is placed on base body both sides respectively, two wheels are mechanically fastened on base by respective single side axis respectively, control device and battery is arranged in base, handle is mechanically connected on base, car includes that Double-wheel self-balancing electric motor car runs opening closure, by signal induction device, elastic component, the composition such as induction of signal partitions, signal induction device is arranged in the external motor type self-balancing two-wheeled electrocar base below pedal, elastic component is arranged at above signal induction device, just to signal induction device, induction of signal partitions is fixing with elastic component to be connected, it is fixed on below elastic component, vertical corresponding with the transmission of signal induction device induced signal.Signal induction device is arranged in the base of external motor type self-balancing two-wheeled electrocar, pedal on base is provided with aperture, aperture is corresponding to the top of signal induction device induced signal transmission, prominent being arranged on pedal aperture of elastic component, induction of signal partitions on elastic component penetrates from aperture, when elastic component is by External Force Acting, there is the induced signal of induction of signal partitions disabling signal induction installation during downward deformation.Induction installation is made up of wiring board, optical signal launch part, optical signal receiving element, signal transmission interface, current-limiting resistance, filter capacitor, load resistance etc., is mounted on wiring board.After passing to the filtered capacitive filter of power supply of optical signal launch part, current-limiting resistance current limliting, optical signal launch part is transmitted to optical signal receiver induced signal in the form of light, by optical signal receiver, optical signal is transformed into current signal, it is transformed into voltage signal through load resistance and passes to signal transmission interface, passing to the controller of external motor type self-balancing two-wheeled electrocar, controller receives the operation of voltage signal external motor type self-balancing two-wheeled electrocar and is closed.During optical signal launch part is transmitted to optical signal receiver induced signal in the form of light, signal is blocked by induction of signal partitions, optical signal receiver does not receives corresponding signal, controller does not receives corresponding voltage signal, and external motor type self-balancing two-wheeled electrocar runs and is in opening.
Embodiment 4
External motor type self-balancing two-wheeled electrocar, including wheel, battery, control device, motor, base, handle, two motors are two inside wheels that wheel hub motor is placed on base body both sides respectively, two wheels are mechanically fastened on base by respective single side axis respectively, control device and battery is arranged in base, handle is mechanically connected on base, elastic reset assembly it is provided with between base and handle, elastic reset assembly is provided with handling position modification information harvester, location change information collecting device comprises information capture and information processing transmitting device, information launcher.In a center of symmetry being directly arranged at of information launcher pair of magnet is fixed on the rotor being connected with handle direct mechanical, central point is center of rotation, information capture and information processing transmitting device linear hall sensor are arranged at magnetic blow out centre point corresponding position and fix in the stator cover of the stator being connected with base direct mechanical, by rotor relative to stator rotation, information launcher is driven to rotate relative to information capture and information processing transmitting device, information launcher launches different signals because of the displacement that its relative information catches and information processing transmitting device is different during rotating, information capture and information processing transmitting device capture after unlike signal after treatment, corresponding information is passed to control device, after controlling device and processing, corresponding information is passed to motor, give the driving that two wheels are different respectively.
Embodiment 5
External motor type self-balancing two-wheeled electrocar, including wheel, battery, control device, motor, base, handle, two motors are two inside wheels that wheel hub motor is placed on base body both sides respectively, two wheels are mechanically fastened on base by respective single side axis respectively, control device and battery is arranged in base, handle is mechanically connected on base, described handle is that folding handle includes up knob arm, lower handle arm, foldable mechanism between handle up and down, handgrip part, handle is connected by foldable mechanism folding up and down, foldable mechanism includes folded piece, connection fixture, sealing member.Folded piece is hinge, and including upper hinge, lower jaw and the rotating shaft connecting upper and lower hinge, upper and lower hinge is individually fixed on upper and lower handle arm.Connection fixture makes the fixing connection of upper and lower handle arm, including hasp hook, hasp circle, hasp shell, snap lock device, hasp hook is fixed on one of them handle arm, hasp circle, hasp shell, snap lock device are arranged on another handle arm, hasp circle hasp realizes the fixing connection of upper and lower handle arm on hasp is linked up with, hasp circle rotary machine is connected on hasp shell, snap lock device locking hasp shell.Sealing member is rubber parts, is sealingly fastened on the interface of upper and lower handle arm.Sealing member is or silica gel part, and including further above can be by the string holes of transmission line.Transmission line is arranged in folded tube, and folded tube is stuck in string holes, and folded tube outer wall is formed with string holes and seals.Handgrip part is mechanically fixed and is arranged on up knob arm, handgrip part includes two handles, and the car body display device that is arranged between two handles or and car member control apparatus, car member control apparatus includes vehicle body Bluetooth control device, and car remote upgrade controls device, car power supply remote switch device.Being respectively equipped with groove on up knob arm, lower handle arm, comprise LED decorative lamp in groove further, outside is provided with transparent silica gel and LED is packaged in groove.With power supply, information transmission and control interface end on handle, handle comprises handle base further, handle base is connected in electric motor car main body in succession, power supply and information transmission and control interface is pluggable is connected between handle with handle base, is connected by screw machine is fixing between handle with handle base again.

Claims (11)

1. an external motor type self-balancing two-wheeled electrocar, including wheel, battery, control system, motor, base, handle, it is characterized in that described external motor type is two inside wheels that two motors are placed on base body both sides respectively, two wheels are mechanically fastened on base by respective single side axis respectively, control system and battery are arranged in base, handle is directly or indirectly mechanically connected on base, this external motor type self-balancing two-wheeled electrocar includes that two open systems, respectively power switch system and electric motor car are run and starts shutoff device.
External motor type self-balancing two-wheeled electrocar the most according to claim 1, it is characterised in that after power switch system is opened, according to entering back into operation startup system after the electric motor car perception to human body.
External motor type self-balancing two-wheeled electrocar the most according to claim 2, it is characterised in that electric motor car runs opening closure and is arranged in base, and being stood by human body or leaving base carries out starting or closing the operation system of electric motor car.
External motor type self-balancing two-wheeled electrocar the most according to claim 1, it is characterized in that described opening closure is by personnel foot control of riding, including: signal induction device, elastic component, induction of signal partitions, wherein signal induction device is arranged in the Double-wheel self-balancing electric motor car base below pedal, elastic component is arranged at above signal induction device, just to signal induction device, induction of signal partitions is fixing with elastic component to be connected, it is fixed on below elastic component, vertical corresponding with the transmission of signal induction device induced signal.
External motor type self-balancing two-wheeled electrocar the most according to claim 4, it is characterized in that signal induction device includes: wiring board, optical signal launch part, optical signal receiving element, signal transmission interface, current-limiting resistance, filter capacitor, load resistance, be mounted on wiring board.
External motor type self-balancing two-wheeled electrocar the most according to claim 5, after it is characterized in that passing to the filtered capacitive filter of power supply of optical signal launch part, current-limiting resistance current limliting, optical signal launch part is transmitted to optical signal receiver induced signal in the form of light, by optical signal receiver, optical signal is transformed into current signal, it is transformed into voltage signal through load resistance and passes to signal transmission interface, passing to the controller of Double-wheel self-balancing electric motor car, controller receives voltage signal Double-wheel self-balancing electric motor car operation and is closed.
External motor type self-balancing two-wheeled electrocar the most according to claim 6, in it is characterized in that the base that described signal induction device is arranged at Double-wheel self-balancing electric motor car, pedal on base is provided with aperture, aperture is corresponding to the top of signal induction device induced signal transmission, prominent being arranged on pedal aperture of elastic component, induction of signal partitions on elastic component penetrates from aperture, when elastic component is by External Force Acting, there is the induced signal of induction of signal partitions disabling signal induction installation during downward deformation.
External motor type self-balancing two-wheeled electrocar the most according to claim 7, it is characterized in that the induced signal of induction of signal partitions disabling signal induction installation, the optical signal that optical signal launch part is launched can not pass to accept optical signal receiver, the controller of Double-wheel self-balancing electric motor car does not receives the voltage signal launched from signal induction device, and Double-wheel self-balancing electric motor car runs and is in opening.
External motor type self-balancing two-wheeled electrocar the most according to claim 7, it is characterised in that elastic component is sealingly fastened on pedal.
External motor type self-balancing two-wheeled electrocar the most according to claim 9, it is characterized in that the elastic component of described pedal comprises callosity further above, callosity not by during downward pressure with elastic component acting on without mutual power, mutual power between or can not make elastic component produce deformation, and Double-wheel self-balancing electric motor car runs and is closed.
External motor type self-balancing two-wheeled electrocar described in 11. any one of claim 4-10, it is characterized in that each external motor type self-balancing two-wheeled electrocar, comprise one or several Double-wheel self-balancing electric motor car and run opening closure, the induction of signal of at least one of which signal induction device is blocked by induction of signal partitions, and Double-wheel self-balancing electric motor car enters and runs opening.
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