CN109018134A - A kind of double-wheel self-balancing vehicle safety means of defence and mechanism - Google Patents
A kind of double-wheel self-balancing vehicle safety means of defence and mechanism Download PDFInfo
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- CN109018134A CN109018134A CN201810766517.XA CN201810766517A CN109018134A CN 109018134 A CN109018134 A CN 109018134A CN 201810766517 A CN201810766517 A CN 201810766517A CN 109018134 A CN109018134 A CN 109018134A
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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
- B62K11/007—Automatic balancing machines with single main ground engaging wheel or coaxial wheels supporting a rider
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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
- B62K11/14—Handlebar constructions, or arrangements of controls thereon, specially adapted thereto
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- Motorcycle And Bicycle Frame (AREA)
Abstract
The present invention is a kind of double-wheel self-balancing vehicle safety means of defence and mechanism, the mechanism that Vehicular turn speed and steering angle can effectively be controlled.Vehicle handle can be prevented to be operated excessively and handle is made to possess rigidity appropriate at any time in vehicle operation, can be arbitrarily held at any time with providing the person of riding to stablize body and prevent unbalance side from falling.Its manipulation means are through the palm for the person of riding and one steering speed regulation of motion action of wrist and limiting mechanism, motor-driven adjustment handle rotation or locked hand are unable to rotation to allow vehicle that can only orient traveling, then, when any not expected external force, which occurs, influences the person's of riding steadily of centre of gravity, the person of riding can arbitrarily hold with a firm grip handle with stabilization ride, there is no concern that meeting malfunction handle, which turns to function, influences garage's performance, handle influences driving by malfunction not will lead to Exploration on Train Operation Safety also in default controlled range.
Description
The present invention relates to a kind of electronic double-wheel self-balancing vehicles for technical field, particular with single-grip or the electricity of double handle
Dynamic Self-Balancing vehicle.
Common two-wheeled Self-Balancing vehicle has double handle type to background technique on the market at present, but is most single-grip type, generation
Table person such as U.S. Segway company is in 6,302,230 B1 of United States Patent (USP) authorization number US, US 9,188,984 B2 and US
Double-wheel self-balancing vehicle disclosed by 7,275,607 B2, product, which has disclosed listing marketing, at present year, but falls people and damage vehicle accident
When have what is heard.
This vehicle front side centre is equipped with upright handle, and top bifurcated is equipped with handle and holds for the person of riding right-hand man,
The steering that hand can swing to operating and controlling vehicle.The double-wheel self-balancing vehicle of this kind of single-grips actually ride turn to when,
It asks the person's of riding body posture and dynamic distribution bipod to put forth effort to keep the stabilization of body, has stable body lower wall that could hold
Perhaps both hands power output appropriate makes power go operating handle is low-keyed to swing, and otherwise cannot stablize effective driving vehicle driving
Turning, may even happen that vehicle turns cruelly, causes vehicle event of hurting sb.'s feelings.The handle of this type of vehicle is exactly a meeting rotation in fact
Operating stick, the person of riding cannot be provided and held and stablize center of gravity and be used, the impression of this kind of vehicle of riding exists just as not having to hand steered standing
Fall on the bus for swinging fluctuating, accidentally will cautiously dodder along, that holds more like the fore side of a ship at people is one and shakes
Railing, the feeling that will accidentally meet accident.
The unbalance sudden and violent event whole story for turning to hurt sb.'s feelings out of control of passing many Self-Balancing vehicles is collected and surveyed in detail, wherein if manual operation skill
If art is not skillful and the person's of riding technology improve after same situation recur can to avoid etc. situations foreclose, the generation of accident is most
Important is " person of riding promptly pulls the damage vehicle that steering handle generates in the hope of person balance and fall in the unbalance last moment fallen down
Occurrences in human life event ", " caused handle excessive operation under External force interference " and " the improper driving of carelessness for not being absorbed in road conditions " three typical cases.
Applicant thinks that production design side " otherwise blames the every operation fault in user, when user has urgent need
Necessary possible relief measure to be provided when asking ", handle is exactly the most important thing, and then, one of application case emphasis is just allowing from flat
Weighing apparatus vehicle must provide the basic function of handle, and handle will have the function of the support person of riding when urgent, and allow the improper operation of the person of riding
Vehicle will not be made to have improper movement to influence the person's of riding personal safety, it is " general straight for secondly can separating absorbed calling hierarchy of riding
Row, high speed and cornering mode " allows the person of riding that can be in guard model palpus careful driving with sense of independence, otherwise requires careful everywhere
It is equal to have no way of careful.
In addition, application case is also puted forth effort in terms of preventing means in advance, for example above-mentioned Segway of the improvement of Self-Balancing vehicle at present
Latter two patents case disclosed in, using the detecting person of riding manipulate turn to idea, then according at that time driving turning velocity utilize stamen piece journey
The means of restraining operating handle and Vehicular turn speed are gone in sequence operation, and still, those means are also built upon " rotation formula handle
Force the speed difference limit of two wheels of limitation to prevent vehicle oversteering to reach and throw and fall the person of riding up in operation basis " thinking
Mode, it is that also there are the seeds of trouble for the boundary control of redlining formula a kind of, and what application case to be proposed is a kind of source stream regulation model,
Go to prevent the generation of improper reason from basic, the source of accident, method first is that " synchronous simultaneously with the palm wrist of two hand of the person of riding
That coordinates goes manipulation to turn to handle, establishes the interference that a new Vehicular turn manipulation dimension pulls handle to avoid both hands ", it
Second is that " according to the output intensity of car speed and steering demand adjustment steering handle, only providing the person's of riding approval and simultaneously guaranteeing inexcessive
Wheel driving force, the possibility for preventing maloperation handle from causing to turn cruelly ", the third is " the mechanical locked hand of machine " prevented in due course
Degree and faulty operation.
Summary of the invention the object of the invention is allowing known on the market single-grip or double handle double-wheel self-balancing vehicle device
After mechanism of the present invention, have the function of following features: steering handle has both the person of riding in addition to having manipulation garage direction and promptly helps
Stablize body to be used, prevent vehicle oversteering, prevent the improper operation generation vehicle of user from turning cruelly, preventing pavement behavior or barrier
Flurried urgent vehicle handle generation vehicle of pullling turns cruelly, there is one-handed performance to protect when hindering caused External force interference or the unbalance person of riding
The function of vehicle straight trip is held, is changed if vehicle straight trip function and turning function, slightly liter etc. can arbitrarily be converted according to the intention of user
The turning velocity and acceleration of the adjusting manipulation handle of kind just dynamic ensure Vehicular turn smoothly and traffic safety.
The present invention be by following technologies in realization, it includes:
A kind of double-wheel self-balancing vehicle safety means of defence and mechanism, it is characterized in that it includes;One double-wheel self-balancing vehicle is thereon
Equipped with more than one vehicle frame and column rotation axle center, balance control system;More than one vehicle steering handle, the steering
Handle includes one can be fixed on the column swing shaft rotation in the heart by the column of operation rotation, to drive the balance
Connection component among control system exercises upright vehicle balance, straight trip and turns to function, and more than one handle is connected
The upper end of the column;A handle rotation limiting mechanism, it includes a limited block and a clip movable block, the clip
Movable block is fixed on the column lower end and synchronizes coaxial rotation, and the limited block is fixed on column rotation axle center and exists
Coaxial geometry corresponding position relationship is formed on same foundation object on vehicle with the blocking movable block;One puller,
It includes that an operator interface device just can near the handle with the activity for facilitating the person of riding to utilize its palm, wrist and finger
The operation interface for operating the puller generates driving mechanical action, the puller further include a movement passing interface to
The mechanical action of the puller operation interface generation is transmitted to the handle rotation limiting mechanism, drives the clip activity
Block activity between clip and loose clip mode position, first can exercise clip function, reach the limitation column upright
Rotation that can only moderately a little on neutral position, allows vehicle to keep straight on and possesses deflection correction appropriate, in the clip mode
The steering handle is accidentally touched or substantially rotation vehicle will not be caused to turn cruelly by External force interference under if, and vehicle can still keep suitable
Second the straight trip ability of degree can exercise loose clip function, allow the column to increase the amplitude limitation of rotation, so as to more strong
Flexible manipulation driving Vehicular turn turning, while the person of riding self can discover and comes into loose clip ride mode, it is necessary to it mentions
High vigilance carefully absorbed is ridden to ensure safety.
Further, a kind of double-wheel self-balancing vehicle safety means of defence as mentioned and mechanism, it is characterized in that one of card
Movable block of pulling has a shape of gradient, appropriate to make the puller and change it to drive mechanical movement range that generate continuously
The clip amount of separation of variation pushes the steering handle will push and be fixed on the column simultaneously when operation Ackermann steer angle
On clip movable block be close to the fixed block, then, continuous folk prescription just can be obtained by the transformable clip amount of separation
To the limitation column rotation change in location, while the dynamic swing speed and acceleration of column also obtain control.
Further, a kind of double-wheel self-balancing vehicle safety means of defence and mechanism, it is characterized in that it includes;One two-wheeled is certainly
Balance car which is provided with more than one vehicle frame and electric control system, and the electric control system can be according to the Self-Balancing vehicle
Real-time space rate and two-wheeled speed difference continuously dynamically provide one turn to outboard wheels compared to inboard wheel maximum
Speed difference feasible value, the application number of invention patent of the maximum speed discrepancy feasible value such as People's Republic of China (PRC): 201710194992.X
Real-time wheel maximum speed discrepancy feasible value described in the specification, setting and use to the wheel maximum speed discrepancy feasible value are equipped with
User participates in setting and using the interface determined;More than one is fixed on the corresponding vehicle frame of the vehicle and vehicle frame one starts shipment
It is dynamic but will not rotation vehicle steering handle, the steering handle upper end, which is equipped with when being rotated by operation, can produce steering electric-controlled
A right turn handle and a left steering handle for signal processed, the steering electrical control signal that the handle generates is to described
A Self-Balancing vehicle electric control system steered wheel maximum speed feasible value continuous to the dynamic does the ratio of 0-100%
Output, which is adjusted, to be used;Handle, which turns to signal interlock, one by one can only export the left and right turn handle to the same period
The effective electrical control signal of one of them gives the electric control system, and the vehicle of the handle is operated as the interpretation operation person of riding
Turn to be intended to and rate request foundation.
Further, a kind of such as described double-wheel self-balancing vehicle safety means of defence and mechanism, it is characterized in that wherein one
It is that a mechanical coaxial reversing gearbox closes the left and right handle to lotus root and makes one that handle, which turns to signal interlock,
It can mutually be twisted with both hands palm and the synchronous relationship of direction of rotation opposite action, the effect mutually twisted using the palm can promote the person of riding
The stability of handle is held, the safety of driving is improved to resist external force to the interference of vehicle and personnel.
Further, a kind of such as described double-wheel self-balancing vehicle safety means of defence and mechanism, it is characterized in that one described in wherein
It is that the person of riding can be allowed to operate respectively with an electrical on-off switch on the left and right handle that a handle, which turns to signal interlock,
Or start automatically when the person of riding operates the steerings handle, with the electrical on-off switch that first starts for preferential selection mode
It is preferential effective for locking the output signal of one of described two handles.
Further, a kind of such as described double-wheel self-balancing vehicle safety means of defence and mechanism, it is characterized in that one described in wherein
It is to drive one to return jointly using one left steering handle and a right turn handle that a handle, which turns to signal interlock,
Turn encoder to reach while can only export one group of representative person of riding and to operate the effective signal being intended to.
Detailed description of the invention:
Attached drawing 1 is the single-grip type double-wheel self-balancing vehicle appearance configuration diagram of a device brake bar type operation interface
Attached drawing 1-2 is the double handle type double-wheel self-balancing vehicle appearance configuration diagram of a device electromagnet puller
Attached drawing 2 is the handle rotation limiting mechanism clip mode local structural graph of attached drawing 1
Attached drawing 2-1 is one of transitional movement of loose clip segmentation clip schematic diagram
Attached drawing 2-2 is two unilateral clip schematic diagrames of the transitional movement of loose clip
Attached drawing 2-3 is the schematic diagram of complete loose clip
Attached drawing 3 is the single-grip type double-wheel self-balancing vehicle appearance configuration diagram an of stand column fixing
Attached drawing 3-1 is the vehicle traveling course changing control movement block diagram of apparatus of the present invention
Attached drawing 4 is the structural plan of the mechanical coaxial reversing gearbox of apparatus of the present invention
Attached drawing 5 is a device handle eletric button formula vertical columns double-wheel self-balancing vehicle appearance configuration diagram
Attached drawing 6 is the handle structure layout drawing of device code device
Specific embodiment is with reference to the accompanying drawing described further the present invention;
It is the single-grip type double-wheel self-balancing vehicle appearance configuration diagram of a device brake bar type operation interface as shown in Figure 1,1 in figure
It is a double-wheel self-balancing vehicle, the control that it has a pair of parallel juxtaposed left wheel 3 and right wheel 2 to receive vehicle balance control system
System and driving, 4 be that vehicle frame which is provided with a column rotation axle center 5 to be pivotally connected column 6 and (contain back spiral through 7 connection components
Potentiometer) the rotation angle signal that exports column 6 gives vehicle Self-balance Control System, so that fleet vehicles balance is upright, straight trip
And turn to function, 8 be steering handle include a left handle 9, right handle 10 and the column 6 to link together allow the person of riding hold
It swings with rotation entirety steering handle 8,11 be an operation interface, is the bicycle use lock commonly used as shown in the figure
It will affect the drag-line 13 of puller 12 when pulled, transmit to operate a switch by passing interface 14 and the machinery that 11 generate is moved
Accomplish that clip movable block 16,17 included by handle rotation limitation behaviour's structure 15 is that a limited block is fixed to the upper surface of vehicle frame 4
It moves together therewith, limited block 17 is recessed with the concentric local circular arc in column rotation axle center and a clip gradient with one
Slot.Diagram blocking movable block 16 and limited block 17 are the clip positions in vehicle clip mode, if 16 clip movable block quilts
It is vehicle pine clip mode that pulling, which is lifted off the card slot of limited block 17,.The person's of riding vehicle when not operating a switch 11 is in neutral card
Tug mode, the rotation that column 6 can only moderately a little turn to handle to allow vehicle to keep straight on and possess deflection correction appropriate at this time
If hand is accidentally touched or substantially rotation vehicle will not be caused to turn cruelly by External force interference, vehicle can still keep appropriate straight trip ability,
If operation brake lever 11 draws high clip movable block 16 and exercises loose clip mode, column can increase the amplitude of rotation, so as to more
Strong flexible manipulation driving Vehicular turn turning can allow the person of riding self to discover this movement to come into loose card using operating a switch
It pulls ride mode, it is necessary to step up vigilance, carefully absorbed ride to ensure safety.Structure 15 is grasped in handle rotation limitation shown in FIG. 1 is
Manual operation can also be the electrical power-assisted mode of eletric button cooperation direct drive type electro magnetic iron or Direct Action Type groups of motors, in engineering
As long as the various modes commonly used can generate movement with palmar hand operation and reach clip and pine card near vehicle handle
The mechanism of tug can all be taken and apply among the present embodiment.
Fig. 1-2 is the double handle type double-wheel self-balancing vehicle appearance configuration diagram of a device electromagnet puller, institute in figure
Show that 1-1 is a double handle type double-wheel self-balancing vehicle, structure such as People's Republic of China's new patent application number:
Disclosed by 201710033323.4, device has two vehicle frames 4 thereon, a left handle 9, a right handle 10, fills on right handle
There is an eletric button 9-a, one, the device eletric button with formula of the left handle also property of can choose, using a limited block 17 with unification
Clip movable block 16, which can will be articulated, freely to live with respect to two 4 clips of vehicle frame turned round, become a synchronous fortune
Dynamic mobile cannot freely turn round relatively again, and two handles that then clip is firmly fixed on vehicle frame simultaneously can not be opposite
Rotation, and then reach vehicle and cannot turn the state that can only be kept straight on, it is the solid direct drive type electro magnetic iron 12- of benefit to loose clip
1 reaches.
Fig. 2 is the handle rotation limiting mechanism clip mode local structural graph of attached drawing 1, clip movable block 16 as shown in the figure
Oblique cone is sticked into vehicle clip mode position in the slope groove of limited block 17, and the position signified from arrow 18 can see still
With the presence of small gap appropriate, vehicle uses domestic ips label self-balancing controller, 18 signified gap amplitudes in actual measurement
Vehicle smooth straight trip and fine tuning amendment Fang He on grading roads can be maintained to be used at ± 1.5 degree, guarantee principal post 6 by malfunction
Vehicle will not be caused to turn wounding event cruelly.
Fig. 2-1 is one of transitional movement of loose clip segmentation clip schematic diagram, moderately stable operation brake lever 11
It pulls 16 clip movable blocks to rise and generates the clip amount of separation changed, the signified gap of arrow 19 just seems wide compared to Fig. 2
It is big many.
At this moment attached drawing 2-2 is two unilateral clip schematic diagrames of the transitional movement of loose clip, and it is vertical not ride the operation that person can be appropriate
Column 6 drive clip movable block 16 with appropriateness and will not the power of stuck 16 clip movable block to be close to limited block 7 as shown in arrow 10
Appearance, then, the person of riding can utilize this cooperation and continuous action held brake lever 11 and turn column 6, go to reach more stable
Operation Vehicular turn.Although be not it is fully effective, the function of auxiliary can also be played.
Fig. 2-3 is the schematic diagram of complete loose clip.Clip movable block 1 and limited block 17 are complete as shown in arrow 21 in figure
The full position in loose clip, purpose is allowing the column 6 can to increase rotation, to facilitate the more flexible strong manipulation of the person of riding to drive
Vehicular turn turning, it is above operation brake lever 11 be self discovered by the person of riding driving needs and it is conscious operation and enter pine card
It pulls ride mode, that person of riding, which just can equally be forced to inform, independently to step up vigilance, carefully absorbed ride to ensure safety.Separately
Outside, applicant team learns among actual measurement, is subject in reusable one group ± 5.5 degree of the rotation limit of loose clip mode lower pillar stand
Limitation, such vehicle can meet operating requirements, while can also further improve steering handle 8 and be operated excessively and promptly help
The demand held.
The single-grip type double-wheel self-balancing vehicle appearance configuration diagram of mono- stand column fixing of Fig. 3,6 lower end of figure central post is fixed
On carriage frame 4, vehicle steering handle 8 is to be fixed to laterally swing to turn for operating and controlling vehicle 1 to turn to together with column 6
, the person of riding, which refers to dial one right Hall ring 10-2 of rotating ring 10-1 induction and operate left handle by the right handle of operation, refers to group rotating ring 9-
1 one left Hall ring 9-2 of induction is intended to the steering manipulation for generating angle change signal and the person of riding, then is interrogated via 9-3 and 10-3
Number output line is transferred to the movement that vehicle self-balancing controller executes Vehicular turn, and 22 be that it is internal in detail for a handle interlock
Fine texture is described in detail after holding in Fig. 4, it is to close the left steering handle for lotus root to refer to that dialling rotating ring 9-1 and right turn handle refers to group rotation
Change 10-1 is allowed to form the operation interlocked relationship that a direction of rotation mutually acts synchronization instead, as long as defining described refer to dials rotation
Neutral, the effective output signal region of change and corresponding Hall ring ensures that the same period operates the rotating ring only
One of them can be exported as effective electrical control signal to the electric control system, as described in the interpretation operation person of riding operation
The Vehicular turn of handle is intended to and rate request foundation, achievees the purpose that operate Vehicular turn.By the way of above-mentioned Fig. 3,
A pair is twisted simultaneously using finger on the basis of the handle of fixed not rotation refers to that the dynamic of location handle can be drawn with both hands by dialling rotating ring
It separates and is not interfere with each other in different operation dimension, reach and return the basic function that handle is used to stablize body, it also can be from root
Prevented in sheet the person of riding it is urgent it is flurried under when pullling handle can malfunction handle turn to function and generate the risk that vehicle misses rebellion, plus a left side
Handle 9 and right handle 10 maintain static it is dynamic, handle can be provided at any time from this person's of riding left and right directions abundance holding stablize
Property, in addition, handle is also not a meeting again, which causes malfunction, leads to the parts for turning to fall people cruelly.
Fig. 3-1 is the vehicle traveling course changing control movement block diagram of apparatus of the present invention, it is characterized in that the wherein left and right
Turn to handle output effective signal adjusting control mode be with (application number of invention patent of the People's Republic of China (PRC):
201710194992.X specification) described in real-time default wheel maximum speed discrepancy feasible value turn as the person's of riding real-time control vehicle
To full width, then the scheme for cooperating present application to propose allows the person of riding to adjust the maximum speed of the wheel using the mode of rotation handle
The percent value of poor feasible value, purpose dynamic, in real time limitation the person of riding operate turn to, driving wheel differential maximum value with
Prevent the speed difference of excessive operation, excessively driving wheel so that rough operation is also limited to the default wheel in real time again
Within maximum speed discrepancy feasible value, vehicle is not caused to turn cruelly;Secondly, allowing the person of riding to operate steering handle is gradually increasing from 0-100%
Going to discharge the maximum speed discrepancy feasible value has the function of finely tuning stable turning operation, turns to driving more smooth.
Default wheel maximum speed discrepancy feasible value described above is that the data of a set of multiple groups driving intensity are formulated by factory, is deposited
Storage is used according to the skilled operation degree of self or hobby through User's Interface selection in vehicle control system database for the person of riding,
In addition, it can also be equipped with the process data that the memory person of riding operates Vehicular turn traveling, allow the person of riding that can choose above-mentioned running data
The correspondence speed difference data of the max speed belong to user popular at present and interact participation as the wheel maximum speed discrepancy feasible value
Mechanism, more personalized.The person of riding operates left and right two left and right wheels of the corresponding manipulation of two handles when riding, at this time controller
Provide wheel steering in real time allows maximum speed discrepancy driving value, then risen progressively from 0-100% by amount by the person's of riding swing handle handle
The release wheel driving value.This is that a kind of regulatory means in advance can prevent from turning cruelly in possible trouble, is different from Segway and allows the person of riding
Then free any operation turning velocity reexamines its subsequent preventing means for showing and limiting.Further, this Shen of device
Please case vehicle have resist External force interference driving turn to ability, vehicle meet with bad road conditions and hit no longer cause it is unbalance
The person of riding pulls handle, and accidentally touching turns to function and generate secondary hyperplasia miss damage.
The innovative point of the above this mode is clearly distinguishable from claimed range of the Segway Self-Balancing vehicle in its United States Patent (USP),
From attached drawing Fig.2,3A, 3B, the 3C and 4 of Segway in US9,188,984 B2 license book, and the 5th section of specification
Literary 21st row, which plays, illustrates description as can be seen, Segway proposes that one best turns among 67 rows and the 13rd section of the 57th row of text
It is put into auto control system in vehicles to (speed difference) control program, leaves behind an interface (Fig. 3B #800 yaw grip
Assembly it) allows the person of riding to operate the Hall formula handle that this duplicates with present application, and the person of riding only is allowed to operate output
To " plus-minus of revolving speed speed difference/power tendency intention signal ", this, which is intended to signal, other steering assemblies to be produced with vehicle
Raw " turning to speed difference in real time " (referring to Fig.2, #522/current yaw error) compares to seek " actual turn
To speed difference bid value " (referring to Fig. 2, Yaw Command and Fig.4, #2, yaw velocity error), difference it
It being produced once herein, the person of riding of Segway needs to be completed steering operation with two or more limbs operational motions, and originally
As long as application case twists the movement of handle with one.Difference second is that still maintain in the Vehicular system of Segway before
Old mode allows the person of riding freely to operate the intensity turned to, when Vehicular turn performance does not conform to the speed difference feasible value of Vehicular system according to program
Amendment is forced in operation, and it is the method for preventing from turning cruelly that expection, which can keep the safety for the person of riding, and notice walks level road all also
Fall down people also be to cycle, it is not the control software and hardware for only leaning on vehicle that the balancing safety of Self-Balancing vehicle, which is ridden, and there are also external rings
The influence in border and pavement behavior, the driver behavior mode relationship for especially not riding person individual is even more important, as similar Segway is this
Mode, one, which encounters road conditions or manual operation, assumes driving background reference red line beyond the design of Segway, its manipulation may
It is ineffective to there is deviation.
Fig. 4 is the structural plan of the mechanical coaxial reversing gearbox of apparatus of the present invention, and as shown in the figure coaxial 25 be one
Axis, both ends fixed left fixed handle 9-5 and right fixed handle 10-5 provide the person of riding and stablize strong assurance support, the person's of riding benefit
The left handle with multiple magnetic poles can be rotated with finger and refers to that ring 9-1 and right handle refer to ring 10-1, while being incuded and being corresponded to
The left Hall ring 9-2 and right Hall ring 10-2 in outside generate electrical sensor signal, then defeated by two groups of control signals of 9-3,10-3
The Self-balance Control System that outlet is output to vehicle is gone, and above-described handle, Hall ring and its associated part can be in open cities
Field obtains, it is exactly that the Hall formula being commonly used on electric motor car accelerates handle, and 22-1 is a mechanical coaxial inversion set
It is a kind of design library part editor and reuse commonly used, it is made of left helical gear 9-6, intermediate gear 24 and right helical gear 10-6, described two
On the outside of helical gear and the finger group rotating ring has latch 10-7 lotus root to close synchronous revolving, and such structure just reaches described two refer to and dials
The effect of ring synchronous reversion, operator can two hands contract power output simultaneously, and do not have two hands and turn in the wrong direction to generate and give the electricity of shield
Gas message 24-1 is middle ware spacer ring, and 24-2 is plane grommet.
Fig. 5 is a device handle eletric button formula vertical columns double-wheel self-balancing vehicle appearance configuration diagram, it is characterized in that wherein
One steering interlock be filled on the anticlockwise handle 9-a the left handle eletric button 9-b of an open and close type and
The person of riding is allowed to be intended to and export effective as turning to equipped with the right handle eletric button 10-b of an open and close type on right rotation handle 10-a
The selection of signal, this handle can rotate handle with electric horn using common electric motor car come using to be first by person
The output signal that preferential mode allows the person of riding to select and one of locks described two handles, in case the signal that shield is given in output simultaneously reaches
To interlocking purpose.This mode is although simple and at low cost, but there are the persons of riding when doing the turning of S type, if non-active side
The in due course position of reforming of handle has when enabling other side handle and causes operational empty window or turn to the problem of having some setbacks, remedies
On can install reform standby signal of handle additional and remind the person of riding to correct to solve.
Fig. 6 is the handle structure layout drawing of device decoder, it is characterized in that wherein a steering interlock is
A revolution is driven to decode jointly using one straight grip formula left steering handle 9-a and a straight grip formula right turn handle 10-a
Device inner ring 24-3 operates the effective signal being intended to reach while can only export one group of representative person of riding.As long as the position of decoder
Signal is defined out neutral, left and right wheel using area relative to the relative angle for rotating left and right handle, can allow encoder
Read head 24-4 reads effective signal of described two handles, and steering and the effective output of turning speed intention that the person of riding turns to are given
Self-balancing controller.24-5, which is read head bracket, is fixed to the mono- good position shell 24-7,24-8 for encoder head 24-4
Be its one end race of encoder strip rotating ring have clip tooth 24-6 and left helical gear 9-6 lotus root contract step in coaxial 25 upper rotary because
Device exists there are three helical gear coaxial reversing gearbox, and the person of riding must twist left rotation and right rotation handle 9-a and 10-a simultaneously and could drive
Encoder inner ring 24-3 output signal.
Claims (6)
1. a kind of double-wheel self-balancing vehicle safety means of defence and mechanism, it is characterized in that it includes；One double-wheel self-balancing vehicle its
Be equipped with more than one vehicle frame and column rotation axle center, balance control system, more than one vehicle steering handle, described turn
The column swing shaft rotation in the heart can be fixed on by the column of operation rotation by including one to handle, described flat to drive
Connection component among the control system that weighs exercises upright vehicle balance, straight trip and turns to function, and more than one handle is connected
In the upper end of the column;A handle rotation limiting mechanism, it includes a limited block and a clip movable block, the card
Tug movable block is fixed on the column lower end and synchronizes coaxial rotation, and the limited block is fixed on the vehicle frame;One
Puller, it include an operator interface device near the handle to facilitate the person of riding using its palm, wrist and finger
The operation interface that activity just can operate the puller generates driving mechanical action, and the puller further includes a movement transmitting
Mechanical action of the interface to transmit the puller operation interface generation drives described to the handle rotation limiting mechanism
The activity between clip and loose clip mode position of clip movable block, first can exercise clip function, it is described vertical to reach limitation
Column can only moderately a little on upright neutral position rotation, allow vehicle to keep straight on and possess deflection correction appropriate, described
If the steering handle is accidentally touched or substantially rotation vehicle will not be caused to turn cruelly by External force interference under clip mode, vehicle is still
Appropriate straight trip ability can be kept, loose clip function second can be exercised, the column is allowed to increase the amplitude limitation of rotation, so as to
More strong flexible manipulation driving Vehicular turn turning, while the person of riding self can discover and comes into loose clip and rides mould
Formula, it is necessary to step up vigilance, carefully absorbed ride to ensure safety.
2. a kind of double-wheel self-balancing vehicle safety means of defence according to claim 1 and mechanism, it is characterized in that wherein one
A clip movable block has the shape of gradient, and the appropriate operation puller variation drives mechanical movement range that can generate
The clip amount of separation of consecutive variations pushes the promotion of the steering handle meeting to be simultaneously fixed on described when operation Ackermann steer angle
Clip movable block on column is close to the fixed block, then, just can be obtained continuously by the transformable clip amount of separation
The rotation change in location of unidirectional limitation column, makes the dynamic swing speed of the column and acceleration obtain control.
3. a kind of double-wheel self-balancing vehicle safety means of defence according to claim 1 and mechanism, it is characterized in that it includes；
One double-wheel self-balancing vehicle which is provided with more than one vehicle frame and electric control system, and the electric control system can be according to institute
The real-time space rate and two-wheeled speed difference for stating Self-Balancing vehicle continuously dynamically provide a steering outboard wheels compared to inside
The maximum speed discrepancy feasible value of wheel, the application number of invention patent of the maximum speed discrepancy feasible value such as People's Republic of China (PRC):
201710194992.X real-time wheel maximum speed discrepancy feasible value described in the specification, to the wheel maximum speed discrepancy feasible value
It sets and participates in setting and using the interface determined using user is equipped with;More than one is fixed on the corresponding vehicle frame of the vehicle
Upper and vehicle frame move together but will not rotation vehicle steering handle, the steering handle upper end is equipped with can when being operated rotation
Generate the right turn handle and a left steering handle for turning to electrical control signal, the steering electric-controlled that the handle generates
Signal processed is to give the Self-Balancing vehicle electric control system steered wheel maximum speed feasible value continuous to the dynamic
The ratio output for doing 0 ~ 100% adjusts use;Handle, which turns to signal interlock, one by one can only export institute to the same period
Left and right turn handle one of them effective electrical control signal is stated to the electric control system, is grasped as the interpretation operation person of riding
The Vehicular turn for making the handle is intended to and rate request foundation.
4. a kind of double-wheel self-balancing vehicle safety means of defence and mechanism according to claim 3, it is characterized in that wherein described
It is that a mechanical coaxial reversing gearbox makes to the lotus root conjunction left and right handle that one handle, which turns to signal interlock,
One available both hands palm is mutually twisted and the relationship of direction of rotation opposite action synchronization, the effect mutually twisted using the palm can be promoted
The person of riding holds the stability of handle, and the safety of driving is improved to resist external force to the interference of vehicle and personnel.
5. a kind of double-wheel self-balancing vehicle safety means of defence and mechanism according to claim 3, it is characterized in that wherein described
A handle to turn to signal interlock be that can allow the person of riding respectively with an electrical on-off switch on the left and right handle
Operation starts automatically when the person of riding operates the steerings handle, with the electrical on-off switch that first starts for preferential selection
The output signal that mode locks one of described two handles is preferential effective.
6. a kind of double-wheel self-balancing vehicle safety means of defence and mechanism according to claim 4, it is characterized in that wherein described
A handle to turn to signal interlock be to drive one jointly using one left steering handle and a right turn handle
A rotary encoder operates the effective signal being intended to reach while can only export one group of representative person of riding.
Priority Applications (3)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810766517.XA CN109018134B (en) | 2018-11-09 | 2018-11-09 | Safety protection mechanism for two-wheeled self-balancing vehicle |
| US16/410,482 US10717493B2 (en) | 2018-08-04 | 2019-05-13 | Balancing transporter |
| TW108118260A TWI755600B (en) | 2018-08-04 | 2019-05-27 | Self-balancing bike |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810766517.XA CN109018134B (en) | 2018-11-09 | 2018-11-09 | Safety protection mechanism for two-wheeled self-balancing vehicle |
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| Publication Number | Publication Date |
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| CN109018134A true CN109018134A (en) | 2018-12-18 |
| CN109018134B CN109018134B (en) | 2020-08-11 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201810766517.XA Active CN109018134B (en) | 2018-08-04 | 2018-11-09 | Safety protection mechanism for two-wheeled self-balancing vehicle |
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| Country | Link |
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| CN (1) | CN109018134B (en) |
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