CN109203849B - Spherical electric automobile of single self-balancing - Google Patents
Spherical electric automobile of single self-balancing Download PDFInfo
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- CN109203849B CN109203849B CN201811365228.5A CN201811365228A CN109203849B CN 109203849 B CN109203849 B CN 109203849B CN 201811365228 A CN201811365228 A CN 201811365228A CN 109203849 B CN109203849 B CN 109203849B
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- 238000004804 winding Methods 0.000 claims abstract description 28
- 230000001133 acceleration Effects 0.000 claims description 7
- 230000005484 gravity Effects 0.000 claims description 4
- 238000010521 absorption reaction Methods 0.000 claims description 3
- 238000005286 illumination Methods 0.000 claims description 3
- 238000007789 sealing Methods 0.000 claims description 3
- 230000035939 shock Effects 0.000 claims description 3
- 238000000034 method Methods 0.000 description 8
- 238000005265 energy consumption Methods 0.000 description 7
- 238000005516 engineering process Methods 0.000 description 5
- 230000007547 defect Effects 0.000 description 4
- 238000013461 design Methods 0.000 description 4
- 230000007246 mechanism Effects 0.000 description 4
- 238000013016 damping Methods 0.000 description 3
- BGPVFRJUHWVFKM-UHFFFAOYSA-N N1=C2C=CC=CC2=[N+]([O-])C1(CC1)CCC21N=C1C=CC=CC1=[N+]2[O-] Chemical compound N1=C2C=CC=CC2=[N+]([O-])C1(CC1)CCC21N=C1C=CC=CC1=[N+]2[O-] BGPVFRJUHWVFKM-UHFFFAOYSA-N 0.000 description 2
- 238000011161 development Methods 0.000 description 2
- 238000011065 in-situ storage Methods 0.000 description 2
- 239000000463 material Substances 0.000 description 2
- 238000005259 measurement Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 239000002131 composite material Substances 0.000 description 1
- 239000010720 hydraulic oil Substances 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000011160 research Methods 0.000 description 1
- 238000012827 research and development Methods 0.000 description 1
- 238000013519 translation Methods 0.000 description 1
- 230000000007 visual effect Effects 0.000 description 1
- 239000002699 waste material Substances 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60B—VEHICLE WHEELS; CASTORS; AXLES FOR WHEELS OR CASTORS; INCREASING WHEEL ADHESION
- B60B23/00—Attaching rim to wheel body
- B60B23/06—Attaching rim to wheel body by screws, bolts, pins, or clips
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Arrangement Or Mounting Of Propulsion Units For Vehicles (AREA)
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Abstract
The invention discloses a single self-balancing spherical electric automobile, which comprises: the vehicle body is a hollow sphere; the first rim and the second rim are annular and can be rotationally symmetrically arranged on two lateral sides of the vehicle body; the first motor stator and the second motor stator are annular and are respectively arranged in the first rim and the second rim, and inner annular surfaces of the first motor stator and the second motor stator are respectively fixedly connected with the vehicle body; the first motor winding and the second motor winding are annular and are fixedly connected with the outer annular surfaces of the first motor stator and the second motor stator respectively; the first permanent magnet and the second permanent magnet are annular, are fixedly arranged on the inner wall surfaces of the first rim and the second rim respectively, and are arranged opposite to the first motor winding and the second motor winding; when the first motor winding and the second motor winding are electrified, the first rim and the second rim can rotate around the transverse axle center of the vehicle body relative to the vehicle body.
Description
Technical Field
The invention relates to the technical field of vehicles, in particular to a single self-balancing spherical electric automobile.
Background
With the rapid development of social economy and science, the role of automobiles in people's life is more and more important, and is not just a simple transportation means. In recent years, with development of the related art of automobiles, this provides possibilities for various assumptions.
The appearance of the traditional automobile is formed into a template style, which limits innovation of people on the appearance structure of the automobile, and the novel, creative and attractive appearance is easier to attract the attention of most people and is favored by more people. Meanwhile, the traditional common car is generally limited to load less than 7 persons, and adopts a two-shaft four-wheel drive arrangement mode, so that energy consumption is relatively high, and resource waste is caused. When a single person drives the vehicle independently, the energy consumption of the whole vehicle per person is larger. Many two-wheeled vehicles such as bicycles and motorcycles are arranged front and back, so that the stability is poor and the safety problem is easy to occur. In recent years, two-wheel balance cars which are transversely arranged are invented due to the research of motor control technology and balance technology, and the two-wheel balance car has a plurality of advantages, such as being capable of realizing in-situ rotation and random steering, and greatly improving flexibility. But at present, the device is only stopped on a short-distance walking tool or more than one recreation tool, and the requirements of transportation tools are far less than that of the transportation tools. With research and development of independent driving technology of hub motors, the driving arrangement form of the automobile is more flexible. Based on the method, the wheel hub motor driving technology and the self-balancing technology are utilized, the design is novel in appearance of the vehicle body aiming at single-person driving, two-wheel driving is adopted, meanwhile, the vehicle can be truly used as a vehicle, on one hand, the energy consumption during single-person driving is greatly reduced, on the other hand, the limit thinking of the existing design of the appearance of an automobile is broken, and meanwhile, the designed two-wheel vehicle overcomes the defects of poor flexibility and the like of the traditional multi-wheel layout vehicle.
Disclosure of Invention
The invention designs and develops a single self-balancing spherical electric automobile, wherein a first rim and a second rim are rotationally symmetrically arranged on two lateral sides of the automobile body, and the two rims are independently driven, so that the energy consumption of the automobile when a single person drives out can be effectively reduced, the flexibility of the automobile is greatly improved, the defects of the traditional multi-wheel driving arrangement are overcome, and the stability and the safety of the two-wheel automobile are effectively improved.
The technical scheme provided by the invention is as follows:
A single person self-balancing spherical electric vehicle comprising:
The vehicle body is a hollow sphere; and
The first rim and the second rim are annular and can be rotationally symmetrically arranged on two lateral sides of the vehicle body;
the first motor stator and the second motor stator are annular and are respectively arranged in the first rim and the second rim, and inner annular surfaces of the first motor stator and the second motor stator are respectively fixedly connected with the vehicle body;
the first motor winding and the second motor winding are annular and are fixedly connected with the outer annular surfaces of the first motor stator and the second motor stator respectively;
The first permanent magnet and the second permanent magnet are annular, are fixedly arranged on the inner wall surfaces of the first rim and the second rim respectively, and are arranged opposite to the first motor winding and the second motor winding;
When the first motor winding and the second motor winding are electrified, the first rim and the second rim can rotate around the transverse axle center of the vehicle body relative to the vehicle body.
Preferably, the method further comprises:
the first motor controller and the second motor controller are respectively and fixedly connected with the first motor stator and the second motor stator, are respectively and electrically connected with the first motor winding and the second motor winding, and are used for controlling the current magnitude and the current direction of the first motor winding and the second motor winding;
The bosses are symmetrically arranged in the first rim and the second rim respectively and fixedly connected with the vehicle body, and the inner annular surfaces of the first motor stator and the second motor stator are fixedly connected with the bosses;
two wheels provided on the first rim and the second rim, respectively.
Preferably, the method further comprises:
the connecting table is fixedly arranged on the inner wall of the lower part of the vehicle body in the circumferential direction;
the floor is fixedly arranged on the connecting table, is connected with the inner wall of the vehicle body in a sealing way and divides the vehicle body into a first carriage and a second carriage.
Preferably, the method further comprises:
The telescopic hydraulic cylinders are arranged in the second carriage, one ends of the telescopic hydraulic cylinders are respectively hinged with the floor, and the telescopic hydraulic cylinders surround the center of the floor to form a rectangle;
the support blocks are hinged with the other ends of the telescopic hydraulic cylinders respectively;
The plurality of notches are arranged at the bottom of the second carriage and correspond to the supporting blocks one by one;
When parking operation is started, the telescopic rod of the telescopic hydraulic cylinder sequentially stretches out and penetrates through the notch, the supporting block is in contact with the ground, and the parking balance of the vehicle body is supported; when the parking operation is canceled, the telescopic rods of the telescopic hydraulic cylinders are sequentially retracted, and the supporting blocks are retracted in the gaps.
Preferably, the method further comprises:
A driving seat provided in the first compartment and fixedly provided in the floor center;
The control rod is a universal rocker and is arranged on the floor in front of the driving seat;
The whole vehicle controller is arranged behind the driving seat, connected with the control rod, and used for receiving an operation signal of the control rod and controlling the whole vehicle operation;
And the battery pack is fixedly arranged on the floor behind the driving seat and is used for supplying power to the whole vehicle.
Preferably, the method further comprises:
The upper vehicle door is arranged on the vehicle body behind the driving seat, and the upper end of the upper vehicle door is hinged with the vehicle body and can transversely rotate around the vehicle body;
the lower door is arranged on the car body below the upper door, and the lower end of the lower door is hinged with the car body and can transversely rotate around the car body.
Preferably, the vehicle further comprises a first group of vehicle lamps and a second group of vehicle lamps which are annular and symmetrically arranged at two lateral sides of the vehicle body for night illumination.
Preferably, shock absorption layers are respectively arranged between the vehicle body and the first motor stator and between the vehicle body and the second motor stator; the vehicle body is made of high-transparency and high-strength materials.
Preferably, the lower door is provided with a plurality of steps at one side of the inside of the vehicle body, so that a driver can get on and off the vehicle conveniently when the lower door is opened.
Preferably, the method further comprises:
a gyroscope fixedly provided on the driver seat and near a center position of the spherical vehicle body;
A tilt sensor disposed in close proximity to the gyroscope;
An acceleration sensor disposed in close proximity to the tilt sensor;
The gyroscope, the inclination angle sensor and the acceleration sensor can be combined to acquire the gravity center offset of the automobile in real time so as to detect the posture of the automobile body and send the automobile body posture to the whole automobile controller.
The beneficial effects of the invention are as follows:
(1) According to the single self-balancing spherical electric vehicle provided by the invention, the first rim and the second rim are rotationally symmetrically arranged on two lateral sides of the vehicle body, and the two rims are independently driven, so that the energy consumption of the vehicle when a single person drives out can be effectively reduced, the flexibility of the vehicle is greatly improved, the defects of the traditional multi-wheel driving arrangement are overcome, and the stability and the safety of the two-wheel vehicle are effectively improved;
(2) The single self-balancing spherical electric automobile provided by the invention breaks through the traditional thinking constraint of people on the appearance of the automobile, the overall ornamental value of the automobile is greatly improved by the shape of the automobile, and meanwhile, the direction is provided for more creative automobile body appearances and driving arrangement designs.
Drawings
Fig. 1 is a front view of a single person self-balancing spherical automobile according to the present invention.
Fig. 2 is a sectional view A-A of fig. 1.
Fig. 3 is a sectional view of B-B of fig. 2.
Fig. 4 is a partial enlarged view of the B-B sectional view of fig. 2.
Fig. 5 is a rear view of a single person self-balancing spherical automobile according to the present invention.
Fig. 6 is a schematic structural view of a parking mechanism.
Detailed Description
The present invention is described in further detail below with reference to the drawings to enable those skilled in the art to practice the invention by referring to the description.
This invention may be embodied in many different forms and should not be construed as limited to the embodiments set forth herein, but rather should be construed in breadth and scope in accordance with the appended claims. In the drawings, the size and relative sizes of structures and regions may be exaggerated for clarity.
As shown in fig. 1 to 5, the invention provides a novel single self-balancing spherical electric automobile, the main body of which is a spherical automobile body 1 and two wheels 2 symmetrically arranged on two sides of the central symmetry plane of the automobile body. The wheel 2 is annular, wholly encircles in automobile body 1, and wheel 2 sets up on the rim (including first rim and second rim, it is annular, and but rotational symmetry sets up the horizontal both sides of automobile body), and its motor stator 7 (including first motor stator and second motor stator) is annular, sets up in first rim and second rim, cooperatees and utilizes bolt fixed connection with boss 16 (setting in first rim and second rim) that automobile body top and below set up, restriction motor stator's rotation and translation degree of freedom.
The motor rotor part outside the wheel is rotationally connected with the motor stator 7 and the vehicle body 1 through the wheel rim 3, so that the wheels can rotate freely, and the wheels on two sides are completely independent. The lower part of the vehicle body 1 is provided with 4 parking mechanisms, one end of a telescopic hydraulic cylinder 8 is hinged to the bottom of the vehicle body, the other end of the telescopic hydraulic cylinder is hinged to an external supporting block 9, and the supporting block 9 is contacted with the ground during parking to keep the posture of the vehicle body. The vehicle door is positioned at the rear part of the vehicle body 1 and is divided into an upper part 10 and a lower part 14, and the fixed ends of the two parts are both connected with the vehicle body 1 through a hinge so that the vehicle door can rotate around the vehicle body 1. A plurality of car lights 15 are arranged on two sides of the car body, so that the night running capability of the car is guaranteed. The vehicle body is internally provided with an in-vehicle floor 11 which is fixedly connected with a connecting table 19 (the circumference of which is fixedly arranged on the inner wall of the lower part of the vehicle body 1) in a matched manner, and the circumference of which is in airtight connection with the inner wall of the vehicle body, so that the vehicle body is divided into a first carriage and a second carriage. The driver seat 18, the driving control lever 17, the battery box and the vehicle controller 12 are fixedly mounted on the vehicle interior floor 11, and the battery box 12 is fastened to the vehicle interior floor 11 below the seat 18 by bolts. The gyroscope and the tilt acceleration controller 13 are mounted at positions relatively closer to the center of the vehicle body 1 on the rear side of the seat 18.
As shown in fig. 1, the whole vehicle spherical vehicle body 1 adopts a high-transparency and high-strength composite material, fully exerts the characteristics of the appearance of the novel spherical vehicle body, furthest enlarges the visual field of a driver and ensures the driving safety. The front and back of the left side and the right side of the spherical car body 1 are provided with 8 groups of car lights 15, so that the most sufficient illumination can be provided for a driver at night and under the condition of poor light. Only a single driving seat is arranged in the vehicle body, thereby providing convenience for single person driving and traveling and greatly reducing energy consumption. The steering rod is positioned right in front of the steering seat, so that the steering rod is convenient for left and right hands to operate at will, meanwhile, the steering rod adopts a universal rocker, the degree of freedom of the steering rod can be approximately regarded as that the steering rod can move at will in a circular area in a plane, and the direction and the distance of the steering rod deviating from the central position in the circular area determine the running direction and the running speed of the vehicle. The battery box and the vehicle controller 12 are fixedly installed below and behind the driver seat, and in order to lower the center of gravity of the vehicle and ensure the stability of the vehicle, the battery pack should be arranged closer to the floor in the vehicle.
As shown in fig. 2 to 4, two wheels are symmetrically arranged on two sides of a longitudinal center symmetry plane of the vehicle body 1, the wheels 2 integrally encircle the vehicle body 1 and are perpendicular to the ground, and the wheels on two sides are completely independent. The wheel 2 is provided with a tire 2, a rim 3, a permanent magnet 4, a motor winding 5, a motor controller 6, a motor stator 7, a shock absorption layer 20 and a vehicle body 1 from the outermost side to the inner side. The wheel part adopts a driving mode similar to an in-wheel motor, the outer rotor is connected with a wheel rim 3, and the rim 3 is in rotary connection with the vehicle body 1 and can rotate freely. The permanent magnet 4 is fixed on the external rotor (namely the rim), the motor controller 6 (comprising a first motor controller and a second motor controller) controls the motor, the motor stator 7 is fixedly connected with the vehicle body through a fixing boss 16 arranged on the vehicle body by utilizing bolts, the directions of the fixing bosses above and below the vehicle body are opposite, and the rotation freedom degree of the motor stator is effectively limited on the premise of ensuring the installation precision. Since the wheels are directly arranged on the periphery of the vehicle body, in order to reduce vibration caused by driving road conditions, a damping layer is added between the vehicle body 1 and the motor stator 7, and the damping layer is filled with damping rubber materials, so that vibration transmitted from the road surface is reduced. When the motor winding 5 is electrified to generate a magnetic field and the wheels 2 generate rotary motion, power is directly output to the wheels 2, and because the weight of the vehicle body and the inside of the vehicle body is far greater than that of the wheels, the vehicle body 1 and the motor stator 7 fixedly connected with the vehicle body naturally become opposite stators, and the wheels become opposite rotors to rotate around the vehicle body 1 to drive the vehicle to run, the whole vehicle does not have a speed reducing mechanism, and the driving mode and the structure can effectively improve the whole energy utilization rate.
As shown in fig. 2 and 5, the door is located right behind the vehicle body 1, and for the spherical vehicle body, in order to improve the tightness of the whole vehicle body, and simultaneously, to facilitate the driver to get on or off the vehicle, the door is divided into an upper part and a lower part, and the rotating shaft ends of the two parts are connected with the vehicle body 1 by using hinges. When the door is opened, the door upper portion 14 is rotated upward about the door upper hinge point by the motor, and the door lower portion 10 is rotated downward about the lower hinge point. Meanwhile, after the lower part 10 of the vehicle door is opened, the shape of the inner part of the vehicle body is two steps, so that the vehicle can get on or off conveniently. In order to ensure the tightness of the vehicle door and the shape of the vehicle body, the size of the opening at the outer side of the vehicle door should not be smaller than that of the opening at the inner side of the vehicle door.
The parking mechanism shown in fig. 6 is arranged at the bottom of the vehicle body and consists of a telescopic hydraulic cylinder and a supporting block, a cylinder barrel of the telescopic hydraulic cylinder is installed in a space below the vehicle body and the floor in the vehicle and is connected below the floor in the vehicle through a hinge, the end part of a piston rod of the hydraulic cylinder is connected with a supporting block 9 through the hinge, the shape of the supporting block 9 is the same as that of a notch at the lower part of the vehicle body, and the size of the notch at the outer side of the supporting block 9 is not smaller than that of the notch at the inner side in order to ensure the whole attractive appearance and sealing performance of the vehicle body. When a driver leaves or parks for a long time, the parking function is started, hydraulic oil is filled into the four telescopic hydraulic cylinders, and the two-stage piston rods sequentially extend out, so that the four supporting blocks 9 are contacted with the ground, and the parking balance of the vehicle body is supported. When the parking function is canceled, the piston rod of the hydraulic cylinder is retracted to drive the supporting block 9, and finally the supporting block 9 is just recovered at the notch position at the lower part of the vehicle body.
The gyroscope, the inclination angle and the acceleration sensor 13 are fixedly arranged at the rear of the driver seat and relatively close to the center of the spherical vehicle body. The gyro sensor 13 mainly collects the rotational angular velocity of the vehicle body 1, but the vehicle body angle obtained by integrating the measurement signals is extremely prone to generate larger errors, so that the gyro sensor is matched with the inclination sensor, and meanwhile, in order to ensure the measurement accuracy of each sensor to the greatest extent, the gyro sensor is arranged at a position relatively closer to the center of the vehicle body 1, so that noise caused by vibration can be effectively reduced.
The balance of the vehicle body 1 calculates the deviation of the center of gravity of the vehicle body in real time according to the signals acquired by the gyroscope, the inclination angle and the acceleration sensor 13, and sends out control signals to the control of the wheel driving motor so as to keep the dynamic balance of the whole vehicle body 1 at any time. Meanwhile, the direction pointed by the rotating shaft of the rotating object is not changed when the rotating shaft is not influenced by external force, so that the balance and stability of the whole vehicle in the running process are ensured.
The novel single self-balancing spherical electric automobile adopts two wheels 2 on the left side and the right side to independently drive, the driving control of the whole automobile is completed by the driving control lever 17, the output signal of the control lever 17 is collected, the driving direction and the driving speed of the automobile expected by a driver are obtained according to the direction and the distance of the control lever 17 deviating from the central position, the signal is sent to the motor controller, the automobile can finish steering driving in a mode of differentially driving the wheels on the two sides, and meanwhile, the special driving functions such as in-situ rotation, random steering and the like can be realized due to the fact that the whole automobile adopts two independent driving, and any driving instruction output by the control lever 17 can be completely realized. Because the driving power of the whole vehicle and the mass of the whole vehicle are relatively small, the normal running requirement of the vehicle can be met only by adopting electric braking, and the stable and safe running of the vehicle is ensured.
According to the single self-balancing spherical electric vehicle provided by the invention, the first rim and the second rim are rotationally symmetrically arranged on two lateral sides of the vehicle body, and the two rims are independently driven, so that the energy consumption of the vehicle when a single person drives out can be effectively reduced, the flexibility of the vehicle is greatly improved, the defects of the traditional multi-wheel driving arrangement are overcome, and the stability and the safety of the two-wheel vehicle are effectively improved.
Although embodiments of the present invention have been disclosed above, it is not limited to the details and embodiments shown and described, it is well suited to various fields of use for which the invention would be readily apparent to those skilled in the art, and accordingly, the invention is not limited to the specific details and illustrations shown and described herein, without departing from the general concepts defined in the claims and their equivalents.
Claims (7)
1. A single person self-balancing spherical electric vehicle, comprising:
The vehicle body is a hollow sphere; and
The first rim and the second rim are annular and can be rotationally symmetrically arranged on two lateral sides of the vehicle body;
the first motor stator and the second motor stator are annular and are respectively arranged in the first rim and the second rim, and inner annular surfaces of the first motor stator and the second motor stator are respectively fixedly connected with the vehicle body;
The inner annular surfaces of the first motor stator and the second motor stator are fixedly connected with the vehicle body through bolts respectively;
the first motor winding and the second motor winding are annular and are fixedly connected with the outer annular surfaces of the first motor stator and the second motor stator respectively;
The first permanent magnet and the second permanent magnet are annular, are fixedly arranged on the inner wall surfaces of the first rim and the second rim respectively, and are arranged opposite to the first motor winding and the second motor winding;
the connecting table is fixedly arranged on the inner wall of the lower part of the vehicle body in the circumferential direction;
The floor is fixedly arranged on the connecting table, is connected with the inner wall of the vehicle body in a sealing way and divides the vehicle body into a first carriage and a second carriage;
The telescopic hydraulic cylinders are arranged in the second carriage, one ends of the telescopic hydraulic cylinders are respectively hinged with the floor, and the telescopic hydraulic cylinders surround the center of the floor to form a rectangle;
the support blocks are hinged with the other ends of the telescopic hydraulic cylinders respectively;
The plurality of notches are arranged at the bottom of the second carriage and correspond to the supporting blocks one by one;
When the first motor winding and the second motor winding are electrified, the first rim and the second rim can rotate around the transverse axle center of the vehicle body relative to the vehicle body, and shock absorption layers are respectively arranged between the vehicle body and the first motor stator and between the vehicle body and the second electronic stator; when parking operation is started, the telescopic rod of the telescopic hydraulic cylinder sequentially stretches out and penetrates through the notch, the supporting block is in contact with the ground, and the parking balance of the vehicle body is supported; when the parking operation is canceled, the telescopic rods of the telescopic hydraulic cylinders are sequentially retracted, and the supporting blocks are retracted in the gaps.
2. The single person self-balancing spherical electric vehicle of claim 1, further comprising:
the first motor controller and the second motor controller are respectively and fixedly connected with the first motor stator and the second motor stator, are respectively and electrically connected with the first motor winding and the second motor winding, and are used for controlling the current magnitude and the current direction of the first motor winding and the second motor winding;
The bosses are symmetrically arranged in the first rim and the second rim respectively and fixedly connected with the vehicle body, and the inner annular surfaces of the first motor stator and the second motor stator are fixedly connected with the bosses;
two wheels provided on the first rim and the second rim, respectively.
3. The single person self-balancing spherical electric vehicle according to claim 1 or 2, further comprising:
A driving seat provided in the first compartment and fixedly provided in the floor center;
The control rod is a universal rocker and is arranged on the floor in front of the driving seat;
The whole vehicle controller is arranged behind the driving seat, connected with the control rod, and used for receiving an operation signal of the control rod and controlling the whole vehicle operation;
And the battery pack is fixedly arranged on the floor behind the driving seat and is used for supplying power to the whole vehicle.
4. The single person self-balancing spherical electric vehicle of claim 3, further comprising:
The upper vehicle door is arranged on the vehicle body behind the driving seat, and the upper end of the upper vehicle door is hinged with the vehicle body and can transversely rotate around the vehicle body;
the lower door is arranged on the car body below the upper door, and the lower end of the lower door is hinged with the car body and can transversely rotate around the car body.
5. The single person self-balancing spherical electric vehicle of claim 1, 2 or 4, further comprising a first set of lights and a second set of lights that are annular and symmetrically disposed on both lateral sides of the vehicle body for night illumination.
6. The single person self-balancing spherical electric vehicle according to claim 4, wherein the lower door is provided with a multi-stage step on one side of the vehicle body interior, so that a driver can get on and off the vehicle when the lower door is opened.
7. The single person self-balancing spherical electric vehicle of claim 4 or 6, further comprising:
the gyroscope is fixedly arranged at the rear part of the driving seat and is close to the center of the spherical vehicle body;
A tilt sensor disposed in close proximity to the gyroscope;
An acceleration sensor disposed in close proximity to the tilt sensor;
The gyroscope, the inclination angle sensor and the acceleration sensor can be combined to acquire the gravity center offset of the automobile in real time so as to detect the posture of the automobile body and send the automobile body posture to the whole automobile controller.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811365228.5A CN109203849B (en) | 2018-11-16 | 2018-11-16 | Spherical electric automobile of single self-balancing |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811365228.5A CN109203849B (en) | 2018-11-16 | 2018-11-16 | Spherical electric automobile of single self-balancing |
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| Publication Number | Publication Date |
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| CN109203849A CN109203849A (en) | 2019-01-15 |
| CN109203849B true CN109203849B (en) | 2024-07-30 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201811365228.5A Active CN109203849B (en) | 2018-11-16 | 2018-11-16 | Spherical electric automobile of single self-balancing |
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| CN209096382U (en) * | 2018-11-16 | 2019-07-12 | 吉林大学 | A kind of single self-balancing spherical shape electric car |
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| US5503464A (en) * | 1994-10-12 | 1996-04-02 | Collura; John A. | Self-balancing wheel for motorized vehicles |
| CN201516898U (en) * | 2009-08-25 | 2010-06-30 | 浙江吉利控股集团有限公司 | Single solar energy electric motor car |
| CN103085916A (en) * | 2011-10-27 | 2013-05-08 | 许文彬 | Spherical wheelbarrow started and controlled by aid of gravity |
| CN105711703A (en) * | 2016-01-26 | 2016-06-29 | 骆军 | Electric balance car |
| CN206437134U (en) * | 2017-01-19 | 2017-08-25 | 张奎奎 | A kind of cross-country thinking car of double-wheel self-balancing |
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2018
- 2018-11-16 CN CN201811365228.5A patent/CN109203849B/en active Active
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN201058642Y (en) * | 2007-06-26 | 2008-05-14 | 傅德龙 | Carting recreation car |
| CN202337301U (en) * | 2010-12-02 | 2012-07-18 | 吴尚桦 | Parking supporting structure of fire engine |
| CN104201854A (en) * | 2014-09-18 | 2014-12-10 | 同济大学 | Electromagnetic structure of vehicular external-rotor radial-magnetic-field permanent magnet synchronous in-wheel motor |
| CN209096382U (en) * | 2018-11-16 | 2019-07-12 | 吉林大学 | A kind of single self-balancing spherical shape electric car |
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| CN109203849A (en) | 2019-01-15 |
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