CN108357603A - A kind of stabilizer and Self-Balancing vehicle - Google Patents
A kind of stabilizer and Self-Balancing vehicle Download PDFInfo
- Publication number
- CN108357603A CN108357603A CN201810174244.XA CN201810174244A CN108357603A CN 108357603 A CN108357603 A CN 108357603A CN 201810174244 A CN201810174244 A CN 201810174244A CN 108357603 A CN108357603 A CN 108357603A
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- China
- Prior art keywords
- wheel
- stabilizer
- wheel hub
- gear
- lubrication groove
- Prior art date
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- 239000003381 stabilizer Substances 0.000 title claims abstract description 58
- 238000005461 lubrication Methods 0.000 claims abstract description 40
- 239000003981 vehicle Substances 0.000 claims abstract description 19
- 239000000412 dendrimer Substances 0.000 claims abstract description 4
- 229920000736 dendritic polymer Polymers 0.000 claims abstract description 4
- 238000013016 damping Methods 0.000 claims description 13
- 230000003287 optical effect Effects 0.000 claims description 10
- 230000033001 locomotion Effects 0.000 claims description 3
- 230000003068 static effect Effects 0.000 abstract description 6
- 238000010586 diagram Methods 0.000 description 6
- 238000005303 weighing Methods 0.000 description 4
- 230000000712 assembly Effects 0.000 description 2
- 238000000429 assembly Methods 0.000 description 2
- 239000000969 carrier Substances 0.000 description 2
- 230000007812 deficiency Effects 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 239000004744 fabric Substances 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 235000008331 Pinus X rigitaeda Nutrition 0.000 description 1
- 235000011613 Pinus brutia Nutrition 0.000 description 1
- 241000018646 Pinus brutia Species 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 244000309464 bull Species 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 238000005194 fractionation Methods 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 239000013589 supplement Substances 0.000 description 1
Classifications
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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
- 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
- B62K25/00—Axle suspensions
- B62K25/04—Axle suspensions for mounting axles resiliently on cycle frame or fork
-
- 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
- B62M11/00—Transmissions characterised by the use of interengaging toothed wheels or frictionally-engaging wheels
- B62M11/04—Transmissions characterised by the use of interengaging toothed wheels or frictionally-engaging wheels of changeable ratio
- B62M11/14—Transmissions characterised by the use of interengaging toothed wheels or frictionally-engaging wheels of changeable ratio with planetary gears
- B62M11/16—Transmissions characterised by the use of interengaging toothed wheels or frictionally-engaging wheels of changeable ratio with planetary gears built in, or adjacent to, the ground-wheel hub
-
- 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
- B62M11/00—Transmissions characterised by the use of interengaging toothed wheels or frictionally-engaging wheels
- B62M11/04—Transmissions characterised by the use of interengaging toothed wheels or frictionally-engaging wheels of changeable ratio
- B62M11/14—Transmissions characterised by the use of interengaging toothed wheels or frictionally-engaging wheels of changeable ratio with planetary gears
- B62M11/18—Transmissions characterised by the use of interengaging toothed wheels or frictionally-engaging wheels of changeable ratio with planetary gears with a plurality of planetary gear units
-
- 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
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Retarders (AREA)
Abstract
The invention discloses a kind of Self-Balancing vehicle, including car body, front component and wheel assembly, the wheel assembly includes driving device and stabilizer, and the stabilizer connects the car body by the driving device that connected symmetrical dendrimer is arranged in the stabilizer both sides.The stabilizer includes wheel hub and several rounded around the interior wheel assembly being arranged in the wheel hub, the interior wheel assembly includes the lubrication groove of Plane of rotation and the perpendicular setting of Plane of rotation of the wheel hub, the lubrication groove, which is protruded, to be arranged on the outside of the wheel hub to form stabilizer wheel face, and the reverse drive gear of connection lubrication groove shaft and wheel hub shaft is provided between the lubrication groove and the balance wheel hub.The present invention is intended to provide a kind of stabilizer and Self-Balancing vehicle, so that with the stabilizer balance car traveling or it is static in the state of can keep balancing, it reduces its turning radius simultaneously and conveniently turns around in small space, solve the problems, such as that the turning radius caused by the wheel distribution of lap siding is big.
Description
Technical field
The present invention relates to balance car technical field, specifically a kind of stabilizer and Self-Balancing vehicle.
Background technology
Currently, existing double-wheel self-balancing vehicle is widely used in every field.In the knot of existing balance car
Structure is formal, and two-wheeled majority is configured according to the distribution form of coaxial row, and wheel can also be protected other than traveling
Hold the anterior-posterior balance of car body.
But for double-wheel self-balancing vehicle, that there are road conditions applicabilities is low, starting is volatile for the structure of two wheel rows distribution
The defects of weighing apparatus, dull traveling action.It is the cart (such as bicycle) being distributed using file therefore, it is necessary to a kind of wheel and enables its energy
Left and right self-balancing is realized, to supplement the deficiency in the prior art.
Invention content
For the deficiency for solving in the prior art, the purpose of the present invention is to provide a kind of stabilizer and Self-Balancing vehicles so that
Balance car with the stabilizer traveling or it is static in the state of can keep balancing, while reducing its turning radius and conveniently
It turns around in small space, solves the problems, such as that the turning radius caused by the wheel distribution of lap siding is big.
To solve the above problems, the present invention provides a kind of stabilizer, including the wheel hub of stabilizer and several rounded surround
The interior wheel assembly being arranged in the wheel hub, the interior wheel assembly include that the Plane of rotation of Plane of rotation and the wheel hub is perpendicular
The lubrication groove of setting, the wheel face of the lubrication groove, which protrudes, to be arranged on the outside of the wheel hub to form stabilizer wheel face, the lubrication groove with
The reverse drive gear of connection lubrication groove shaft and wheel hub shaft is provided between the balance wheel hub；The reverse drive gear
Power intake is symmetricly set on the both sides of the interior wheel assembly, and the power intake of the unilateral reverse drive gear can be into
The independent motion control of row.
Preferably, the lubrication groove includes being symmetricly set on the inner wheel hub of lubrication groove shaft both sides, the inner wheel hub
Outside is provided with wheel skin.
Preferably, the reverse drive gear include the first parallel gears being arranged in the lubrication groove shaft and with institute
It states the second parallel gears of the first parallel gears Vertical Meshing setting, be symmetricly set in the wheel hub shaft as the commutation
First planetary gear of transmission device power intake and the second planet tooth being arranged with the first planetary gear Vertical Meshing
Wheel, planetary gear shaft is connected between second parallel gears and second planetary gear.
Preferably, the wheel hub includes the first wheel shell and the second wheel for being symmetricly set on the interior wheel assembly both sides
Hub shell body is additionally provided between the wheel hub and the interior wheel assembly and is symmetricly set on the interior wheel assembly both sides for fixing institute
The first planet carrier and the second planet carrier of interior wheel assembly are stated, the first planet gear mesh claims to be arranged in the interior wheel assembly both sides
First wheel shell and first planet carrier, the second hub shell and the second planet carrier between.
Preferably, the first planet carrier and second planet carrier are both provided with a circular body, the ontology
Several link blocks for the lubrication groove to be fixedly mounted are provided on the outside of edge, corresponding described the on the inside of the edge of the ontology
Two planetary gears offer several through-holes, and second planetary gear, which exposes, is arranged outside the through-hole and engages connection described the
One planetary gear.
A kind of Self-Balancing vehicle, including car body, front component and wheel assembly, the wheel assembly include driving device and with
The upper stabilizer, the stabilizer connect the vehicle by the driving device that connected symmetrical dendrimer is arranged in the stabilizer both sides
Body.
Preferably, the driving device includes driving motor and gearbox, the driving motor is fixed at described
The power output end connection of the power intake of gearbox and the accumulator being electrically connected in the car body, the gearbox is described flat
Weigh the wheel hub shaft taken turns, and damping spring external member is connected between the gearbox and the car body.
Preferably, the Self-Balancing vehicle further includes balance control system, the balance control system includes being arranged described
In front component by control front-wheel towards angle steering engine, be arranged in the driving device by calculating based on rear wheel rotation speed
Counting apparatus, the steering engine and the counting device are electrically connected the control circuit board being arranged in the car body.
Preferably, the counting device includes being arranged described in the grating rotated with gear in the gearbox and correspondence
The optical counter in gearbox is arranged in grating, and the optical counter is electrically connected the control circuit board.
Preferably, being provided with the motor gear of connection motor in the gearbox, engagement connects the motor gear
The final-stage gear that single or multiple secondary gears, engagement connect the secondary gears and be arranged in the wheel hub shaft；It is described
Grating is arranged in the secondary gears, and the secondary gears that grating is correspondingly arranged in the gearbox are additionally provided with clutch.
Using above-mentioned preferred embodiment, compared with prior art, the present invention has the following advantages：
1, it is provided with vertical planetary driving wheel in stabilizer of the invention, that is, is arranged several interior in stabilizer wheel hub
Lubrication groove protrusion is arranged to the wheel face of stabilizer by wheel；Reverse drive gear is provided in wheel hub simultaneously, by wheel hub
The control of shaft just can control the rotation of lubrication groove, facilitate stabilizer traveling or it is static in the state of be balanced adjusting.
2, balance car of the invention is provided with the stabilizer and balance control system so that balance car is in traveling and static
Also there is whipping to move work when can keep balancing under state, and in a balanced condition continue that lubrication groove is adjusted
Energy；The self-balance regulation in balance car to stabilizer can be achieved by the detection and regulation and control of balance control system, and can reduce flat
The turning radius of weighing apparatus vehicle, facilitates balance car to turn around in narrow space.
Description of the drawings
Technical solution in order to illustrate the embodiments of the present invention more clearly, below will be to needed in embodiment description
Attached drawing is briefly described, it should be apparent that, drawings in the following description are some embodiments of the invention, general for this field
For logical technical staff, without creative efforts, other drawings may also be obtained based on these drawings.
Fig. 1 is that the structure of balance car of the present invention splits schematic diagram；
Fig. 2 is that the structure of balance car wheel assembly of the present invention splits schematic diagram；
Fig. 3 is that the structure of stabilizer of the present invention splits schematic diagram；
Fig. 4 is that the structure of wheel assembly in stabilizer of the present invention splits schematic diagram；
Fig. 5 is that the structure of balance car front component of the present invention splits schematic diagram；
Fig. 6 is that the structure of balance car steering engine of the present invention installation section splits schematic diagram；
Wherein：
1- first shells；2- second shells；3- control circuit boards；4- battery cases；005- battery covers；100- wheel assemblies；
200- front components；300- transfers；
The left gearbox first shells of 101-；The left gearbox second shells of 102-；The right gearbox first shells of 103-；104- is right
Gearbox second shell；105- wheel hub shafts；
Decoupling rod after 106-；Shock-absorbing sleeve after 107-；Damping spring after 108-；
The left motor gears of 111-；112- left driving motors；The left secondary gears of 113-；The left tertiary gears of 114-；The left sides 115- four
Grade gear；The left gratings of 1151-；The left optical counters of 116-；The left level Four engagement sleeves of 117-；The left final-stage gears of 118-；
The right motor gears of 121-；122- right driving motors；The right secondary gears of 123-；The right tertiary gears of 124-；The right sides 125- four
Grade gear；The right gratings of 1251-；The right optical counters of 126-；The right level Four engagement sleeves of 127-；The right final-stage gears of 128-；
180- stabilizers；181- first planet carriers；The second planet carriers of 182-；1801- link blocks；1802- through-holes；183-
One hub shell；The second hub shells of 184-；The first flanges of 185-；The second flanges of 186-；The first planetary gears of 188-；
Wheel assembly in 190-；191- inner wheel hubs；192- takes turns skin；The first parallel gears of 193-；The second parallel gears of 194-；
The second planetary gears of 195-；196- planetary gear shafts；197- lubrication groove shafts；
201- front-wheels；202- mud guards；203- revolver framves；204- right wheel framves；205- front axles；Decoupling rod before 206-；
Damping spring set before 207-；Damping spring before 208-；209- front-wheel body frames；210- turns to main shaft；211- front-wheel body frame accessories；
212- handles；
301- turns to body frame；3011- turns to spindle drum；302- turns to body frame accessory；303- steering engines；304- swing arms；305-
Turntable；306- buffer springs；307- push-pull rods.
Specific implementation mode
To better understand the objects, features and advantages of the present invention, below in conjunction with the accompanying drawings and specific real
Applying mode, the present invention will be described in detail.It should be noted that in the absence of conflict, presently filed embodiment and reality
The feature applied in mode can be combined with each other.Many details are elaborated in the following description in order to fully understand this hair
Bright, described embodiment is only some embodiments of the invention, rather than whole embodiments.Based on the present invention
In embodiment, every other implementation obtained by those of ordinary skill in the art without making creative efforts
Mode shall fall within the protection scope of the present invention.
Unless otherwise defined, all of technologies and scientific terms used here by the article and belong to the technical field of the present invention
The normally understood meaning of technical staff is identical.Used term is intended merely to description tool in the description of the invention herein
The purpose of the embodiment of body, it is not intended that in the limitation present invention.
A kind of Self-Balancing vehicle as shown in figures 1 to 6, including car body, front component 200 and wheel assembly 100, the trailing wheel
Component 100 includes driving device and stabilizer recited above 180, and the stabilizer 180 is arranged by connected symmetrical dendrimer described
The driving device of 180 both sides of stabilizer connects the car body.
A kind of stabilizer as in Figure 2-4, including the wheel hub of stabilizer and several rounded surround are arranged in the wheel
Interior wheel assembly 190 in hub, the interior wheel assembly 190 include Plane of rotation and the perpendicular setting of Plane of rotation of the wheel hub
Lubrication groove, the wheel face of the lubrication groove, which protrudes, to be arranged on the outside of the wheel hub to form stabilizer wheel face, and the lubrication groove is put down with described
The reverse drive gear of connection lubrication groove shaft 197 and wheel hub shaft 105 is provided between weighing apparatus wheel hub.
Technical scheme of the present invention is further described in detail with reference to specific embodiments and the drawings：
Embodiment 1
A kind of Self-balancing electronic bicycle as shown in Figure 1, including electric bicycle car body, the car body include first shell 1,
Second shell 2, front component 200 and wheel assembly 100.A control electricity is equipped between the first shell 1 and second shell 2
Road plate 3, the battery case 4 for placing accumulator and case lid 5 and one are used to control the transfer of 200 pivot angle of the front component
300, the control circuit board 3 is equipped with the modules such as gyroscope and integral control circuit.
The wheel assembly 100 is equipped with stabilizer 180, as shown in Figure 2.The driving device includes driving motor and speed change
Case, the accumulator that the driving motor is fixed at the power intake of the gearbox and is electrically connected in the car body, institute
The power output end for stating gearbox connects the wheel hub shaft 105 of the stabilizer 180.Connection motor is provided in the gearbox
Motor gear, engagement connects the single or multiple secondary gears of the motor gear, engagement connects the secondary gears and sets
Set the final-stage gear in the wheel hub shaft.
Preferably, the gearbox includes left gearbox and right gearbox.The left gearbox is equipped with left driving motor
112 and left secondary gears group, the left secondary gears group be located at the left gearbox first shell 101 of the left gearbox and left change
Between fast case second shell 102.The left secondary gears group includes left secondary gear 113, left tertiary gear 114, left level Four tooth
Wheel 115, left level Four engagement sleeve 117 and left final-stage gear 118；The power of the left gearbox is by left driving motor 112
Left motor gear 111 is passed to left secondary gears group and is passed to 180 left side of the stabilizer through left final-stage gear 118.Described left four
The second layer gear fractionation of grade gear 115 is independent left level Four engagement sleeve 117；When load excessive, the left level Four
Gear 115 and left level Four engagement sleeve 117 skid, to protect gear-box.The knot of the right gearbox and the left gearbox
Structure and parameter are completely the same, and each spare and accessory parts correspond；The right gearbox is equipped with right driving motor 122 and right secondary gears
Group, the right secondary gears group are located at the right gearbox first shell 103 and right gearbox second shell 104 of the right gearbox
Between.The right secondary gears group includes right secondary gear 123, right tertiary gear 124, right level Four gear 125, right level Four gear
Clutch 127 and right final-stage gear 128；The power of the right gearbox is passed to by the right motor gear 121 of right driving motor 122
Right secondary gears group is simultaneously passed to 180 right side of the stabilizer through right final-stage gear 128.
Preferably, being connected with damping spring external member between gearbox and the car body, the damping spring external member is by rear
Decoupling rod 106, rear shock-absorbing sleeve 107, rear damping spring 108 conspire to create elastic telescopicing rod, and by described in elastic telescopicing rod realization
Being hinged between wheel assembly 100 and the car body so that the wheel assembly 100 is in swing type damping.
The stabilizer 180 includes reverse drive gear and several interior wheel assemblies 190 being arranged in stabilizer wheel hub, such as
Shown in Fig. 3, Fig. 4.The wheel hub includes the first wheel shell 183 and the second wheel hub for being symmetricly set on the interior wheel assembly both sides
Shell 184 is additionally provided between the wheel hub and the interior wheel assembly 190 and is symmetricly set on 190 both sides of the interior wheel assembly use
It is symmetrically set in the first planet carrier 181 and the second planet carrier 182, first planetary gear 188 of the fixation interior wheel assembly 190
Set the first wheel shell 183 and first planet carrier 181, the second hub shell 184 and second in 190 both sides of interior wheel assembly
Between planet carrier 182.The both sides of the wheel hub are additionally provided with the first flange 185 and the second flange 186.
Preferably, the interior wheel assembly 190 is equipped with several lubrication grooves, the lubrication groove includes being symmetricly set on the lubrication groove
The outside of the inner wheel hub 191 of 197 both sides of shaft, the inner wheel hub 191 is provided with wheel skin 192, and the lubrication groove is by an inner wheel hub 191
And one wheel skin 192 constitute.
Preferably, the reverse drive gear includes the first parallel gears 193 being arranged in the lubrication groove shaft 197
And with the second parallel gears 194 of 193 Vertical Meshing of the first parallel gears setting, setting in the wheel hub shaft 105
The first planetary gear 188 and the second planetary gear 195 with 188 Vertical Meshing of the first planetary gear setting, described the
It is connected with planetary gear shaft 196 between two parallel gears 194 and second planetary gear 195.
Preferably, the first planet carrier 181 and second planet carrier 182 are both provided with a circular body, it is described
Several link blocks 1801 for the lubrication groove to be fixedly mounted, the edge inside of the ontology are provided on the outside of the edge of ontology
Corresponding second planetary gear 195 offers several through-holes 1802, and second planetary gear 195 exposes setting described logical
Hole 1802 is outer and engages connection first planetary gear 188.
The interior wheel assembly 190 is placed in planet carrier, and the lubrication groove shaft 197 and the planetary gear shaft 196 realize pine
Hole axial restraint；The intensive ring cloth of lubrication groove becomes the car body in the most outer of the stabilizer 180, i.e., the described wheel skin 192
Part of contacting to earth, the wheel skin 192 of intensive ring cloth forms the bull wheel skin of the stabilizer 180.All planet teeth
Wheel shaft 196 is in together in the radial rotary plane of the stabilizer 180, and the planetary gear shaft 196 is with the stabilizer 180
Axle center is arranged by centripetal spoke so that the second planet tooth 195 is realized the centripetal arrangement of annular and moved non-interference.It is described flat
The both sides of weighing apparatus wheel 180 are respectively provided with first sun gear 188, and first planetary gears 188 of both sides is with described second
Planetary gear 195 bites conjunction simultaneously, first planetary gears 188 of both sides respectively with the left final-stage gear 118, right final stage tooth
Wheel 128 realizes axis connection, is received respectively by the incoming power of the left final-stage gear 118, right final-stage gear 128.
The steering of the stabilizer 180 is forward direction when car body being enabled to advance, when the left final-stage gear 118, right final-stage gear
When 128 vector velocity is consistent, the lubrication groove stops operating, and drives stabilizer 180 to rotate by planet carrier at this time, stabilizer 180
Be when rotation forward or reverse with the positive and negative values of vector velocity depending on, car body movement.When the left final-stage gear 118, right final stage
The speed of gear 128 is there are drop and for when rotating in same direction, the lubrication groove can be rotated to slow side, while planet carrier
Stabilizer 180 can be driven to rotate, car body is mobile and is tilted to the smaller final-stage gear side of vector velocity value.When the left final stage
Gear 118, the vector velocity absolute value of right final-stage gear 128 are consistent but when positive negative direction is opposite, and planet carrier stops band dynamic balancing
180 rotation of wheel, the lubrication groove drive the car body to be tilted to the counter-rotational side of wheel hub shaft, and car body is static.It is no matter described
Car body is static or mobile, and the vector velocity by changing the regulation and control left final-stage gear 118, right final-stage gear 128 makes in described
Wheel adjusts the car body balance, and car body is made not fall.
As shown in figure 5, the front component 200 is equipped with front-wheel 201 and preceding damping, the preceding damping is by front-wheel
Body frame 209, preceding decoupling rod 206, preceding damping spring set 207, preceding damping spring 208 conspire to create elastic telescopic double rod, and are equipped with revolver
Frame 203 and right wheel frame 204 are real with the preceding decoupling rod 206 with the fixation front-wheel 201, the revolver frame 203 and right wheel frame 204
Now couple so that the front-wheel 201 is in expanding vibration reducing.
As shown in fig. 6, being additionally provided with the transfer 300 on the front component 200, the transfer 300 wraps
It includes and turns to body frame 301, the steering body frame 301 is equipped with a steering engine 303, and equipped with a turntable 305 and 303 output shaft of the steering engine
It realizes connection, and coaxial axial restraint is realized with the turntable 305 equipped with a swing arm 304.
Preferably, being additionally provided with a buffer spring, so that the swing arm 304 is realized with the turntable 305 radially fixed, when holding
When the torque force overload received, the buffer spring distending, the swing arm 304 generates angular deviation with the turntable 305, to protect
State steering engine 303.The steering body frame 301 is equipped with one and turns to spindle drum 3011, on the front-wheel body frame 209 of the front component 200
Main shaft 210 is turned to equipped with one, the front component 200 is realized by the steering main shaft 210 and the steering spindle drum 3011
It is hinged.
Preferably, being additionally provided with a pair of of push-pull rod 307, the push-pull rod 307 is located at the left side for turning to body frame 301
Right side, the both ends of each push-pull rod 307 are realized with the left and right end of the swing arm 304, the front-wheel body frame 209 respectively cuts with scissors
It connects, when the swing arm 304 is swung, the front component 200 is whole to be swung therewith, the front component 200 and the steering
Device 300 is used to control the travel direction of car body.
In the Self-Balancing vehicle, it is used to control the steering engine of the front-wheel towards angle by being arranged in the front component 200
303,3 groups of control circuit board in counting device and the car body for calculating rear wheel rotation speed is set in the driving device
At there is balance control system.The steering engine 303 and the counting device are electrically connected the control circuit board being arranged in the car body
3。
Preferably, the counting device includes being arranged described in the grating rotated with gear in the gearbox and correspondence
The optical counter in gearbox is arranged in grating, and the optical counter is electrically connected the control circuit board 3.The grating packet
Left grating 1151 and right grating 1251 are included, the grating is arranged on the level Four gear in the secondary gears group, the left change
It is equipped with for coordinating the left grating 1151 in fast case to calculate the left optical counter 116 of left gearbox rotating speed；The right side
It is equipped with for coordinating the right grating 1251 in gearbox to calculate the right optical counter 126 of right gearbox rotating speed.
The above described is only a preferred embodiment of the present invention, be not intended to limit the present invention in any form, therefore
It is every without departing from technical solution of the present invention content, according to the technical essence of the invention to made by above example it is any modification,
Equivalent variations and modification, in the range of still falling within technical solution of the present invention.
Claims (10)
1. a kind of stabilizer, which is characterized in that wheel hub and several rounded surround including stabilizer are arranged in the wheel hub
Interior wheel assembly, the lubrication groove that the interior wheel assembly includes Plane of rotation with the perpendicular setting of Plane of rotation of the wheel hub is described
The wheel face of lubrication groove, which protrudes, to be arranged on the outside of the wheel hub to form stabilizer wheel face, between the lubrication groove and the balance wheel hub
It is provided with the reverse drive gear of connection lubrication groove shaft and wheel hub shaft；The power intake of the reverse drive gear is symmetrically set
It sets in the both sides of the interior wheel assembly, the power intake of the unilateral reverse drive gear can carry out independent movement control
System.
2. a kind of stabilizer according to claim 1, which is characterized in that the lubrication groove includes being symmetricly set on the lubrication groove
The inner wheel hub of shaft both sides is provided with wheel skin on the outside of the inner wheel hub.
3. a kind of stabilizer according to claim 1, which is characterized in that the reverse drive gear includes being arranged described
The first parallel gears in lubrication groove shaft and with the second parallel gears of the first parallel gears Vertical Meshing setting, symmetrically set
Set the first planetary gear in the wheel hub shaft as the reverse drive gear power intake and with the first row
Second planetary gear of star gear Vertical Meshing setting, is connected between second parallel gears and second planetary gear
Planetary gear shaft.
4. a kind of stabilizer according to claim 3, which is characterized in that the wheel hub includes being symmetricly set on the lubrication groove
The first wheel shell and the second hub shell of component both sides, are additionally provided between the wheel hub and the interior wheel assembly and symmetrically set
It sets and is used to fix the first planet carrier and the second planet carrier of the interior wheel assembly, first planet in the interior wheel assembly both sides
Gear is symmetricly set on the first wheel shell and first planet carrier, the second hub shell and the second row of the interior wheel assembly both sides
Between carrier.
5. a kind of stabilizer according to claim 4, which is characterized in that the first planet carrier and second planet carrier
It is both provided with a circular body, several connections for the lubrication groove to be fixedly mounted are provided on the edge outside of the ontology
Corresponding second planetary gear in edge inside of block, the ontology offers several through-holes, and second planetary gear exposes
It is arranged outside the through-hole and engages connection first planetary gear.
6. a kind of Self-Balancing vehicle, including car body, front component and wheel assembly, which is characterized in that the wheel assembly includes driving
The drive in the stabilizer both sides is arranged by connected symmetrical dendrimer for dynamic device and stabilizer described in claim 1, the stabilizer
Dynamic device connects the car body.
7. a kind of Self-Balancing vehicle according to claim 6, which is characterized in that the driving device includes driving motor and change
Fast case, the accumulator that the driving motor is fixed at the power intake of the gearbox and is electrically connected in the car body,
The power output end of the gearbox connects the wheel hub shaft of the stabilizer, is connected between the gearbox and the car body
Damping spring external member.
8. a kind of Self-Balancing vehicle according to claim 7, which is characterized in that the Self-Balancing vehicle further includes balance control system
System, the balance control system include being arranged in the front component to exist towards the steering engine of angle, setting for controlling front-wheel
Counting device in the driving device for calculating rear wheel rotation speed, the steering engine and counting device electrical connection are arranged in institute
State the control circuit board in car body.
9. a kind of Self-Balancing vehicle according to claim 8, which is characterized in that the counting device includes being arranged in the change
The optical counter in gearbox, the optical counter are set with the grating of gear rotation and the corresponding grating in fast case
It is electrically connected the control circuit board.
10. a kind of Self-Balancing vehicle according to claim 9, which is characterized in that be provided with connection motor in the gearbox
Motor gear, engagement connects the single or multiple secondary gears of the motor gear, engagement connects the secondary gears and sets
Set the final-stage gear in the wheel hub shaft；The grating is arranged in the secondary gears, and correspondence is set in the gearbox
The secondary gears for being equipped with grating are additionally provided with clutch.
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| CN201810174244.XA CN108357603A (en) | 2018-03-02 | 2018-03-02 | A kind of stabilizer and Self-Balancing vehicle |
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| CN201810174244.XA CN108357603A (en) | 2018-03-02 | 2018-03-02 | A kind of stabilizer and Self-Balancing vehicle |
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