CN110171519A - The anti-twisted dynamical system of bi-motor, control system and Self-Balancing vehicle - Google Patents
The anti-twisted dynamical system of bi-motor, control system and Self-Balancing vehicle Download PDFInfo
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- CN110171519A CN110171519A CN201910456293.7A CN201910456293A CN110171519A CN 110171519 A CN110171519 A CN 110171519A CN 201910456293 A CN201910456293 A CN 201910456293A CN 110171519 A CN110171519 A CN 110171519A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62K—CYCLES; CYCLE FRAMES; CYCLE STEERING DEVICES; RIDER-OPERATED TERMINAL CONTROLS SPECIALLY ADAPTED FOR CYCLES; CYCLE AXLE SUSPENSIONS; CYCLE SIDE-CARS, FORECARS, OR THE LIKE
- B62K11/00—Motorcycles, engine-assisted cycles or motor scooters with one or two wheels
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- B60K1/00—Arrangement or mounting of electrical propulsion units
- B60K1/02—Arrangement or mounting of electrical propulsion units comprising more than one electric motor
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- B60K17/00—Arrangement or mounting of transmissions in vehicles
- B60K17/04—Arrangement or mounting of transmissions in vehicles characterised by arrangement, location, or kind of gearing
- B60K17/12—Arrangement or mounting of transmissions in vehicles characterised by arrangement, location, or kind of gearing of electric gearing
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L15/00—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles
- B60L15/20—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62M—RIDER PROPULSION OF WHEELED VEHICLES OR SLEDGES; POWERED PROPULSION OF SLEDGES OR SINGLE-TRACK CYCLES; TRANSMISSIONS SPECIALLY ADAPTED FOR SUCH VEHICLES
- B62M19/00—Transmissions characterised by use of non-mechanical gearing, e.g. fluid gearing
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62M—RIDER PROPULSION OF WHEELED VEHICLES OR SLEDGES; POWERED PROPULSION OF SLEDGES OR SINGLE-TRACK CYCLES; TRANSMISSIONS SPECIALLY ADAPTED FOR SUCH VEHICLES
- B62M6/00—Rider propulsion of wheeled vehicles with additional source of power, e.g. combustion engine or electric motor
- B62M6/40—Rider propelled cycles with auxiliary electric motor
- B62M6/45—Control or actuating devices therefor
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/72—Electric energy management in electromobility
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Transportation (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Power Engineering (AREA)
- Electric Propulsion And Braking For Vehicles (AREA)
- Connection Of Motors, Electrical Generators, Mechanical Devices, And The Like (AREA)
Abstract
It includes: the rotary power component being mounted on vehicle frame, power output shaft, the linear converting system of anti-twisted/power, battery that the present invention, which discloses a kind of anti-twisted dynamical system of the laterally stable bi-motor of Self-Balancing vehicle, Self-Balancing vehicle control system and Self-Balancing vehicle, the anti-twisted dynamical system of bi-motor,；Rotary power component includes: electric machine controller, a pair of anti-twisted/power motor, anti-twisted/power motor is connect with battery by electric machine controller, anti-twisted/power motor is drivingly connected by power output shaft and the linear converting system of anti-twisted/power, for exporting anti-twisted power and/or power；The linear converting system of anti-twisted/power for controlling anti-twisted/power motor output anti-twisted power and/or power, and passes through transmission system for the wheel of the power transmission of anti-twisted/power motor output to Self-Balancing vehicle.Cooperate the linear converting system of anti-twisted/power in such a way that anti-twisted motor is two-in-one with power motor as a result, reduces the cost of Self-Balancing vehicle, and reduce space hold and energy consumption.
Description
Technical field
The present invention relates to balance car technical field, in particular to the anti-twisted power of a kind of laterally stable bi-motor of Self-Balancing vehicle
System, Self-Balancing vehicle control system and Self-Balancing vehicle.
Background technique
Existing Self-Balancing vehicle keeps stable mode mainly to have following three kinds:
1, reach balance using centre of gravity adjustment mode；
2, direction is kept to stablize using gyro high-speed rotating built in vehicle body；
3, anti-twisted power is provided using independent anti-twisted motor to keep stable.
Above-mentioned three kinds of modes have the following deficiencies:
Wherein, it keeps vehicle body to stablize when centre of gravity adjustment mode is similar to cycling by body swing, adjusts
Whole ability is very limited, cannot fight biggish external disturbance.
For keeping stable by high-speed rotating gyro, need gyro itself that there is sufficiently large quality and sufficiently high
Kinetic energy, that is, sufficiently high revolving speed could provide sufficiently large vehicle body stabilizing power.And this means that needs are very big
Additional weight, volume and additional energy consumption, increase additional cost.
And keep balancing by anti-twisted power, independent anti-twisted motor is needed, keeps the size of equilibrant force with anti-twisted motor
Power have much relations, additional powerful anti-twisted motor means additional very high cost, additional weight, volume
And additional energy consumption.
Summary of the invention
The main object of the present invention is to propose a kind of anti-twisted dynamical system of the laterally stable bi-motor of Self-Balancing vehicle, self-balancing
Vehicle control and Self-Balancing vehicle, it is intended to reduce the cost of Self-Balancing vehicle, reduce space hold and energy consumption.
To achieve the above object, the present invention provides a kind of anti-twisted dynamical system of the laterally stable bi-motor of Self-Balancing vehicle,
The Self-Balancing vehicle includes vehicle frame and wheel, and the anti-twisted dynamical system of bi-motor includes: the rotation being mounted on the vehicle frame
Power Component, power output shaft, the linear converting system of anti-twisted/power, battery；Wherein:
The rotary power component includes: a pair of anti-twisted/power motor and electric machine controller, the anti-twisted/power electric
Machine is connect with the battery by the electric machine controller, the anti-twisted/power motor by the power output shaft with it is described
The linear converting system of anti-twisted/power is drivingly connected, for exporting anti-twisted power and/or power；
The linear converting system of anti-twisted/power, for controlling the anti-twisted/power motor output anti-twisted power and/or moving
Power, and pass through transmission system for the wheel of the power transmission of anti-twisted/power motor output to the Self-Balancing vehicle.
Optionally, the power output shaft includes: concentric shafts and two first biographies for being set in described concentric shafts one end
Moving gear, the concentric shafts include inner shaft and the hollow outer shaft that is set in inner shaft, and the inner shaft and outer shaft can by bearing
Rotation connection, one of them is set in one end of the inner shaft with described two first transmission gears, another is set in described outer
One end of axis, described two first transmission gears are respectively corresponded through two the second transmission gears and two anti-twisted/power motors
It is drivingly connected, described two second transmission gears are respectively sleeved on the motor shaft of described two anti-twisted/power motors；It is described same
The other end of mandrel and the linear converting system of the anti-twisted/power are drivingly connected.
Optionally, the pair of anti-twisted/power motor is mounted side by side, and the stator of the pair of anti-twisted/power motor with
Electric machine controller and battery are fixed together.
Optionally, the rotary power component further include: headstock, the pair of anti-twisted/power motor and power output
Axis is mounted in the headstock, and the battery compartment for accommodating the battery is additionally provided in the headstock；One end of the headstock
It is connected by shaft and vehicle frame rotation, the other end is rotatably connected by the outer shaft of bearing and concentric shafts, so that the rotation
Rotatory force component can integrally rotate freely on vehicle frame around the power output shaft.
Optionally, the shaft is hollow shaft, conducting slip ring built in the hollow shaft, to supply to other component on vehicle frame
Electricity.
Optionally, the linear converting system of anti-twisted/power includes: power Transfer Gearbox, and setting is described dynamic
Power transaxle, power transmission output shaft, power output cone tooth and two power conversion cone teeth in power Transfer Gearbox,
In:
The power Transfer Gearbox is fixedly connected with the vehicle frame；
The inner shaft of the power transaxle and the concentric shafts is coaxially disposed, and be drivingly connected with one end of the inner shaft or
Person is wholely set with the inner shaft；
Described two power conversion cone one of them outer shaft for being set in the concentric shafts of tooth are located at the power conversion tooth
The other end in roller box, another is set on the power transaxle；
The power transmission output shaft is vertically arranged with the power transaxle, and is arranged with the power output cone tooth,
The power output cone tooth is placed between described two power conversion cone teeth, and is converted cone tooth transmission with described two power and connected
It connects；The power transmission output shaft is equipped with power output wheel, the power output wheel far from one end of power output cone tooth
The wheel that the Self-Balancing vehicle is connected by the transmission system, by the power transmission of the anti-twisted/power motor output to institute
State the wheel of Self-Balancing vehicle.
Optionally, the linear converting system of anti-twisted/power is also used to when the balance car needs full power to export,
Two anti-twisted/power motors of control are reversely rotated with identical output power, and output anti-twisted power offsets each other, rotary power group
Part relative frame is static, and power all passes through power output shaft and is transferred to power Transfer Gearbox；It is needed in the balance car dynamic
When power is also required to anti-twisted power holding balance, the described anti-twisted/power motors of control two generate difference powers, and the anti-twisted power of generation is different
It causes, it is poor to form anti-twisted power, so that rotary power component relative frame rotates, to provide the amendment anti-twisted power that vehicle body needs；?
When the balance car only needs anti-twisted power, two anti-twisted/power motor rotating Vortexes, the anti-twisted power direction phase of generation are controlled
Together, on the contrary, stopping operating, unpowered output, rotary power component relative frame rotates power output shaft stress, and power is used completely
In anti-twisted.
The embodiment of the present invention also proposes a kind of Self-Balancing vehicle control system, and the Self-Balancing vehicle includes vehicle frame and wheel, institute
Stating Self-Balancing vehicle control system includes: the anti-twisted dynamical system of bi-motor, transmission system and the vehicle body being mounted on the vehicle frame
Attitude detection system, in which:
The anti-twisted dynamical system of bi-motor is the anti-twisted dynamical system of the laterally stable bi-motor of Self-Balancing vehicle as described above
System；
The transmission system is connect with the linear converting system of the anti-twisted/power and wheel drive respectively, and being used for will be described
It is anti-twisted/power motor output power transmission to the Self-Balancing vehicle wheel；
The body gesture detection system is connect with the linear converting system of anti-twisted/power, for described in real-time detection
The vehicle body lateral attitude of Self-Balancing vehicle, when the vehicle body lateral attitude for detecting the Self-Balancing vehicle reaches default flipping gesture,
Start the linear converting system of anti-twisted/power, it is opposite with the vehicle body lateral attitude to control the anti-twisted/power motor output
Anti-twisted power, vehicle body is retracted into equilibrium state.
Optionally, the transmission system is belt drive system or chain transmission system or shaft transmission system；It is described
Self-Balancing vehicle control system further includes shell, and the anti-twisted dynamical system of the bi-motor and body gesture detection system are mounted on institute
It states in shell, the shell is fixed on the vehicle frame.
The present embodiment also proposes a kind of Self-Balancing vehicle, including vehicle frame, wheel and Self-Balancing vehicle as described above control system
System.
The anti-twisted dynamical system of the laterally stable bi-motor of Self-Balancing vehicle of proposition of the embodiment of the present invention, Self-Balancing vehicle control system
System and Self-Balancing vehicle, by the way that the rotary power component, the power output shaft, anti-twisted/power linear transformation that are mounted on vehicle frame is arranged
System, battery；Wherein: the rotary power component includes: a pair of anti-twisted/power motor and electric machine controller, described anti-
Torsion/power motor is connect with the battery by the electric machine controller, and the anti-twisted/power motor passes through the power output
Axis and the linear converting system of the anti-twisted/power are drivingly connected, for exporting anti-twisted power and/or power；Anti-twisted/the power line
Property converting system, for controlling anti-twisted/power motor output anti-twisted power and/or power, and will be described by transmission system
The power transmission of anti-twisted/power motor output uses anti-twisted motor with power motor two as a result, to the wheel of the Self-Balancing vehicle
The mode of unification cooperates the linear converting system of anti-twisted/power, reduces the cost of Self-Balancing vehicle, and reduces space hold and subtract
Small energy consumption；Further, it is also possible to realize the automatic control of Self-Balancing vehicle in conjunction with transmission system and body gesture detection system
System.
Detailed description of the invention
In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, to embodiment or will show below
There is attached drawing needed in technical description to be briefly described, it should be apparent that, the accompanying drawings in the following description is only this
Some embodiments of invention for those of ordinary skill in the art without creative efforts, can be with
The structure shown according to these attached drawings obtains other attached drawings.
Fig. 1 is the structural schematic diagram of Self-Balancing vehicle embodiment provided by the invention；
Fig. 2 is the anti-twisted power system architecture schematic diagram of bi-motor of the embodiment of the present invention；
Fig. 3 is another structural schematic diagram of the anti-twisted dynamical system of bi-motor of the embodiment of the present invention.
Drawing reference numeral explanation:
The embodiments will be further described with reference to the accompanying drawings for the realization, the function and the advantages of the object of the present invention.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that described embodiment is only a part of the embodiments of the present invention, instead of all the embodiments.Base
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts it is all its
His embodiment, shall fall within the protection scope of the present invention.
It is to be appreciated that if relating to directionality instruction (such as up, down, left, right, before and after ...) in the embodiment of the present invention,
Then directionality instruction be only used for explain under a certain particular pose (as shown in the picture) between each component relative positional relationship,
Motion conditions etc., if the particular pose changes, directionality instruction is also correspondingly changed correspondingly.
In addition, being somebody's turn to do " first ", " second " etc. if relating to the description of " first ", " second " etc. in the embodiment of the present invention
Description be used for description purposes only, be not understood to indicate or imply its relative importance or implicitly indicate indicated skill
The quantity of art feature." first " is defined as a result, the feature of " second " can explicitly or implicitly include at least one spy
Sign.In addition, the meaning of the "and/or" occurred in full text, including three schemes arranged side by side, by taking " A and/or B " as an example, including the side A
The scheme that case or B scheme or A and B meet simultaneously.In addition, the technical solution between each embodiment can be combined with each other, but
To be based on can be realized by those of ordinary skill in the art, when the combination of technical solution occur it is conflicting or can not
Will be understood that the combination of this technical solution is not present when realization, also not the present invention claims protection scope within.
Specifically, Fig. 1 and Fig. 2 is please referred to, the embodiment of the present invention provides a kind of Self-Balancing vehicle 10 laterally stable bi-motor
Anti-twisted dynamical system, the Self-Balancing vehicle 10 can be double-wheel self-balancing vehicle 10, such as two-wheeled cycle, two-wheeled motor vehicle etc..
This embodiment scheme mainly realizes the lateral stability control to double-wheel self-balancing vehicle 10.
The Self-Balancing vehicle 10 includes vehicle frame 1 and wheel 2, and the wheel 2 includes front wheels and rear wheels.
The anti-twisted dynamical system of bi-motor includes: the rotary power component 11 being mounted on the vehicle frame 1, power output
The linear converting system 5 of axis 12, anti-twisted/power, battery 4；Wherein:
The rotary power component 11 includes: a pair of anti-twisted/power motor 3 and electric machine controller, described anti-twisted/dynamic
Force motor 3 is connect with the battery 4 by electric machine controller, the anti-twisted/power motor 3 by the power output shaft 12 with
The linear converting system 5 of anti-twisted/power is drivingly connected, for exporting anti-twisted power and/or power；
The linear converting system 5 of anti-twisted/power, for control it is described it is anti-twisted/power motor 3 export anti-twisted power and/or
Power, and the anti-twisted power that is exported the anti-twisted/power motor 3 by transmission system 6 and/or power transmission are to the self-balancing
The wheel 2 of vehicle 10.Wherein, the transmission system 6 is sequentially connected with the linear converting system 5 of anti-twisted/power and wheel 2 respectively, uses
In the wheel 2 of the anti-twisted power and/or power transmission for exporting the anti-twisted/power motor 3 to the Self-Balancing vehicle 10；This implementation
In example, the transmission system 6 is connect with the rear wheel drive.
Through the above scheme, rotary power component 11, the power being mounted on vehicle frame 1 especially by setting are defeated for the present embodiment
The linear converting system 5 of shaft 12, anti-twisted/power, battery 4；Wherein: the rotary power component 11 includes: a pair of anti-twisted/power
Motor 3 and electric machine controller, the anti-twisted/power motor 3 is connect with the battery 4 by the electric machine controller, described
Anti-twisted/power motor 3 is drivingly connected by the power output shaft 12 and the linear converting system 5 of the anti-twisted/power, for defeated
Anti-twisted power and/or power out；The linear converting system 5 of anti-twisted/power exports instead for controlling the anti-twisted/power motor 3
Torsion and/or power, and the power transmission exported the anti-twisted/power motor 3 by transmission system 6 is to the Self-Balancing vehicle
10 wheel 2 cooperates the linear converting system 5 of anti-twisted/power in such a way that anti-twisted motor is two-in-one with power motor as a result,
The cost of Self-Balancing vehicle 10 is reduced, and reduces space hold and reduces energy consumption；Further, it is also possible in conjunction with transmission system
6 and body gesture detection system 7, realize the automatic control of Self-Balancing vehicle 10.
Specifically, as an implementation, in the present embodiment, the anti-twisted/power motor 3 includes: 31 He of stator
With the stator 31 cooperation rotor 32, the transmission system 6 respectively with the linear converting system 5 of the anti-twisted/power and wheel 2
It is sequentially connected, the wheel 2 of the power transmission for exporting the anti-twisted/power motor 3 to the Self-Balancing vehicle 10.
The stator 31 is fixed on the vehicle frame 1 together with the battery 4 and electric machine controller.As a result, by it is anti-twisted/
The stator 31 of power motor 3 and the accessory of the larger quality of others of 10 vehicle body of Self-Balancing vehicle (it is very big to account for vehicle body in the present embodiment
The battery 44 of weight) it is fixed together to provide sufficiently large quality, the linear converting system 5 of anti-twisted/power is being needed
This part is allowed to rotate freely when wanting.
Wherein, the linear converting system 5 of the anti-twisted/power controls anti-twisted/power motor 3 and exports anti-twisted power and/or power
Principle it is as follows:
When the balance car needs full power to export, the linear converting system 5 of anti-twisted/power is controlled described in two
Anti-twisted/power motor 3 is offset each other with the reverse rotation of identical output power, output anti-twisted power, and rotary power component 11 is with respect to vehicle
Frame 1 is static, and power all passes through power output shaft 12 and is transferred to power Transfer Gearbox 18；
When the balance car needs power to be also required to anti-twisted power holding balance, the linear converting system of anti-twisted/power
5, the described anti-twisted/power motor 3 of control two generates difference power, and the anti-twisted power of generation is inconsistent, it is poor to form anti-twisted power, so that revolving
11 relative frame 1 of rotatory force component rotation, to provide the amendment anti-twisted power that vehicle body needs；
When the balance car only needs anti-twisted power, linear the control of converting system 5 two of the anti-twisted/power is described anti-
The anti-twisted power direction of 3 rotating Vortex of torsion/power motor, generation is identical, and 12 stress of power output shaft is on the contrary, stop operating, without dynamic
Power output, the rotation of 11 relative frame 1 of rotary power component, power is entirely used for anti-twisted.
As shown in Fig. 2, in the present embodiment, the power output shaft 12 includes: concentric shafts 13 and is set in described same
Two first transmission gears 14 of 13 one end of mandrel, the concentric shafts 13 include inner shaft and are set in hollow outer in inner shaft
Axis, the inner shaft and outer shaft are rotatably connected by bearing, described two first transmission gears 14 one of them be set in it is described
One end of inner shaft, another is set in one end of the outer shaft, and described two first transmission gears 14 are respectively corresponded by two
Second transmission gear 15 and two anti-twisted/power motors 3 are drivingly connected, and described two second transmission gears 15 are respectively sleeved at institute
On the motor shaft 30 for stating two anti-twisted/power motors 3；The other end of the concentric shafts 13 and the anti-twisted/power linear transformation
System 5 is drivingly connected.
The pair of anti-twisted/power motor 3 is mounted side by side, and the stator 31 of the pair of anti-twisted/power motor 3 with it is described
Battery 4 is fixed together.
Further, the rotary power component 11 further include: headstock 16, the pair of anti-twisted/power motor 3 and dynamic
Power output shaft 12 is mounted in the headstock 16, and the battery compartment 17 for accommodating the battery 4 is additionally provided in the headstock 16；Institute
The one end for stating headstock 16 is connected by shaft and the vehicle frame 1 rotation, and the other end can be revolved by the outer shaft of bearing and concentric shafts
Turn connection, so that the rotary power component 11 is whole to be rotated freely on vehicle frame 1 around the power output shaft 12.
Wherein, the shaft is hollow shaft, conducting slip ring built in the hollow shaft, to supply to other component on vehicle frame 1
Electricity and communication (including body gesture detection system 7).
The linear converting system 5 of anti-twisted/power includes: power Transfer Gearbox 18, and setting turns in the power
Power transaxle 19, power transmission output shaft 20, power output cone tooth 22 and two power conversion cone teeth in gear changing case 18
21, in which:
The power Transfer Gearbox 18 is fixedly connected with the vehicle frame 1；
The power transaxle 19 and the inner shaft of the concentric shafts are coaxially disposed, and are drivingly connected with one end of the inner shaft
Or it is wholely set with the inner shaft, and be rotatably connected by bearing with the power Transfer Gearbox 18；
Described two power conversion cone one of them outer shaft for being set in the concentric shafts of tooth 18 are located at power conversion
The other end in gear-box 18, another is set on the power transaxle 19.
The power transmission output shaft 20 is vertically arranged with the power transaxle 19, and is arranged with power output cone tooth
22, the power output cone tooth 22 is placed between described two power conversion cone teeth 21, and converts cone tooth with described two power
21 transmission connections；The power transmission output shaft 20 is equipped with power output wheel 23 far from one end of power output cone tooth 22,
The power output wheel 23 connects the wheel 2 of the Self-Balancing vehicle 10 by the transmission system 6, by the anti-twisted/power electric
Machine 3 export power transmission to the Self-Balancing vehicle 10 wheel 2.
After the power transmission of concentric shafts 13 to power Transfer Gearbox 18, power is driven by two power conversion cone teeth 21
Output bevel gear 22 is converted into the rotation with 1290 degree of directions of power output shaft.It links together with power output cone tooth 22 dynamic
Power output wheel 23 transmits power to the rear drive sprocket i.e. rear-wheel of balance car by belt or the transmission of chain or axis again；Power
Transfer Gearbox 18 is fixed with car body, other similar mechanical structures that identical power conversion purpose may be implemented are also suitable.
The present embodiment is converted by power realizes that the laterally stable principle of balance car is as follows:
Rotary power component 11 as a whole, bi-motor (i.e. anti-twisted/power motor 3) reversely rotate, generation it is anti-
Torsion is opposite.
When needing full power to export, bi-motor output power is consistent, and rotation speed is consistent, the anti-twisted power one of generation
It causes, the anti-twisted power of bi-motor offsets each other, and 11 relative frame 1 of rotary power component is static, and power all passes through concentric shafts 13 and passes
It is defeated to arrive power Transfer Gearbox 18.
When needing power to be also required to anti-twisted power holding balance, bi-motor generates difference power, and the anti-twisted power of generation is not
Unanimously, it is poor to form anti-twisted power, so that rotary power component 11 is rotated relative to vehicle body, to provide the anti-twisted of amendment vehicle body needs
Power.
When only needing anti-twisted power, the anti-twisted power direction of bi-motor rotating Vortex, generation is identical, power output shaft 12
Stress is on the contrary, stop operating, and unpowered output, rotary power component 11 is rotated relative to vehicle body at this time, and power is almost used for
It is anti-twisted.
The body gesture detection system 7 being fixedly mounted on cooperation vehicle, to control the double-motor power of rotary power component 11
Output, generates different anti-twisted powers, and the lateral balance of vehicle body can be kept while keeping normal vehicle operation/static.
In addition, in conjunction with shown in Fig. 1 and Fig. 2, the embodiment of the present invention also proposes a kind of 10 control system of Self-Balancing vehicle, it is described from
Balance car 10 includes vehicle frame 1 and wheel 2, and 10 control system of Self-Balancing vehicle includes: the bi-motor being mounted on the vehicle frame 1
Anti-twisted dynamical system, transmission system 6 and body gesture detection system 7, in which:
The anti-twisted dynamical system of bi-motor is the 10 anti-twisted power of laterally stable bi-motor of Self-Balancing vehicle as described above
System；
The transmission system 6 is sequentially connected with the linear converting system 5 of the anti-twisted/power and wheel 2 respectively, and being used for will
It is described it is anti-twisted/power motor 3 export power transmission to the Self-Balancing vehicle 10 wheel 2；
The body gesture detection system 7 is connect with the linear converting system 5 of the anti-twisted/power, is used for real-time detection institute
The vehicle body lateral attitude for stating Self-Balancing vehicle 10 presets overturning appearance detecting that the vehicle body lateral attitude of the Self-Balancing vehicle 10 reaches
When state, start the linear converting system 5 of anti-twisted/power, controls the anti-twisted/output of power motor 3 and the vehicle body is lateral
The opposite anti-twisted power of posture, retracts equilibrium state for vehicle body.
As an implementation, the transmission system 6 can for belt drive system 6 or chain transmission system 6 or
Person's shaft transmission system 6 (as shown in Figure 3), certainly, the present invention do not limit above-mentioned several kinds of drive, in other embodiments, also
It can be using other kinds of drive, it is not limited here.
Further, 10 control system of Self-Balancing vehicle can also include shell 8, wherein as a kind of implementation,
The anti-twisted dynamical system of the bi-motor and body gesture detection system 7 are mounted in the shell 8, and the shell 8 is fixed on
On the vehicle frame 1.In other embodiments, it is also possible to section components to be mounted in shell 8, such as the anti-twisted dynamical system of bi-motor
Some or all of system is mounted in shell 8.
In the present embodiment, 10 control system of Self-Balancing vehicle is detected by the linear converting system 5 of anti-twisted/power, body gesture
System 7 realizes that the principle of 10 lateral stability of Self-Balancing vehicle control is as follows with the anti-twisted/power motor 3:
The lateral attitude of 7 real-time detection Self-Balancing vehicle of body gesture detection system, 10 vehicle body, if it find that vehicle body oriented
The possibility what is overturned on one side just starts the linear converting system 5 of anti-twisted/power and provides the anti-twisted power of opposite direction, vehicle body retracted flat
Weighing apparatus state.Especially by the linear converting system 5 of anti-twisted/power is started, the anti-twisted/output of power motor 3 and institute are controlled
The opposite anti-twisted power of vehicle body lateral attitude is stated to transmission system 6, then passes through transmission system 6 anti-twisted/the power motor 3 is defeated
Power transmission out is to the wheel 2 of the Self-Balancing vehicle 10, and final realization vehicle body reaches equilibrium state, to realize to vehicle body cross
To stability control.
Specifically, as a whole, bi-motor (i.e. anti-twisted/power motor 3) reversely rotates rotary power component 11, produces
Raw anti-twisted power is opposite.
When needing full power to export, bi-motor output power is consistent, and rotation speed is consistent, the anti-twisted power one of generation
It causes, the anti-twisted power of bi-motor offsets each other, and 11 relative frame 1 of rotary power component is static, and power all passes through concentric shafts 13 and passes
It is defeated to arrive power Transfer Gearbox 18.
When needing power to be also required to anti-twisted power holding balance, bi-motor generates difference power, and the anti-twisted power of generation is not
Unanimously, it is poor to form anti-twisted power, so that rotary power component 11 is rotated relative to vehicle body, to provide the anti-twisted of amendment vehicle body needs
Power.
When only needing anti-twisted power, the anti-twisted power direction of bi-motor rotating Vortex, generation is identical, power output shaft 12
Stress is on the contrary, stop operating, and unpowered output, rotary power component 11 is rotated relative to vehicle body at this time, and power is almost used for
It is anti-twisted.
The body gesture detection system 7 being fixedly mounted on cooperation vehicle, to control the double-motor power of rotary power component 11
Output, generates different anti-twisted powers, and the lateral balance of vehicle body can be kept while keeping normal vehicle operation/static.
Due to cooperating the linear converting system 5 of anti-twisted/power in such a way that anti-twisted motor and power motor are two-in-one, reduce
The cost of Self-Balancing vehicle 10, and reduce space hold and reduce energy consumption, moreover, by by anti-twisted/power motor 3,
The linear converting system 5 of battery 4, anti-twisted/power and body gesture detection system 7 are mounted in shell 8, so that Self-Balancing vehicle 10
Control system architecture is more compact, further reduces space hold.
Further, in order to which speed is better controlled, as an alternative embodiment, can also balance
Rear wheel brake 9,10 control system of Self-Balancing vehicle further include: be arranged on 10 rear-wheel of Self-Balancing vehicle are set on the rear-wheel of vehicle
Rear wheel brake 9.
The present embodiment setting rear wheel brake 9 allows for: when providing anti-twisted, power/anti-twisted output power of motor
May become larger, lead to speed sudden change, especially cause accelerate the case where need it is controlled, therefore, can use rear-wheel brake
9 stabilizing speed of vehicle.It in other words, can be with using the control of 9 strength of rear wheel brake when Self-Balancing vehicle 10 provides anti-twisted
Speed is settled out, so that vehicle will not generate unexpected velocity variations, improves vehicle movement stability.
It should be noted that rear wheel brake 9 generally uses under specific circumstances, for example vehicle does not need to accelerate, but dynamic
In the case that power is increased too much by Differential Output, by rear wheel brake 9 come regulation speed.
In addition, the embodiment of the present invention also proposes a kind of Self-Balancing vehicle 10, including vehicle frame 1, wheel 2 and it is as described above from
10 control system of balance car.
Wherein, 10 control system of Self-Balancing vehicle realizes the principle of 10 stability control of Self-Balancing vehicle, please refers to above-mentioned implementation
Example, details are not described herein.
Compared with prior art, technical solution of the present invention has the following beneficial effects:
1, power/anti-twisted motor is two-in-one, 10 cost of Self-Balancing vehicle can be greatly reduced, it especially can be by motor section
The cost divided reduces half.
2, body dimensions can also be reduced by power/anti-twisted motor is two-in-one, reduce the unnecessary additional weight of vehicle body, drop
Low-energy-consumption improves cruising ability.
3, in such a way that power/anti-twisted motor is two-in-one, power motor is moved on on vehicle body, can substantially be reduced under spring
Quality greatly improves damping performance.
The above description is only a preferred embodiment of the present invention, is not intended to limit the scope of the invention, all at this
Under the design of invention, using equivalent structure transformation made by description of the invention and accompanying drawing content, or directly/it is used in it indirectly
He is included in scope of patent protection of the invention relevant technical field.
Claims (10)
1. a kind of anti-twisted dynamical system of laterally stable bi-motor of Self-Balancing vehicle, the Self-Balancing vehicle includes vehicle frame and wheel,
It is characterized in that, the anti-twisted dynamical system of bi-motor includes: the rotary power component being mounted on the vehicle frame, power output
Axis, the linear converting system of anti-twisted/power, battery；Wherein:
The rotary power component includes: a pair of anti-twisted/power motor and electric machine controller, the anti-twisted/power motor with
The battery is connected by the electric machine controller, the anti-twisted/power motor by the power output shaft and it is described it is anti-twisted/
The linear converting system of power is drivingly connected, for exporting anti-twisted power and/or power；
The linear converting system of anti-twisted/power, for controlling the anti-twisted/power motor output anti-twisted power and/or power, and
By transmission system by it is described it is anti-twisted/power motor output power transmission to the Self-Balancing vehicle wheel.
2. the anti-twisted dynamical system of the laterally stable bi-motor of Self-Balancing vehicle according to claim 1, which is characterized in that described
Power output shaft includes: concentric shafts and two the first transmission gears for being set in described concentric shafts one end, the concentric shafts packet
The hollow outer shaft for including inner shaft and being set in inner shaft, the inner shaft and outer shaft are rotatably connected by bearing, and described two
One of them is set in one end of the inner shaft with one transmission gear, another is set in one end of the outer shaft, and described two
One transmission gear respectively correspond by two the second transmission gears and two it is anti-twisted/power motor is drivingly connected, described two the
Two transmission gears are respectively sleeved on the motor shaft of described two anti-twisted/power motors；The other end of the concentric shafts with it is described
The linear converting system of anti-twisted/power is drivingly connected.
3. the anti-twisted dynamical system of the laterally stable bi-motor of Self-Balancing vehicle according to claim 2, which is characterized in that described
A pair of anti-twisted/power motor is mounted side by side, and the stator of the pair of anti-twisted/power motor and electric machine controller and the battery
It is fixed together.
4. the anti-twisted dynamical system of the laterally stable bi-motor of Self-Balancing vehicle according to claim 3, which is characterized in that described
Rotary power component further include: headstock, the pair of anti-twisted/power motor and power output shaft are mounted on the headstock
It is interior, the battery compartment for accommodating the battery is additionally provided in the headstock；One end of the headstock passes through shaft and the vehicle frame
Rotation connection, the other end is rotatably connected by the outer shaft of bearing and concentric shafts, so that the rotary power component integrally can be around
The power output shaft rotates freely on vehicle frame.
5. the anti-twisted dynamical system of the laterally stable bi-motor of Self-Balancing vehicle according to claim 4, which is characterized in that described
Shaft is hollow shaft, conducting slip ring built in the hollow shaft, to power to other component on vehicle frame.
6. the anti-twisted dynamical system of the laterally stable bi-motor of Self-Balancing vehicle according to claim 4, which is characterized in that described
The linear converting system of anti-twisted/power includes: power Transfer Gearbox, and the power being arranged in the power Transfer Gearbox
Transaxle, power transmission output shaft, power output cone tooth and two power conversion cone teeth, in which:
The power Transfer Gearbox is fixedly connected with the vehicle frame；
The inner shaft of the power transaxle and the concentric shafts is coaxially disposed, and be drivingly connected with one end of the inner shaft or with
The inner shaft is wholely set；
Described two power conversion cone one of them outer shaft for being set in the concentric shafts of tooth are located at the power Transfer Gearbox
The interior other end, another is set on the power transaxle；
The power transmission output shaft is vertically arranged with the power transaxle, and is arranged with the power output cone tooth, described
Power output cone tooth is placed between described two power conversion cone teeth, and converts cone tooth transmission connection with described two power；Institute
It states power transmission output shaft and is equipped with power output wheel far from one end of power output cone tooth, the power output wheel passes through institute
The wheel that transmission system connects the Self-Balancing vehicle is stated, by the power transmission of the anti-twisted/power motor output to described from flat
The wheel of weighing apparatus vehicle.
7. the anti-twisted dynamical system of the laterally stable bi-motor of Self-Balancing vehicle according to claim 4, which is characterized in that
The linear converting system of anti-twisted/power is also used to when the balance car needs full power to export, described in control two
Anti-twisted/power motor is reversely rotated with identical output power, and output anti-twisted power offsets each other, and rotary power component relative frame is quiet
Only, power all passes through power output shaft and is transferred to power Transfer Gearbox；Power is needed to be also required in the balance car anti-twisted
When power keeps balance, the anti-twisted/power motor of control two generates difference power, and the anti-twisted power of generation is inconsistent, is formed anti-twisted
Power is poor, so that rotary power component relative frame rotates, to provide the amendment anti-twisted power that vehicle body needs；The balance car only
When needing anti-twisted power, two anti-twisted/power motor rotating Vortexes are controlled, the anti-twisted power direction of generation is identical, power output
Axis stress is on the contrary, stop operating, and unpowered output, the rotation of rotary power component relative frame, power is entirely used for anti-twisted.
8. a kind of Self-Balancing vehicle control system, the Self-Balancing vehicle include vehicle frame and wheel, which is characterized in that the Self-Balancing vehicle
Control system includes: the anti-twisted dynamical system of bi-motor, transmission system and the body gesture detection system being mounted on the vehicle frame
System, in which:
The anti-twisted dynamical system of bi-motor is the laterally stable bi-motor of Self-Balancing vehicle of any of claims 1-7
Anti-twisted dynamical system；
The transmission system is connect with the linear converting system of the anti-twisted/power and wheel drive respectively, and being used for will be described anti-
The power transmission of torsion/power motor output to the Self-Balancing vehicle wheel；
The body gesture detection system is connect with the linear converting system of anti-twisted/power, for certainly flat described in real-time detection
The vehicle body lateral attitude of weighing apparatus vehicle, when the vehicle body lateral attitude for detecting the Self-Balancing vehicle reaches default flipping gesture, starting
The linear converting system of anti-twisted/power, control described anti-twisted/power motor export it is opposite with the vehicle body lateral attitude anti-
Vehicle body is retracted equilibrium state by torsion.
9. Self-Balancing vehicle control system according to claim 8, which is characterized in that the transmission system is belt power train
System or chain transmission system or shaft transmission system；The Self-Balancing vehicle control system further includes shell, and the bi-motor is anti-
Twisting Force system and body gesture detection system are mounted in the shell, and the shell is fixed on the vehicle frame.
10. a kind of Self-Balancing vehicle, which is characterized in that including vehicle frame, wheel and Self-Balancing vehicle as claimed in claim 8 or 9
Control system.
Priority Applications (4)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910456293.7A CN110171519A (en) | 2019-05-27 | 2019-05-27 | The anti-twisted dynamical system of bi-motor, control system and Self-Balancing vehicle |
| PCT/CN2019/094704 WO2020237777A1 (en) | 2019-05-27 | 2019-07-04 | Double-motor reverse torsion power system, control system and self-balancing vehicle |
| CN201911358980.1A CN110949587A (en) | 2019-05-27 | 2019-12-25 | Double-motor anti-torque power system, control method and self-balancing vehicle |
| CN201922389085.8U CN211810034U (en) | 2019-05-27 | 2019-12-25 | Double-motor anti-torque power system, control system and self-balancing vehicle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910456293.7A CN110171519A (en) | 2019-05-27 | 2019-05-27 | The anti-twisted dynamical system of bi-motor, control system and Self-Balancing vehicle |
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| Publication Number | Publication Date |
|---|---|
| CN110171519A true CN110171519A (en) | 2019-08-27 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910456293.7A Pending CN110171519A (en) | 2019-05-27 | 2019-05-27 | The anti-twisted dynamical system of bi-motor, control system and Self-Balancing vehicle |
| CN201922389085.8U Active CN211810034U (en) | 2019-05-27 | 2019-12-25 | Double-motor anti-torque power system, control system and self-balancing vehicle |
| CN201911358980.1A Pending CN110949587A (en) | 2019-05-27 | 2019-12-25 | Double-motor anti-torque power system, control method and self-balancing vehicle |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201922389085.8U Active CN211810034U (en) | 2019-05-27 | 2019-12-25 | Double-motor anti-torque power system, control system and self-balancing vehicle |
| CN201911358980.1A Pending CN110949587A (en) | 2019-05-27 | 2019-12-25 | Double-motor anti-torque power system, control method and self-balancing vehicle |
Country Status (2)
| Country | Link |
|---|---|
| CN (3) | CN110171519A (en) |
| WO (1) | WO2020237777A1 (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110843940A (en) * | 2019-12-25 | 2020-02-28 | 傲基科技股份有限公司 | Integrated flywheel and self-balancing vehicle |
Families Citing this family (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114074736A (en) * | 2021-12-29 | 2022-02-22 | 常州浩万新能源科技有限公司 | Anti-torsion power device, control system and control method applied to balance car |
| CN216468243U (en) * | 2021-12-29 | 2022-05-10 | 常州浩万新能源科技有限公司 | Be applied to bi-motor antitorque power device and balance car of balance car |
| CN114955389A (en) * | 2022-03-29 | 2022-08-30 | 江苏长虹智能装备股份有限公司 | Left-right synchronous driving device |
| CN115744296A (en) * | 2022-10-19 | 2023-03-07 | 江苏宏芯亿泰智能装备有限公司 | Roller way transmission device and glass substrate conveying line |
| CN117087450A (en) * | 2023-09-24 | 2023-11-21 | 常州浩万新能源科技有限公司 | Self-balancing power system, control method, control system and self-balancing vehicle |
Family Cites Families (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US9073600B2 (en) * | 2012-11-02 | 2015-07-07 | Kenneth Dalton Haan | Dual drive bicycle |
| CN203740084U (en) * | 2013-12-23 | 2014-07-30 | 昆明理工大学 | Mechanical self-balancing bicycle |
| CN206938990U (en) * | 2017-03-30 | 2018-01-30 | 广东工业大学 | A kind of self-balancing bicycle of intelligent drives |
| CN109204615B (en) * | 2017-06-29 | 2021-06-08 | 沈阳新松机器人自动化股份有限公司 | Support and self-balancing equipment |
| CN109466679B (en) * | 2018-12-27 | 2019-11-15 | 浙江大学 | A kind of double drive without person bicycle |
-
2019
- 2019-05-27 CN CN201910456293.7A patent/CN110171519A/en active Pending
- 2019-07-04 WO PCT/CN2019/094704 patent/WO2020237777A1/en active Application Filing
- 2019-12-25 CN CN201922389085.8U patent/CN211810034U/en active Active
- 2019-12-25 CN CN201911358980.1A patent/CN110949587A/en active Pending
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110843940A (en) * | 2019-12-25 | 2020-02-28 | 傲基科技股份有限公司 | Integrated flywheel and self-balancing vehicle |
| CN110843940B (en) * | 2019-12-25 | 2024-06-11 | 傲基科技股份有限公司 | Integrated flywheel and self-balancing vehicle |
Also Published As
| Publication number | Publication date |
|---|---|
| CN211810034U (en) | 2020-10-30 |
| WO2020237777A1 (en) | 2020-12-03 |
| CN110949587A (en) | 2020-04-03 |
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Application publication date: 20190827 |