CN109050756A - A kind of Self-Balancing vehicle wheel damping and balance correcting mechanism - Google Patents
A kind of Self-Balancing vehicle wheel damping and balance correcting mechanism Download PDFInfo
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- CN109050756A CN109050756A CN201810881069.8A CN201810881069A CN109050756A CN 109050756 A CN109050756 A CN 109050756A CN 201810881069 A CN201810881069 A CN 201810881069A CN 109050756 A CN109050756 A CN 109050756A
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- wheel
- vehicle
- damping
- balance
- vehicle frame
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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
- B62K11/007—Automatic balancing machines with single main ground engaging wheel or coaxial wheels supporting a rider
-
- 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
- B62K11/02—Frames
-
- 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
- B62K23/00—Rider-operated controls specially adapted for cycles, i.e. means for initiating control operations, e.g. levers, grips
- B62K23/02—Rider-operated controls specially adapted for cycles, i.e. means for initiating control operations, e.g. levers, grips hand actuated
-
- 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
- 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
- B62K5/00—Cycles with handlebars, equipped with three or more main road wheels
- B62K5/01—Motorcycles with four or more wheels
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62K—CYCLES; CYCLE FRAMES; CYCLE STEERING DEVICES; RIDER-OPERATED TERMINAL CONTROLS SPECIALLY ADAPTED FOR CYCLES; CYCLE AXLE SUSPENSIONS; CYCLE SIDE-CARS, FORECARS, OR THE LIKE
- B62K2204/00—Adaptations for driving cycles by electric motor
Abstract
The present invention is a kind of Self-Balancing vehicle wheel damping and balance correcting mechanism, allow vehicle that there is the ability for resisting Uneven road interference, enable vehicle frame and foot pedal shock-absorbing and weighing apparatus of often keeping tie provides one stable carrying platform of the person of riding, also there is a handle not rocked from side to side the person of riding can be supported to prevent unbalance, the stable manipulation driving of posture of riding can be stablized by so not riding person just, if there is contingency, the person of riding can also hold firm handle in last Emergency time and prevent from falling down.Its means is when any side wheel crosses barrier bounce, other side wheel can be affected to make the contrary comparable bounce of amplitude through the balance correcting mechanism, thus allow foot pedal that balance is kept not tilt, again when two-wheeled meets barrier impact simultaneously, it can be acted on through the superposition for balancing correction and spring shock absorption, so that foot pedal is possessed damping capaicty and reduce the excessive disequilibrium of the person's of riding both feet stress impact.
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 technical background 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 is equipped with the foot pedal of the carrying person of riding, and is equipped with upright handle, top bifurcated in front side centre
It is held equipped with handle for the person of riding right-hand man, the steering that handle can swing to operating and controlling vehicle.The two-wheeled of this kind of single-grips
Self-Balancing vehicle actually ride turn to when, it is desired to the person's of riding body gesture and dynamic distribution bipod are puted forth effort to keep the steady of body
Fixed, having stable body lower wall just can allow both hands power output appropriate that power is made to go operating handle is low-keyed to swing, no
Effective driving vehicle driving turning cannot then be stablized, may even happen that vehicle turns cruelly, causes vehicle event of hurting sb.'s feelings.This type
The handle of vehicle is exactly the operating stick of a meeting rotation in fact, cannot provide the stable center of gravity of the person's of riding holding and be used, foot pedal also can
The lame influence person of riding in the left and right mountain peak balance with the fluctuating on road surface, the impression of this kind of vehicle of riding are swung just as not having to hand steered standing falling
On the bus of fluctuating, accidentally will cautiously it dodder along, more like the fore side of a ship at people, what is held is the railing shaken,
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 therefore ", " under External force interference the caused person of riding unbalance and malfunction handle " and " the improper driving of carelessness of not absorbed road conditions " three
It is typical.
Then, the important means of application case is that " balance of vibration damper and carrying platform is mended in two-wheeled Self-Balancing vehicle
Just ", allowing the person of riding to ride unbalance will not can eliminate above-mentioned more than half accident generation.
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, with following features: resist the left-right balance of Uneven road interference carriage frame and cause the person of riding it is unbalance,
There is provided a firm handle support person of riding prevents unbalance and provides vehicle damping shock-absorbing ability.
The present invention be by following technologies in realization, it includes:
A kind of Self-Balancing vehicle wheel damping and balance correcting mechanism, it is characterized in that it includes;One double-wheel self-balancing vehicle is thereon
Equipped with more than one vehicle frame, two or more wheels respectively have axletree thereon;One left double leval jib group and a right side four
Connection rod set, the connection rod set respectively have a left wheel bracket and a right wheel stand, one end point of the wheel stand
It is not connected to the axletree, the left and right double leval jib also each includes two transverse links, the inner end of the transverse link
It is articulated on the vehicle frame respectively, the outboard end of the transverse link, which is pivotally attached to respectively on the wheel stand, forms one group with institute
The symmetrical four-bar linkage structure in vehicle frame center is stated, the power that enters that one of described transverse link is equipped with appropriate torque arm length is pivotally connected
Point;One left damper and a right damper, their one end are articulated in the vehicle frame central part, the other end by corresponding
One for being pivotally attached to the corresponding transverse link respectively enters power pivoting point, invest described left and right double leval jib group one it is appropriate pre-
Pressure is often kept tie the normotopia that weighs with allowing the vehicle frame group;One center linkage group, it is being axially arranged with pre-compressed spring and is upholding limit
Block can generate axial extension when being more than precompressed strength, it can be used as shock-absorbing buffering in two-wheeled stress jacking simultaneously and is used,
The both ends of the center linkage group are pivotally attached to the entering on power pivoting point to connect two groups of double leval jibs of the transverse link respectively
Group becomes the mechanism of a gearing.
A kind of wheel damping and balance its feature of correcting mechanism and purpose exist: providing the damping peace of the balance car
The described wheel of weighing apparatus correction or so uneven bounce makes the vehicle frame often protect horizontal attitude, provides the person's of riding standing of one balance and stability
Platform.
Further, a wheel damping as described above and balance correcting mechanism are it is characterized in that its one of them left damper and one
One end that a right damper is articulated in the vehicle frame central part is interconnected equipped with oil circuit, makes the oil pocket of the left and right damper
As a communicating tube structure, and using the built-in limit of damper as one wheel damping and balance correcting mechanism
System limit to substitute one center linkage group.
Further, a kind of wheel damping of Self-Balancing vehicle and balance correcting 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 two or more wheels respectively have axletree thereon;One left wheel bracket
With a right wheel stand, the axletree that their one end are pivotally connected the respective side makes the parallel juxtaposition of left and right wheels or so, the vehicle
Wheel support further respectively has hydraulic cylinder fixed point and sliding guidance block;One upper left bracket and a right upper bracket, they upper
The sliding guidance block corresponding matching that face is each provided on sliding shoe and the wheel stand is to guide the wheel stand and solid
Fixed wheel thereon complies with the glide direction movement of the sliding guidance block, and the upper bracket is additionally provided with hydraulic cylinder fixed point, and
One vehicle frame tie point is to allow the left and right upper bracket to be fixedly attached to the vehicle frame two sides;One left hydraulic cylinder, and one
Right hydraulic cylinder, they are equipped with cylinder body and built-in piston is isolated the cylinder interior and becomes upper oil cavitie and lower oil cavitie, and the oil pocket is each
Connect corresponding entrance equipped with entrance, being connected to the upper oil cavitie of the left and right hydraulic cylinder becomes a connected component, and
Being connected to the lower oil cavitie of the left and right hydraulic cylinder becomes a connected component, the cylinder body end and tailpiece of the piston rod point of the left and right hydraulic cylinder
Not Gu Dingdao the corresponding upper bracket hydraulic cylinder fixed point and the left and right wheels bracket hydraulic cylinder fixed point;One left bullet
Spring and a right spring, they are played the work of support and shock-absorbing by splitting between the wheel stand and upper bracket of the respective side
With.
The feature of this structure exists: doing support and shock-absorbing using spring, while respectively using lower oil cavitie on two hydraulic cylinders
The effect of an interconnecting piping is formed, the compulsory wheel for making side can force together with its bracket when stress rises or sinks another
Single wheel generates the movement that stress is reciprocity but the direction of motion is opposite together with its bracket, then reaches damping and balance correcting function
So that vehicle frame is often kept tie, function all of a sudden is not shaken in left and right to weighing apparatus.
Further, a kind of wheel damping of Self-Balancing vehicle and balance correcting mechanism, it is characterized in that it includes;One self-balancing
Vehicle which is provided with more than one vehicle frame, and two left wheels and two right wheels respectively have wheel shaft thereon;One left wheel branch
Frame and a right wheel stand, their own inner side end are connected with the vehicle frame, and the other end is pivotally connected the vehicle of the respective side
Wheel shaft makes the parallel juxtaposition of left and right wheels or so, and the wheel stand is also each respectively equipped with a crank connection pivoting point and one
Rocker arm pivoting point;Four cranks, the crank tie point being pivotally attached on the left and right wheels bracket of their one end respectively is in row
The mode of Chinese herbaceous peony straight trip direction correspondence, the open end outwardly of the crank are pivotally attached on the wheel shaft of the left and right wheels, institute
The centre lever ratio appropriate for stating crank is equipped with a discrepancy power pivoting point;One left rocker arm and a right rocker arm, its center
Point is articulated in respectively on the corresponding left and right wheels bracket, and two free ends of the rocker arm are equipped with pivoting point;Four dampings
Device, their being articulated between the pivoting point of rocker arm and the discrepancy power pivoting point of the crank respectively, makes the song
Handle, rocker arm form the continuous action relation of a double leval jib, and the feature of this structure arrangement exists: two arranged before and after vehicle the same side
Wheel can be moved up and down through act on generation damping and the balance correction when vehicle passes through uneven road surface of rocker arm and damper
Function, the function superposition of two sides wheel stand make vehicle frame have damping and Chang Bao or so height and balance stablize riding function.
Further, a kind of Self-Balancing vehicle wheel damping of a such as above-mentioned four wheeled Self-Balancing vehicle and balance correcting mechanism,
It is characterized in that one of right rear wheel and a rear left wheel are pivotally connected by a right rear vehicle fork and a left back fork respectively,
The rear vehicle fork pivoting point is connected on respective rear crank, it is characterized in that when four wheeled Self-Balancing vehicle turning, two
A rear-wheel respective can do axle center with its fork pivoting point, and the direction of the turn direction transformation wheel of ahead running makes four vehicles
The direction collocation of wheel allows vehicle more smoothly to turn.
Detailed description of the invention
Attached drawing 1 is a Self-Balancing vehicle outside drawing of the damping of device link-type and balance mechanism
Attached drawing 1-1 is the structure chart of link-type damping and balance mechanism among Fig. 1
Attached drawing 1-2 is that vehicle shown in FIG. 1 crosses barrier bounce situation schematic diagram
Attached drawing 2 is the structural plan using two damper upper oil cavities of connection
Attached drawing 3 is a Self-Balancing vehicle outside drawing of the damping of device fluid pressure type and balance mechanism
Attached drawing 3-1 is the structural plan of fluid pressure type damping and balance mechanism among Fig. 3
Attached drawing 3-2 is that vehicle shown in Fig. 3 crosses barrier bounce situation schematic diagram
Attached drawing 4 is the Self-Balancing vehicle outside drawing of a device rocker-arm damping and balance mechanism
Attached drawing 4-1 is the schematic diagram that vehicle shown in Fig. 4 crosses obstacle road surface
Attached drawing 4-2 is that vehicle shown in Fig. 4 installs rear vehicle fork schematic diagram additional
Specific embodiment is with reference to the accompanying drawing further described present application.
Attached drawing 1 is a Self-Balancing vehicle outside drawing of the damping of device link-type and balance mechanism, and label 1 as shown in the figure is one
Platform two-wheeled Self-Balancing vehicle, 2 be that vehicle frame allows that the person's of riding foot pedal is arranged thereon, and 8 be that a four link type damping and balance make corrections
Mechanism, structure Fig. 1-2's below illustrates middle detailed description, and right connecting rod group 4 has a right wheel stand 4-1, its middle section
Part is connected with right axletree 3-1, its top is equipped with right handle 10 and right handle 10-1 and operates assurance for the person of riding, and 5 be left
Connection rod set, is also equipped with left wheel bracket 5-1, left handle 9 and left handle 9-1 thereon, and right wheel 6 is parallel with the difference of left wheel 7 simultaneously
Column are articulated on right wheel stand 4-1 and left wheel bracket 5-1, and Fig. 1 is that a whole Self-Balancing vehicle is in upright static
The outside drawing of state.
Attached drawing 1-1 is the structure chart of link-type damping and balance mechanism among Fig. 1, and the first half of vehicle frame 2 is cut in figure
It comes to see internal structure, 8 be a four link type damping and balance correcting mechanism, it includes a right connecting rod group 4,
The right-hand end of vehicle frame 2, right cross are articulated in by right frame inside pivot 4-41 including the right tranverse connecting rod 4-2 of four parallel side-by-sides
The other end of connecting rod 4-2 is then pivotally attached on right wheel stand 4-1, forms the structure of a parallel―ordinal shift, in the another of vehicle frame 2
It holds same device to have left connecting rod group 5, vehicle frame is articulated in by left frame inside pivot 5-41 including four left tranverse connecting rod 5-2
On 2, the other end of left tranverse connecting rod 5-2 is then articulated on left wheel bracket 5-1, forms one and right connecting rod group 4 is corresponding
Parallel―ordinal shift structure, a right connecting rod group 4-2 of bottom is equipped with a upward right side with the appropriate arm of force and goes out in figure
Power pivoting point 4-4, it is connected to one end of a right damper 4-5, and the other end of damper 4-5 is by a right damper pivot
Axis 4-6 is articulated in the middle section of vehicle frame 2, and the four link type damping and balance correcting mechanism further include a left connecting rod group 5, knot
On the contrary, left connecting rod group 5 is including four left tranverse connecting rods with only left and right directions consistent with above-mentioned right connecting rod group 4 is arranged for structure
5-2, two left frame inside pivot 5-41, a left power output pivoting point 5-4, left damper 5-5 are pivotally connected by left damper pivot
At the middle part of vehicle frame 2,11 be that its both ends of center linkage are equipped with right lifting lug 11-3 and left lifting lug 11-4, and two lifting lugs distinguish pivot
It connects on right power output pivoting point 4-4 and left power output pivoting point 5-4, the middle section of center linkage 11 is equipped with one by appropriate precompressed
Spring 11-1 and limited block 11-2, when center linkage 11 is squeezed strength, stress be directed through outer tube chock plug 11-32,
Outer tube 11-31 and left lifting lug flange 11-41 transmitting, because alloing center linkage 11 almost without elastic original part and gap therebetween
The transmitting stress of rigidity, when center linkage 11 is by stretching strength and strength to both ends and being more than the precompression of spring 11-1,
Outer tube chock plug 11-32 can squeeze the bullet limited among outer tube 11-31 by swivel nut 11-23 with gasket 11-22 of the lock in it
Spring 11-1, outer tube chock plug 11-32 can be upheld outward according to stress size, this extension will resist limit up to left lifting lug flange 11-41
Position block 11-2, then, when any side wheel stress is beated upwards squeezes the side double leval jib and damper generation displacement, the position
Shifting amount can be transmitted to the double leval jib of respective side by center linkage and other side wheel is driven to make contrary and strength and bounce
Equal correction movement is measured, being retained the vehicle frame of vehicle often, flat, left and right is not shaken all of a sudden, this puts down vehicle by left and right uneven road surface
Weighing apparatus correction is very helpful, and when two-wheeled is beated by external force upwards simultaneously, center linkage can be upheld in due course allows two wheels
The damper that impact force passes to respective side through the double leval jib of respective side achievees the effect that bumper and absorbing shock.
Fig. 1-2 is that vehicle shown in FIG. 1 crosses barrier bounce situation schematic diagram, as can be seen from the figure when vehicle passes through one
The road surface of an inclination as shown in straight line Lr, because there is the balance Corrective function as described in Fig. 1-1, vehicle frame 2 can be kept
The position parallel with horizontal reference line L, left and right handle 9 and 10 can also keep shape almost parallel with vertical reference line Lv
State, these both contribute to the balance for the person of riding and stable manipulation driving.
Fig. 2 is the structural plan for utilizing two damper upper oil cavities of connection, and the first half of vehicle frame 2 is cut in figure
To see internal component clearly, 12 be an oil circuit board and shock absorber support, and right damper 4-5 and left damper 5-5 are traditional habits
Oleo-gear on bicycle and battery-operated motor cycle, the upper oil cavitie of two dampers is up towards pivot direction in Fig. 2
The axle center oil-through-hole that an oil circuit leads to left and right damper the pivot 4-6 and 5-6 of respective side is got through, then again via oil circuit board 12
Internal oil passages be connected with each other, make two or so dampers upper oil cavitie formed a communicating pipe structure, 13, which are one, commonly uses
Accumulator, also because using connection two damper upper oil cavities structure be arranged such that center shown in Fig. 1-1 company
Bar 11, which can be omitted, not to be had to, then structure as shown in Figure 2, when the damper of any side generates shock absorber piston by compression
When the pivoting point displacement of rod end, all the displacement of equivalent can be penetrated the damping that the communicating pipe oil circuit passes to corresponding side
Device reaches the balance Corrective function that single wheel rises then other side wheel equivalent decline.
Fig. 3 is a Self-Balancing vehicle outside drawing of the damping of device fluid pressure type and balance mechanism, and vehicle frame 2 is in arrow A institute in figure
The part shown is broken away, wherein can see that a right oil damp and correcting mechanism 14,15 is left oil damp and benefit
Positive mechanism.
Fig. 3-1 is the structural plan of fluid pressure type damping and balance mechanism among Fig. 3, the first half of vehicle frame 2 and a left side in figure
The part of wheel stand 5-1 is cut to see internal structure clearly, and left footstock 5-11 and right footstock 4-11 are fixed on vehicle frame 2
Both ends form the main structure of vehicle, the two sides of vehicle frame 2 are equipped with a right oil damp and balance correcting mechanism 14 and one
The contrary and identical left oil damp of structure and balance correcting mechanism 15 are fixed with a right limit on right footstock 4-11
Plunger 4-17 and a right cylinder cover 4-15 and fix two parallel right footstock guide post 4-12, and corresponding is right wheel
The lower end of bracket 4-1 connects a right wheel stand pedestal 4-10, and the two sides of pedestal are equipped with two right bush hole 4-20 slidings and match
The guidance in right footstock guide post 4-12 closed is freely up and down, and a right piston 4-16 is fixed in the middle part of pedestal 4-10
The close cooperation right limit plunger 4-17 of oil and right cylinder set 4-15 form the right oil with upper right oil pocket 4-18 and bottom right oil pocket
Cylinder 4-14 is equipped with a right damping spring in the periphery of right oil cylinder 4-14, it is against right footstock 4-11 and right wheel by precompressed
The effect of shock-absorbing damping is played between bracket base 4-10, and right oil damp described above and balance correcting mechanism are similarly tied
Component is equipped with a left oil damp and balance correcting mechanism 15 in the lower right corner of figure.
Fig. 3-2 is that the vehicle equipped with oil damp and balance correcting mechanism shown in Fig. 3 crosses barrier bounce situation schematic diagram, when
When right wheel crosses barrier stress right wheel stand 4-1 is driven to jack upwards, also drive right wheel stand pedestal 4-10 and solid lock its
On right piston 4-16 synchronize upward jacking, then upper oil cavitie 4-18 is just compressed and oil stream from upper right oil pocket oil outlet 4-
181 transfer out, then are flowed within upper left oil pocket oil outlet 5-181 and upper left oil pocket 5-18 by (not shown) oil circuit, compel
The top of left piston 5-16 isometric equipressure down is stretched, while driving left wheel bracket base 5-10 and a left side of fixed left piston 5-16
Wheel stand 5-1 is pushed up downwardly together to be stretched, and then, has the oil channel structures of this communicating pipe that wheel just can be made to exercise a wheel
Rise another effect that then equivalent declines, reaches the function that balance correction wheel hop often protects vehicle frame left-right balance, as suction
The effect of shake is completed by the left and right damping spring 4-13 and 5-13 being pushed against between footstock and pedestal by precompressed, and 5-191 is
Lower-left oil pocket oil outlet is passed to the bottom right 4-191 oil pocket oil outlet by (not shown) oil circuit, makes under two oil cylinders in left and right
Oil pocket forms the structure of a communicating pipe, and main purpose makes on the side cylinder when preventing a wheel from crossing a pit recessed empty
Reason wheel gravity is not sucked vacuum the phenomenon that causing the wheel to drop suddenly to oil pocket.
Fig. 4 is the Self-Balancing vehicle outside drawing of a device rocker-arm damping and balance mechanism, and 1-1 is one four wheeled from flat
Weigh vehicle, and the part of vehicle frame 2 is broken away it can be seen that there is the vehicle frame keel 2- of connection a left handle 9 and right handle 10 in figure
1, the lower end of left handle 9 is equipped with left crank inboard pivot 9-6 to be pivotally connected left front crank 9-5 and left back crank 9-51, and described two
The outboard end of a crank is respectively pivotally connected corresponding the near front wheel 7-1 and left rear wheel 7-2, is allowed to be in the parallel state in front and back, described two
The middle section of a crank is equipped with the lower end that pivoting point is connected to left damper 9-4, and the upper section of left damper 9-4 is pivotally attached to one respectively
On left rocker arm 9-2, the center left rocker arm 9-2 makes former and later two cranks of the left side, two left sides by the lower end for being connected to left handle 9 is scratched
Damper and left rocker arm form the structure of a double leval jib, and then, crossing when the near front wheel can be equivalent when barrier bounce rises or falls
Bounce and stress pass to left rear wheel in a reverse direction, reach damping and balance correction bounce so that vehicle frame is often retained flat function
Can, the lower end of right handle 10 is such as the link mechanism that left side left handle 9 is typically provided a right side damping and balance makes corrections, 9-7
It is axletree, the right rocker arm of 10-2, the right rocker arm clip mouth of 10-9, the right damper of 10-4,6-1 off-front wheel, 6-2 off hind wheel works as right side
When wheel crosses the bounce of barrier stress, through right handle 10 and its correlate component and can achieve and aforementioned left handle 9 and its associated item
Said function, then, vehicle shown in Fig. 4 make damping and balance correction machine that barrier stress bounce is crossed with left and right and front and back wheel
Can, keep the person's of riding mobility operation more stable and safe, in addition, 9-9 is a left rocker arm clip mouth, and 10-9 is right rocker arm clip mouth,
The link motion that the side will be locked when any one clip mouth is blocked with pin block and cannot be swung, makes the side front and back wheel will not
Two supporting points for moving up and down and forming patch ground can be convenient parking, and one can also be once opened or closed when getting on the bus or getting off
The clip mode of side is come using vehicle, allows to get on or off the bus and when temporary parking stands directly on controlled opening/closing clip and switch on vehicle
Machine is got off calmly again, facilitates many.
Fig. 4-1 is the schematic diagram that vehicle shown in Fig. 4 crosses obstacle road surface, is as can be seen from the figure passed through a Lc in vehicle
It is inclined to be all attached to Lc slope surface for four wheels when gradient road surface, but vehicle frame 2 can still keep less parallel horizontal reference plane L
State, handle shows that vehicle shown in Fig. 4 is crossed and hinders to obtain autobalance correcting mechanism possessed by road surface also close to upright
Function.
Fig. 4-2 is that vehicle shown in Fig. 4 installs rear vehicle fork schematic diagram additional, and left rear wheel 7-2 and off hind wheel 6-2 are respectively by left back fork
Drive-connecting shaft 6-22 pivot joint on 7-21 and right rear vehicle fork 6-21, left and right rear wheel can freely swing on pivot joint axial line, in figure
Two drive-connecting shaft 6-22 pass through again a connector be connected to respective respective side left back crank 9-51 and right rear crank 10-51 it
On, so that rear vehicle fork rear wheel corresponding with it is moved up and down with the swing of rocker arm, in addition, in Ackermann steer angle, two
Rear-wheel meeting adjust automatically wheel direction keeps vehicle turning more smooth.
Claims (5)
1. a kind of wheel damping of Self-Balancing vehicle and balance correcting mechanism, it is characterized in that it includes;One double-wheel self-balancing vehicle
It which is provided with more than one vehicle frame, two or more wheels respectively have axletree thereon;One left double leval jib group and one
Right double leval jib group, the connection rod set respectively have a left wheel bracket and a right wheel stand, and the one of the wheel stand
End is connected respectively to the axletree, and the left and right double leval jib also each includes two transverse links, the transverse link it is interior
Side is articulated in respectively on the vehicle frame, and the outboard end of the transverse link, which is pivotally attached to respectively on the wheel stand, forms one group
With the symmetrical four-bar linkage structure in vehicle frame center, one of described transverse link enters power equipped with appropriate torque arm length
Pivoting point;One left damper and a right damper, their one end are articulated in the vehicle frame central part by corresponding, separately
One end be pivotally attached to the corresponding transverse link respectively one enters power pivoting point, invest the left and right double leval jib group one it is appropriate
Precompression to allow the vehicle frame group often to keep tie the normotopia that weighs;One center linkage group, it is being axially arranged with pre-compressed spring and extension
Limited block can generate axial extension when being more than precompressed strength, it can be used as shock-absorbing in two-wheeled stress jacking simultaneously and buffers it
With the both ends of the center linkage group are pivotally attached to entering for the transverse link respectively and are connected on power pivoting point with connecting described two group four
Bar group becomes the mechanism of a gearing;
One wheel damping and balance its feature of correcting mechanism and purpose are: providing the damping and balance of the balance car
The bounce for described wheel or so unevenness that makes corrections makes the vehicle frame often protect horizontal attitude, and the standing for providing one balance and stability of the person of riding is flat
Platform.
2. a kind of wheel damping of Self-Balancing vehicle and balance correcting mechanism are it is characterized in that: wherein described one according to claim 1
One end that a left damper and a right damper are pivotally connected the vehicle frame central part is interconnected equipped with oil circuit, makes the left side
The oil pocket of right damper becomes a communicating tube structure to substitute one center linkage group.
3. a kind of wheel damping of Self-Balancing vehicle and balance correcting mechanism, it is characterized in that it includes;One double-wheel self-balancing vehicle its
It is equipped with more than one vehicle frame, two or more wheels respectively have axletree thereon;One left wheel bracket and a right side
Wheel stand, the axletree that their one end are pivotally connected the respective side make the parallel juxtaposition of left and right wheels or so, and the wheel stand is also
It is respectively equipped with hydraulic cylinder fixed point and sliding guidance block;One upper left bracket and a right upper bracket, the upper surface of they are respectively set
There is a sliding guidance block corresponding matching on sliding shoe and the wheel stand to guide the wheel stand and to be fixed thereon
Wheel complies with the glide direction movement of the sliding guidance block, and the upper bracket is additionally provided with hydraulic cylinder fixed point, and a vehicle frame
Tie point is to allow the left and right upper bracket to be fixedly attached to the vehicle frame two sides;One left hydraulic cylinder, and a right hydraulic cylinder,
They are equipped with cylinder body and built-in piston is isolated the cylinder interior and becomes upper oil cavitie and lower oil cavitie, and the oil pocket is respectively provided with entrance
Even corresponding entrance, being connected to the upper oil cavitie of the left and right hydraulic cylinder becomes a connected component, and makes the left and right
The lower oil cavitie connection of hydraulic cylinder becomes a connected component, and the cylinder body end and tailpiece of the piston rod of the left and right hydraulic cylinder are respectively fixed to institute
State the hydraulic cylinder fixed point of corresponding upper bracket hydraulic cylinder fixed point and the left and right wheels bracket;One left spring and a right side
Spring, they, which are split, plays the role of support and shock-absorbing between the wheel stand and upper bracket of the respective side；
This structure is characterized in that: being done support and shock-absorbing using spring, while being utilized the respective shape of lower oil cavitie on two hydraulic cylinders
At the effect of an interconnecting piping, the compulsory wheel for making side can force together with its bracket when stress rises or sinks another
Side wheel generates the movement that stress is reciprocity but the direction of motion is opposite together with its bracket, and then reaching damping and balance correcting function makes
Vehicle frame is often kept tie, and function all of a sudden is not shaken in left and right to weighing apparatus.
4. a kind of wheel damping of Self-Balancing vehicle and balance correcting mechanism, it is characterized in that it includes;One Self-Balancing vehicle is set thereon
There is more than one vehicle frame, two left wheels and two right wheels respectively have wheel shaft thereon;One left wheel bracket and one
Right wheel stand, their own inner side end are connected with the vehicle frame, and the axletree that the other end is pivotally connected the respective side makes a left side
The parallel juxtaposition of right wheel or so, the wheel stand are also each respectively equipped with a crank connection pivoting point and a rocker arm pivot joint
Point;Four cranks, the crank tie point being pivotally attached on the left and right wheels bracket of their one end respectively is in straight trip before driving
The open end outwardly of the mode of direction correspondence, the crank is pivotally attached on the wheel shaft of the left and right wheels, the crank
Intermediate lever ratio appropriate is equipped with a discrepancy power pivoting point;One left rocker arm and a right rocker arm, its central point distinguish pivot
It connects on the corresponding left and right wheels bracket, two free ends of the rocker arm are equipped with pivoting point;Four dampers, they divide
It is other to be articulated between the pivoting point of rocker arm and the discrepancy power pivoting point of the crank, make the crank, rocker arm shape
At the continuous action relation of a double leval jib；
This structure arrangement is characterized in that: two wheels arranged before and after vehicle the same side can be through rocker arm and damper
The function for balancing correction for generating damping when passing through uneven road surface and moving up and down is acted on, the superposition function of two sides wheel makes vehicle
The function that there is frame damping and Chang Bao or so height and balance to stablize riding.
5. according to a kind of wheel damping of Self-Balancing vehicle of claim 4 and balance correcting mechanism, it is characterized in that behind one of right side
Wheel and a rear left wheel are pivotally connected by a right rear vehicle fork and a left back fork respectively, and the rear vehicle fork pivoting point connects again
It is connected on respective rear crank.
Priority Applications (5)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010754216.2A CN111846071A (en) | 2018-08-04 | 2018-08-04 | Self-balancing vehicle wheel shock absorption and balance correction mechanism |
| CN201810881069.8A CN109050756B (en) | 2018-08-04 | 2018-08-04 | Self-balancing vehicle wheel shock absorption and balance correction mechanism |
| CN202010754852.5A CN111846072A (en) | 2018-08-04 | 2018-08-04 | Self-balancing vehicle wheel shock absorption and balance correction mechanism |
| 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 |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810881069.8A CN109050756B (en) | 2018-08-04 | 2018-08-04 | Self-balancing vehicle wheel shock absorption and balance correction mechanism |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202010754852.5A Division CN111846072A (en) | 2018-08-04 | 2018-08-04 | Self-balancing vehicle wheel shock absorption and balance correction mechanism |
| CN202010754216.2A Division CN111846071A (en) | 2018-08-04 | 2018-08-04 | Self-balancing vehicle wheel shock absorption and balance correction mechanism |
Publications (2)
| Publication Number | Publication Date |
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| CN109050756A true CN109050756A (en) | 2018-12-21 |
| CN109050756B CN109050756B (en) | 2020-10-16 |
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| CN202010754216.2A Pending CN111846071A (en) | 2018-08-04 | 2018-08-04 | Self-balancing vehicle wheel shock absorption and balance correction mechanism |
| CN201810881069.8A Active CN109050756B (en) | 2018-08-04 | 2018-08-04 | Self-balancing vehicle wheel shock absorption and balance correction mechanism |
| CN202010754852.5A Pending CN111846072A (en) | 2018-08-04 | 2018-08-04 | Self-balancing vehicle wheel shock absorption and balance correction mechanism |
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| CN202010754852.5A Pending CN111846072A (en) | 2018-08-04 | 2018-08-04 | Self-balancing vehicle wheel shock absorption and balance correction mechanism |
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Also Published As
| Publication number | Publication date |
|---|---|
| CN111846071A (en) | 2020-10-30 |
| CN109050756B (en) | 2020-10-16 |
| CN111846072A (en) | 2020-10-30 |
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