CN108909919B - Novel double-wheel self-balancing electric vehicle - Google Patents
Novel double-wheel self-balancing electric vehicle Download PDFInfo
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- CN108909919B CN108909919B CN201810801941.3A CN201810801941A CN108909919B CN 108909919 B CN108909919 B CN 108909919B CN 201810801941 A CN201810801941 A CN 201810801941A CN 108909919 B CN108909919 B CN 108909919B
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- 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
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Abstract
The invention provides a novel double-wheel self-balancing electric vehicle, which aims to solve the problems of larger size and large occupied space of the existing electric vehicle. The vehicle comprises a vehicle body, a damping device, a main control system, a battery module, a self-balancing assembly and two wheel assemblies; the automobile body adopts an exoskeleton type cage type supporting structure; the two wheel assemblies are mounted on the vehicle body through damping devices; each wheel assembly comprises a hub motor, a hub frame and a tire; the hub motor is connected with the main control system and the battery module through cables; the self-balancing component is installed in the main control system, and the action of the hub motor is controlled through the main control system so as to realize self-balancing. The novel double-wheel self-balancing electric vehicle provided by the embodiment of the invention can turn at zero radius, and the vehicle state is stable in the running process of the vehicle, so that the running safety of the vehicle is effectively ensured. The device has small size, light weight, small occupied area and more flexibility, and can effectively relieve traffic jam.
Description
Technical Field
The invention relates to the field of electric automobiles.
Background
With the improvement of the economic level, the present cities, especially large cities, are crowded despite measures such as rail transit, line limiting and license plate limiting, and particularly have almost no unblocking at peak hours of business hours, even three-four-line cities. The current state is greatly promoted in the aspect of green energy electric vehicles, and has obvious effect on environmental protection and improvement of urban air quality.
However, there is basically no effective solution to congestion, because current private cars occupy 4-8 square meters, weighing 1000-2000 kg, and only about 50-100 kg per car. The market is compared with the prior personal city vehicles for two-stage differentiation, one part is the electric drive of a common automobile, the size of the automobile is larger, the automobile consumes energy, blocks traffic, and occupies a large amount of space when parked; some are electric bicycles and electric motorcycles, which are small in size but poor in comfort and safety, and some urban regulations forbid to go on roads. Therefore, it is a new need in the art to further miniaturize electric vehicles and ensure comfort and safety thereof.
Disclosure of Invention
The invention provides a novel double-wheel self-balancing electric vehicle, which aims to solve the problems of larger size and large occupied space of the existing electric vehicle.
The invention provides a novel double-wheel self-balancing electric vehicle, which comprises a vehicle body, a damping device, a main control system, a battery module, a self-balancing component and two wheel components, wherein the vehicle body is provided with a first wheel and a second wheel;
the vehicle body adopts an exoskeleton type cage type supporting structure, a cabin is formed in the exoskeleton type cage type supporting structure, and a seat and a buffer airbag system are arranged in the cabin;
the two wheel assemblies are mounted on the vehicle body through damping devices; each wheel assembly comprises a hub motor, a hub frame and a tire; the wheel hub motor is arranged in the wheel hub frame, and the tire is arranged on the wheel hub frame;
the hub motor is electrically connected with the main control system and the battery module through cables;
the self-balancing component is installed in the main control system, and the action of the hub motor is controlled through the main control system so as to realize self-balancing.
Because the novel double-wheel self-balancing electric vehicle provided by the embodiment of the invention adopts the exoskeleton type cage-shaped supporting structure of human engineering as a vehicle body, the wheel assembly adopts the hub motor as a driving structure, the double-wheel self-balancing is adopted, the self-balancing assembly is arranged in the novel double-wheel self-balancing electric vehicle, the volume is only about one fourth of that of the existing electric vehicle, the weight is about 200-500 kg, the vehicle can turn at zero radius, the vehicle state is stable in the running process of the vehicle, and the running safety of the vehicle is effectively ensured. Reduces the occupied area as much as possible and is more flexible. Can effectively relieve traffic jam.
Further, the hub motor is a direct current brushless motor, and the direct current brushless motor comprises a wheel shaft, a stator, a rotor and a bearing;
the stator is fixedly arranged on the wheel shaft;
the rotor comprises a motor rotating frame base, an outer rotating frame and a permanent magnet; the permanent magnet is arranged in the outer rotating frame; the motor rotating frame base and the outer rotating frame are arranged on the wheel shaft through bearings and are positioned outside the stator, and the outer rotating frame drives the wheel hub frame to rotate.
The direct current brushless motor with the structure has the advantages of simple structure, convenient installation and capability of effectively saving the installation space.
Further, the vehicle body is mounted with an axle bracket for mounting a wheel assembly;
the damping device is a cylindrical damper, and the cylindrical damper comprises a damping sheet group, damping springs and spring sleeves;
the damping spring is sleeved outside the damping sheet group, and the spring sleeve is sleeved outside the damping spring; one end of the damping spring is connected with the axle bracket, and the other end of the damping spring is connected with the axle.
The cylindrical shock absorber can realize that the wheels and the axle support are positioned on the same central axis, can realize omnibearing and large-angle shock absorption, and has the advantages of simple structure, convenient installation, small occupied space and excellent shock absorption effect.
Further, the vehicle body comprises a frame, a shell and a cabin cover, wherein the shell and the cabin cover are arranged on the frame; the frame, the shell and the cabin cover are combined to form a closed space;
the frame comprises a seat support in the middle, a cage-shaped outer frame support arranged on the periphery of the seat support, a front baffle support arranged on the front part of the outer frame support, a rear cabin support arranged on the rear part of the outer frame support and an axle support penetrating through the seat support and the outer frame support, wherein the seat support and the outer frame support are of an integrated structure;
the shell comprises a front baffle shell arranged on a front baffle bracket, a rear cabin cover arranged on a rear cabin bracket and a car body shell arranged on the left side and the right side.
Further, the front-guard support is a front-guard telescopic support, an auxiliary wheel is arranged below the front-guard telescopic support, and the front-guard telescopic support can slide back and forth under the action of the auxiliary wheel.
When passengers need to get on or off the vehicle, stop for a long time in the middle or have a roadblock, the auxiliary wheels extend out to form a stable supporting structure, so that the balance of the vehicle body is kept when the passengers park, and the safety of getting on or off the vehicle is ensured.
Further, a retractable cabin cover is arranged on the outer frame support, a curved transparent touch screen is arranged on the cabin cover, a rotating shaft support is arranged on the cabin cover in a hinged mode and is arranged on two sides of the seat support, the cabin cover is arranged on the rotating shaft support, and the opening mode is telescopic, so that passengers can get on or off the vehicle conveniently.
Further, a retractable cabin cover is arranged on the outer frame support, a curved transparent touch screen is arranged on the cabin cover, the cabin cover is opened in a cover lifting structure, the cabin cover and the front baffle support are integrated into a whole, and the lining reinforced support structure is hinged to the upper portion of the outer frame support in a cover lifting mode, can be lifted through a hinge, and is convenient for passengers to get on or off.
The cabin cover can be transparent and non-transparent, the opening mode can be divided into a retractable mode or a cover lifting mode according to the requirement, when the opening mode is telescopic, the cabin cover can be closed with the front baffle support, when the opening mode on the cabin cover is cover lifting mode, the cabin cover and the front baffle support are integrated, and the cabin cover can be lifted through the hinge, so that passengers can get on or off the vehicle conveniently.
Further, the curved transparent touch screen can display digital maps, electronic front view and rear view pictures, other human-computer interaction functions and the like according to requirements.
Further, a control handle is arranged in the vehicle cabin and used for realizing manual operation. The automobile body is provided with a parking interface for automatic parking. The three-dimensional parking system is combined with a specific three-dimensional parking system, so that three-dimensional parking can be realized, parking space is saved, and parking is more intelligent.
Further, the automatic driving sensing assembly is connected with the main control system; the automatic driving sensing assembly detects the driving state of the vehicle, senses the surrounding environmental change and combines the main control system to realize unmanned automatic driving. The full-intelligent unmanned in the embodiment can adopt a deep learning artificial intelligence technology to combine with a digital map, satellite navigation, wireless communication and the like, realize intelligent reservation to a designated place for waiting, unmanned driving, full-automatic locating parking, intelligent road optimization, intelligent pedestrian and vehicle avoidance, and even realize automatic driving to a battery replacement place, and automatically charge or replace a battery.
Drawings
FIG. 1 is a schematic side view of a novel two-wheeled self-balancing electric vehicle provided in an embodiment of the present invention;
FIG. 2 is a schematic rear perspective view of a novel two-wheeled self-balancing electric vehicle according to an embodiment of the present invention;
FIG. 3 is a schematic perspective view illustrating an open state of a novel two-wheeled self-balancing electric vehicle according to an embodiment of the present invention;
FIG. 4 is an overall exploded schematic view of a novel two-wheeled self-balancing electric vehicle provided in an embodiment of the present invention;
FIG. 5 is a schematic side view of a novel double-wheel self-balancing electric vehicle cage bracket provided in an embodiment of the present invention;
FIG. 6 is an enlarged schematic view of the novel two-wheeled self-balancing electric vehicle wheel assembly provided in FIG. 4;
FIG. 7 is an exploded view of an axle carrier and a cylindrical shock absorber of a novel two-wheeled self-balancing electric vehicle provided in an embodiment of the present invention;
FIG. 8 is a schematic diagram of a front in-vehicle structure of a novel two-wheel self-balancing electric vehicle according to an embodiment of the present invention;
fig. 9 is a schematic structural diagram of a novel dual-wheel self-balancing electric vehicle control system and a battery module according to an embodiment of the present invention.
Wherein, 1, the outer frame bracket; 2. a seat support; 3. a front-stop telescopic bracket; 4. a front fender housing; 5. a rear cabin bracket; 6. a rear hatch; 7. a cabin cover; 8. a touch screen; 9. a seat; 10. an airbag; 11. an auxiliary wheel; 12. a master control system; 13. a battery module; 14. a cable; 15. a camera shooting and laser radar component; 16. a vehicle state sensing component; 17. a parking interface; 18. a power interface; 19. a control handle; 20. a wheel assembly; 21. a wheel axle; 22. an axle bracket; 23. a hub frame; 24. a tire; 25. a metal protective cover; 26. a transparent protective cover; 27. a cylindrical damper; 28. a bolt; 29. a shock absorbing sheet set; 30. a damping spring; 31. a spring sleeve; 32. a hub motor; 33. a motor rotating frame base; 34. a stator; 35. a permanent magnet; 36. an outer rotating frame; 37. a bearing; 38. a gasket.
Detailed Description
In order to make the technical problems, technical schemes and beneficial effects solved by the invention more clear, the invention is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiment described herein is one of the preferred embodiments of the present invention and is not intended to limit the present invention.
The two-wheeled self-balancing electric vehicle disclosed by the invention is specifically explained below by combining specific embodiments.
As shown in fig. 1-3, the disclosed two-wheeled self-balancing electric vehicle includes a vehicle body, a damping device, a main control system 12, a battery module 13, a camera shooting and laser radar assembly 15, a vehicle state sensing assembly 16, a self-balancing assembly (not shown), and two wheel assemblies 20;
the vehicle body adopts an exoskeleton type cage type supporting structure, a cabin is formed in the exoskeleton type cage type supporting structure, and a seat 9 and a buffer airbag system are arranged in the cabin (see fig. 3, 4, 6 and 8); the exoskeleton type cage-shaped supporting structure refers to a cage-shaped integral frame which is formed by integrally forming or welding integral hollow frame materials, wherein the frame is a supporting structure and an external part of a vehicle body, and a cabin area (or cabin) with high strength is formed in the frame. Ensuring the safety of the occupant when impacted.
As shown in fig. 4 to 6, two of the wheel assemblies 20 are mounted to the vehicle body by a shock absorbing device; each of the wheel assemblies 20 includes a hub motor 32, a hub carrier 23, and a tire 24; the hub motor 32 is arranged in the hub frame 23, and the tire 24 is arranged on the hub frame 23;
as shown in fig. 7-9, the hub motor 32 is connected with the main control system 12 and the battery module 13 through a cable 14;
the self-balancing component is installed in the main control system 12, and the action of the hub motor 32 is controlled by the main control system 12 to realize self-balancing.
The novel double-wheel self-balancing electric vehicle disclosed by the embodiment adopts an exoskeleton type cage-shaped supporting structure of human engineering as a vehicle body, the wheel assembly 20 adopts the hub motor 32 as a driving structure, double-wheel self-balancing is adopted, the self-balancing assembly is arranged in the vehicle body, the volume is only about one fourth of that of the existing electric vehicle, the weight is about 200-500 kg, zero-radius turning can be realized, the vehicle body is very flexible, the vehicle running process is stable, and the driving safety of the vehicle is effectively ensured. Reduces the occupied area as much as possible and is more flexible. Can effectively relieve traffic jam.
As shown in fig. 3, a cabin is used for attaching a seat 9, an operation unit, and other vehicle body accessories, and the cabin forms an occupant accommodation space; the passenger or driver can enter the cabin to sit or actively drive, and an article accommodating chamber (such as luggage, etc.) can be formed in the cabin. The cabin comprises, on the one hand, a cockpit or passenger compartment and, on the other hand, a rear compartment for accommodating luggage.
Specifically, in this embodiment, the vehicle body includes a frame, and a housing and a cabin cover mounted on the frame; the frame, the shell and the cabin cover form a closed space;
the vehicle frame comprises a seat support 2 at the middle bottom, a cage-shaped outer frame support 1 arranged at the periphery of the seat support 2, a front baffle support arranged at the front part of the outer frame support 1, a rear cabin support 5 arranged at the rear part of the outer frame support and an axle support 22 penetrating through the seat support and the outer frame support;
the housing comprises a front baffle housing 4 arranged on the front baffle bracket, a rear cabin cover 6 arranged on the rear cabin bracket 5 and left and right side vehicle body housings (not marked in the figure).
In this example, the frame may be of an integral structure, or a part of the frame may be of an integral structure, for example, the seat support 2 and the outer frame support 1 are of an integral structure. The material of the frame is not particularly limited, and materials known in the automotive field can be used, and in this example, alloy or carbon fiber composite materials are preferably used. The weight of the car body can be further reduced by adopting alloy or carbon fiber composite materials.
The seat support 2 is mainly used for installing a seat 9, a battery module 13, a control system and the like, wherein the battery module 13 and the control system are installed below the seat 9 in the example, and the seat 9 adopts an adjustable seat in the example. In this example, the number of seats 9 in the cabin can be increased or decreased according to the specifications of the two-wheeled self-balancing electric vehicle. In this example a double seat 9 is provided.
The retractable cabin cover 7 is arranged on the outer frame support 1, the curved transparent touch screen 8 is arranged on the cabin cover 7, the rotating shaft supports of the retractable cabin cover 7 are hinged to two sides of the seat support 2, the cabin cover 7 is arranged on the rotating shaft supports, and the retractable cabin cover is opened in a telescopic mode, so that passengers can get on or off conveniently. In this example, a retractable cabin cover 7 is mounted on the outer frame bracket 1 or the seat bracket 2. The cabin cover 7 is preferably a panoramic transparent cabin cover 7 with a wide view angle, for example, a rotating shaft bracket on which the cabin cover 7 can be folded and unfolded is hinged on two sides of the seat bracket 2, and the cabin cover 7 is arranged on the rotating shaft bracket. The transparent cabin cover 7 is opened, the passengers can enter, and the closed cabin cover can serve as a protective cover, so that the passengers can observe outwards through the transparent cabin cover 7. Preferably, the front-guard bracket is designed to be capable of sliding back and forth to open or close in this example, namely, the front-guard telescopic bracket 3, an auxiliary wheel 11 is arranged under the front-guard telescopic bracket 3, and the front-guard telescopic bracket 3 can slide back and forth under the action of the auxiliary wheel 11. Thus, the front fender telescopic bracket 3 and the cabin cover 7 serve as a vehicle door structure; and the passenger can get in and out conveniently. When the passenger gets on or off the vehicle, the front-gear telescopic bracket 3 stretches out, the auxiliary wheel 11 at the lower part stretches out to form a stable supporting structure, and the cabin cover 7 withdraws to facilitate the passenger to get on or off the vehicle. When the passenger gets on the vehicle and the front-gear bracket is retracted, the cabin cover 7 extends out and is perfectly wedged with the front-gear bracket.
Meanwhile, the cabin cover 7 can also adopt a cover-lifting type structure, the lower part of the cabin cover 7 is made of a composite material, a front-stop bracket part (which is integrated with the front-stop bracket) is combined, the inner lining reinforced type supporting structure is hinged and installed on the upper part of the outer frame bracket 1 in a cover-lifting manner, meanwhile, the front-stop bracket cancels the front-stop telescopic bracket 3, and an auxiliary wheel 11 is installed at the bottom of the outer frame bracket 1 instead, so that the balance of the vehicle body is kept during parking conveniently.
Preferably, a curved transparent touch screen 8 is arranged on the cabin cover 7. The curved transparent touch screen 8 can display digital maps, electronic front view and rear view pictures and other human-computer interaction functions according to the requirements.
The self-balancing assembly includes a gyroscope and further includes an accelerometer for enabling detection of the vehicle's state of balance. In this example, MEMS (English full name: micro Electro Mechanical systems, chinese full name: micro electro mechanical system) gyroscope is adopted as the gyroscope.
The in-wheel motor 32 is well known, and the in-wheel motor 32 is also called an in-wheel motor, and is characterized in that power, transmission, braking devices and the like are integrated into the in-wheel motor 32, so that the mechanical parts of the electric vehicle are greatly simplified. The in-wheel motor 32 is largely divided into two structural types according to the rotor type of the motor: an inner rotor type and an outer rotor type. The present example is not limited to a particular in-wheel motor 32 configuration, and one skilled in the art may readily employ various known techniques. In this case, the braking device may be a technology known to those skilled in the art, and will not be described herein.
In this embodiment, the hub motor 32 is an external rotor type dc brushless motor, and the hub motor 32 has an overall shape as shown in fig. 5 and 9, and is exploded in fig. 4 and 6. The brushless DC motor comprises a wheel shaft 21, a stator 34, a rotor and a bearing;
the stator 34 is fixedly mounted on the wheel axle 21;
the rotor comprises a motor rotating frame base 33, an outer rotating frame 36 and a permanent magnet 35; the permanent magnet 35 is mounted in the outer spin frame 36; the motor rotating frame base 33 and the outer rotating frame 36 are both arranged on the wheel axle 21 through bearings 37 and are positioned outside the stator 34 and can rotate around the stator 34; specifically, the motor rotating frame base 33 and the outer rotating frame 36 are assembled on the wheel shaft 21 through the bearing 37 and the gasket 38, and the outer rotating frame 36 is movably connected with the wheel hub frame 23.
The hub carrier 23 is mounted to the outside of the rotor (i.e., outside of the spinning frame 36).
As shown in fig. 7, the axle 21 in this example is a hollow pipe structure; the hollow pipeline can be penetrated with the cable 14; then, punching and leading out the hollow pipeline to be electrically connected with a stator 34 of the hub motor 32; at the same time, other sensor-connected cables 14 can also be led out of the hollow tube.
The motor spin stand base 33 and the outer spin stand 36 are located at the periphery of the stator 34. And is combined with the permanent magnet 35 to become a rotor.
The vehicle body mounts an axle bracket 22 for mounting the wheel assembly 20; the axle bracket 22 is specifically configured to mount the wheel assembly 20 via a shock absorbing device. Specifically, an axle carrier 22 mounting hole (not shown) is provided in the vehicle body; the axle bracket 22 is mounted into the axle bracket 22 mounting hole.
The structure of the damper is not particularly limited, and various known arts can be adopted.
In this example, the applicant has proposed a new type of damping device. As shown in fig. 7, the shock absorbing device is a cylindrical shock absorber 27, and the cylindrical shock absorber 27 comprises a shock absorbing sheet set 29, a shock absorbing spring 30 and a spring sleeve 31;
wherein the damping spring 30 is sleeved outside the damping sheet set 29, and the spring sleeve 31 is sleeved outside the damping spring 30; one end of the damper spring 30 is connected to the axle bracket 22, and the other end is connected to an in-wheel motor 32 (the wheel axle 21 therein). Specifically, screw holes (not labeled in the figure) are provided at both ends of the damper plate group 29; correspondingly, screw holes (not marked in the figure) are also arranged on the axle 21 and the axle bracket 22, the screw holes on two ends are respectively connected with the axle bracket 22 and the axle 21 through bolts 28, the spring sleeve 31 is made of rubber materials, and two sides are covered by metal materials for protecting the damping sheet group 29 and the damping springs 30.
The cylindrical shock absorber can realize that the wheels and the axle support 22 are positioned on the same central axis, can realize omnibearing and large-angle shock absorption, and has the advantages of simple structure, convenient installation, small occupied space and excellent shock absorption effect.
In this case, a parking interface 17 for automatic parking is provided on the vehicle body. The parking interface 17 can be combined with an intelligent three-dimensional or wall-mounted parking system to realize automatic three-dimensional parking, so that parking space is saved, and parking is more intelligent. The wall-mounted parking system is an intelligent multi-layer parking system provided with a lifting device, and the wall-mounted parking system is arranged along two sides of a road and beside a building because the vehicle body of the wall-mounted parking system is small, and the wall-mounted parking system is specifically implemented in the following way: the balance car reaches the appointed position through the car state sensing component 16 of the car body, the camera shooting and laser radar component 15, is accurately aligned, is hung with the parking interface 17 of the car body through the hanging hook of the parking system, and is placed in the vacant position.
In this case, the body is also preferably provided with a power interface 18 (see fig. 2); in this example, the power interface 18 is disposed at the tail of the vehicle body, and when charging is required, the vehicle body is electrically connected to an external charging device through the power interface 18 for charging.
In this case, the cushion airbag system can further protect the occupant. The cushion airbag system includes an airbag 10 disposed in a vehicle body; the installation position of the airbag 10 is not limited, and the airbag can be arranged according to the specific structure of the vehicle body, so that the airbag can be timely released to protect drivers and passengers when the vehicle is impacted. In this example, the airbag 10 is preferably mounted on the front fender bracket or the inner surface of the outer frame bracket 1, and the occupant is preferably protected by being ejected in an emergency. For example, an airbag 10 is arranged on the front-gear telescopic bracket 3 and is used for ejecting in emergency, so as to protect the head of an occupant; an airbag 10 is simultaneously installed on the armrest part of the posture-adjustable seat 9 or the inner surface of the outer frame bracket 1, and the side of the passenger is popped up for protection in emergency.
In this example, the system further comprises an autopilot sensor assembly connected to the main control system 12, wherein the autopilot sensor assembly detects the driving state of the vehicle, and unmanned autopilot is realized by the main control system 12. The automatic driving sensing component comprises a camera shooting, laser radar component 15, a vehicle state sensing component 16 and the like; wherein the camera shooting and laser radar assembly 15 comprises a laser radar sensor and a large-visual-angle dynamic camera shooting system; the vehicle state sensing component 16 includes an obstacle detection sensor, a vehicle speed sensor, a vehicle state sensor, and the like; the automatic driving sensing component is connected to the main control system 12, and an unmanned automatic driving function is realized through the main control system 12; unmanned autopilot functions may include unmanned, automatic parking, automatic charging and discharging, and the like. When the vehicle is driven automatically, the passenger in the vehicle sends out instructions through voice or a touch screen, the main control system 12 achieves self-balancing through the self-balancing component, the front-gear telescopic support 3 serving as the front-gear support is retracted, and the vehicle starts to run automatically and automatically. The full-intelligent unmanned in the embodiment can adopt a deep learning artificial intelligence technology to combine with a digital map, satellite navigation and the like, realize intelligent reservation to a specified place for waiting, unmanned driving, full-automatic locating parking, intelligent road optimization, intelligent pedestrian and vehicle avoidance, and even realize automatic driving to a battery replacement place, and automatically charge or replace a battery.
Specifically, as shown in fig. 1 to 5, in this example, a camera shooting and laser radar assembly 15 is installed on the top of the outer frame bracket 1; specifically, the camera and lidar assembly 15 includes a lidar sensor and a wide-angle dynamic camera system. In this example, as shown in fig. 1, 3, 4 and 8, a vehicle state sensing assembly 16 is further mounted on the front fender bracket and the wheel assembly 20, respectively; specifically, a vehicle state sensing component 16 (such as an obstacle detection sensor, in this example, a millimeter wave radar) is installed at the front part of the front-guard bracket, so as to realize detection of an obstacle; a vehicle state sensing assembly 16 (such as a vehicle speed sensor and a vehicle state sensor) and the like are provided on the wheel assembly 20. In this example, in order to protect the vehicle state sensing component 16 on the wheel component 20, a protective cover is further installed outside the vehicle state sensing component 16; in this example, the protective cover includes a circular metal protective cover 25 and a circular transparent protective cover 26 attached to the metal protective cover 25.
The control handle 19 is further arranged in the vehicle cabin and used for realizing manual operation, and the control handle 19 can be switched to be simply operated for manual operation under special conditions. Specifically, the control handle 19 is arranged on the armrest of the seat 9, and the control handle 19 can be used for controlling the two-wheel self-balancing electric vehicle.
In this example, the working scene of the two-wheel self-balancing electric vehicle is described as follows:
when the passenger needs to get on or off the vehicle, the front-gear telescopic bracket 3 stretches out, the auxiliary wheel 11 which can be retracted at the lower part stretches out to form a stable supporting structure, and the retractable cabin cover 7 contracts to facilitate the passenger to get on or off the vehicle. When the passenger gets on the vehicle, the front-gear telescopic bracket 3 is retracted, and the retractable cabin cover 7 extends out to be perfectly wedged with the front-gear telescopic bracket 3. The passenger in the car sends out the instruction through pronunciation or curved surface transparent touch screen 8, and main control system 12 reaches the self-balancing through built-in MEMS gyroscope, and retractable auxiliary wheel 11 is packed up, and through the intelligent optimization route scheme of the satellite navigation system of main control system 12 built-in, the car begins automatic unmanned and goes to go to the running state through autopilot sensing assembly and detects, realizes functions such as intelligent pedestrian, vehicle dodges, autopilot.
When the vehicle is stopped for a long time or a roadblock exists in the middle course, the auxiliary wheels 11 can be retracted and released to form a support, the front-baffle telescopic bracket 3 stretches out, and after a passenger gets off, the rear hatch 6 pops up to take out the luggage. After the passenger leaves, the main control system 12 automatically searches for a nearby proper parking space to automatically park through an AI algorithm, a satellite navigation system and an external automatic driving sensing assembly which are arranged in the main control system 12, meanwhile, the outer frame support 1 is provided with a wall-mounted parking interface 17, and three-dimensional parking can be realized by combining a specific three-dimensional parking space, when the electric quantity of the vehicle is insufficient, the main control system 12 automatically searches for a nearby intelligent charging device, then automatically goes to and charges through a power interface, or automatically replaces a battery, and the replaced battery is automatically put into storage for charging.
In summary, the novel double-wheel self-balancing electric vehicle disclosed by the embodiment has small head and light weight; the occupied area is reduced as much as possible, the zero-radius turning can be realized, and the device is very flexible and convenient. The volume is only one fourth of that of the existing vehicle, and the weight is about 200-500 kg, and the all-weather cabin with the exoskeleton type cage type supporting structure and the built-in buffer air bag system is adopted to ensure the safety. And the intelligent driving system is integrated in the main control system, is highly intelligent, can intelligently avoid pedestrians and vehicles, is combined with satellite navigation, can automatically run without people, and can be simply operated by a control handle in special cases. The mobile phone can be used for remote control, the vehicle owner can automatically park after arriving at the place for waiting according to reservation, and the space is not occupied by arranging a parking interface and automatically parking through the three-dimensional parking system. The intelligent control system can be connected with external intelligent equipment through human-computer interaction of voice and video, has powerful and upgradeable functions, can realize automatic navigation and road optimization, can truly relieve traffic jam, adopts battery driving, adopts a renewable battery module technology before the next generation of high-energy battery comes out, can automatically drive to a battery replacement place when the battery electric quantity is insufficient, automatically replace a battery in a short time, and then automatically store and charge the battery, and is environment-friendly and pollution-free.
The foregoing description of the preferred embodiments of the invention is not intended to be limiting, but rather is intended to cover all modifications, equivalents, and alternatives falling within the spirit and principles of the invention.
Claims (6)
1. The novel double-wheel self-balancing electric vehicle is characterized by comprising a vehicle body, a damping device, a main control system, a battery module, a self-balancing assembly and two wheel assemblies;
the vehicle body adopts an exoskeleton type cage type supporting structure, a cabin is formed in the exoskeleton type cage type supporting structure, and a seat and a buffer airbag system are arranged in the cabin;
the two wheel assemblies are mounted on the vehicle body through damping devices; each wheel assembly comprises a hub motor, a hub frame and a tire; the wheel hub motor is arranged in the wheel hub frame, and the tire is arranged on the wheel hub frame;
the hub motor is electrically connected with the main control system and the battery module through cables;
the self-balancing component is arranged in the main control system, and the action of the hub motor is controlled by the main control system so as to realize self-balancing;
the vehicle body is provided with an axle bracket for mounting a wheel assembly;
the damping device is a cylindrical damper, and the cylindrical damper comprises a damping sheet group, damping springs and spring sleeves;
the damping spring is sleeved outside the damping sheet group, and the spring sleeve is sleeved outside the damping spring; one end of the damping spring is connected with the axle bracket, and the other end of the damping spring is connected with an axle in the hub motor;
the vehicle body comprises a frame, a shell and a cabin cover, wherein the shell and the cabin cover are arranged on the frame; the frame, the shell and the cabin cover are combined to form a closed space;
the vehicle frame comprises a seat support in the middle, a cage-shaped outer frame support arranged on the periphery of the seat support, a front baffle support arranged on the front part of the outer frame support, a rear cabin support arranged on the rear part of the outer frame support, and an axle support penetrating through the seat support and the outer frame support, wherein the seat support and the outer frame support are of an integrated structure;
the shell comprises a front baffle shell arranged on the front baffle bracket, a rear cabin cover arranged on the rear cabin bracket and left and right side vehicle body shells;
the front-guard telescopic support is provided with an auxiliary wheel, and the front-guard telescopic support can slide back and forth under the action of the auxiliary wheel.
2. The novel two-wheel self-balancing electric vehicle according to claim 1, wherein the hub motor is a brushless direct current motor, and the brushless direct current motor comprises a wheel shaft, a stator, a rotor and a bearing;
the stator is fixedly arranged on the wheel shaft;
the rotor comprises a motor rotating frame base, an outer rotating frame and a permanent magnet; the permanent magnet is arranged in the outer rotating frame; the motor rotating frame base and the outer rotating frame are arranged on the wheel shaft through bearings and are positioned outside the stator, and the motor rotating frame base and the outer rotating frame can rotate around the stator, and the outer rotating frame drives the wheel hub frame to rotate.
3. The novel two-wheeled self-balancing electric vehicle according to claim 1, wherein the outer frame support is provided with a retractable cabin cover, a curved transparent touch screen is arranged on the cabin cover, the cabin cover is provided with a rotating shaft support which is hinged to two sides of the seat support, the cabin cover is arranged on the rotating shaft support, and the opening mode is telescopic, so that passengers can get on or off the vehicle conveniently.
4. The novel two-wheeled self-balancing electric vehicle according to claim 1, wherein the outer frame support is provided with a retractable cabin cover, a curved transparent touch screen is arranged on the cabin cover, the cabin cover and the front baffle support are integrated into a whole, and the inner lining reinforced supporting structure is hinged on the upper part of the outer frame support in a cover lifting manner, and can be lifted through a hinge, so that passengers can get on or off the vehicle conveniently.
5. The novel two-wheeled self-balancing electric vehicle according to claim 1, wherein a control handle is arranged in the vehicle cabin and is used for realizing manual operation; the vehicle body is provided with a parking interface for automatic parking.
6. The novel two-wheeled self-balancing electric vehicle of claim 1, further comprising an autopilot sensing assembly connected to the master control system; the automatic driving sensing assembly detects the driving state of the vehicle and senses the surrounding environmental change, and unmanned automatic driving is realized by combining a main control system.
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| CN111976862B (en) * | 2019-05-21 | 2022-12-02 | 北京京东乾石科技有限公司 | Logistics distribution equipment |
| CN113135532B (en) * | 2021-05-12 | 2022-03-11 | 吉林大学 | Self-balancing aerial work platform and control method thereof |
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