CN110843984A

CN110843984A - Man-machine combined balance car

Info

Publication number: CN110843984A
Application number: CN201911228048.7A
Authority: CN
Inventors: 陈俊华; 傅璞; 杜存臣; 叶必朝; 吴振宏
Original assignee: Changzhou Vocational Institute of Engineering
Current assignee: Changzhou Vocational Institute of Engineering
Priority date: 2018-12-07
Filing date: 2019-12-04
Publication date: 2020-02-28
Also published as: CN109398550A

Abstract

The patent provides a man-machine combined balance car, which combines the advantages of the two-wheel car and the tricycle by referring to the respective characteristics of the two-wheel car and the tricycle, and has the characteristics of the two-wheel car, the tricycle/the four-wheel car and the ground contact. During the running process of the vehicle, the safety and stability are ensured through the balance of people, and meanwhile, the sideslip prevention capability is enhanced; when the vehicle is parked at a low speed, a person can ensure that the vehicle body is stable and upright without extending feet out of the carriage, and the carriage of the small vehicle is totally closed, so that the size of the small vehicle can be reduced, and the small vehicle has very high safety.

Description

Man-machine combined balance car

Technical Field

The patent relates to the field of vehicles, in particular to a man-machine combined balance car.

Background

At present, small electric vehicles and motor vehicles (motorcycles) mainly comprise two wheels, small three wheels and four wheels. Cars (cars), new energy vehicles are not discussed herein. The present situation and the existing problems of two-wheeled and three-wheeled/four-wheeled vehicles (small-sized) are analyzed below.

1. Two-wheeled vehicle

The essence of the balance system principle of the traditional two-wheel bicycle (hereinafter referred to as two-wheel bicycle) is human balance perception and balance control, so that the bicycle does not need to have a complex structure and does not need any electrical equipment.

The two-wheeled vehicle has two pivot points in the front-rear direction and is stable, but the two-wheeled vehicle has only one pivot point in the left-right direction (point O shown in fig. 1), so that the balance in the left-right direction is needed, and the balance is realized by people. During the running process of the vehicle, a person finely adjusts the running direction (very tiny turning, which can be expressed by a turning radius r) of the vehicle and the vehicle speed v so that F is achieved_{Separation device}The resultant force F (extension line) of G alternately passes back and forth through the point O, thereby realizing dynamic balance. Therefore, the traveling path of the two-wheeled vehicle is not a theoretical straight line but an S-curve with fine fluctuation, and thus the two-wheeled vehicle cannot stand at the point O and fall down when stationary.

Except that the vehicle body periodically swings around the O point in a very fine way in the process of microcosmic two-wheel vehicle driving, when the vehicle turns around a curve, the vehicle body inclines greatly in a macroscopic way (the swing angle theta is controlled) so as to overcome a larger centrifugal force and enable the resultant force F to pass through the O point; when the vehicle decelerates until parking, the person supports on the ground with both feet to remain upright.

From the above analysis it can be seen that: in the whole driving process of the two-wheeled vehicle, the vehicle body continuously swings left and right around the point O under the control of a person (adjusting v, r and theta), and the vehicle body can not fall under the dynamic balance. However, the two-wheeled vehicle needs to be assisted by the ground contact of the feet of a person to keep the vehicle upright when the two-wheeled vehicle is at a lower speed and parked. This leads to the conclusion that: the two-wheeled vehicle keeps the stability of the vehicle by utilizing the self-balancing capability of the human body, so that the two-wheeled vehicle has extremely high stability and safety during normal driving. However, the basic reason why the two-wheeled vehicle cannot adopt the closed compartment is that the fulcrum is not available at the low speed and in the parking.

In recent years, self-balancing two-wheeled vehicles adopting gyroscope technology can realize full carriage closure on the premise of safety, but the price is very high and the self-balancing two-wheeled vehicles are not popularized yet; in addition, the totally-enclosed two-wheeled vehicle with the retractable auxiliary wheel is relatively safe and is not popularized and applied.

Because the friction force between the two-wheeled vehicle and the ground is not as good as that between the three-wheeled vehicle and the four-wheeled vehicle, the sideslip prevention capability of the two-wheeled vehicle is not as good as that between the three-wheeled vehicle and the four-wheeled vehicle during driving.

2. Tricycle/quadricycle

The existing small tricycle/quadricycle can be made into a totally-enclosed carriage, but the biggest problem is that the risk of turning over the tricycle is great, and the smaller the distance between two transverse wheels is, the easier the tricycle is to turn over; the increased size of the vehicle can make the vehicle heavier and the use is not convenient and flexible enough, and the stress analysis is as shown in figure 2.

As shown in fig. 2, when the conventional three-wheel/four-wheel vehicle turns, if the intersection point P of the extension line of the resultant force F and the ground falls between the two-wheel pivot A, B (left drawing), the vehicle is stable and safe, and the point A, B is a critical point; when F is present_{Separation device}When increasing, point P approaches point a and eventually crosses point a, falling outside AB (right picture), which may cause rollover, the threshold value of the angle θ between the resultant force F and the force of gravity G is α, i.e. safe when θ is less than α, otherwise, the threshold value α = arctan (L/2H).

From the above analysis it can be seen that: as the three-wheel/four-wheel vehicle is additionally provided with the pivot in the left and right directions, the contact between the vehicle and the ground is changed from a line to a surface, so that the three-wheel/four-wheel vehicle has the inherent static stability and sideslip prevention capability when being parked. However, in contrast to two-wheeled vehicles, three-wheeled/four-wheeled vehicles run the risk of rollover, since they give up the balancing effect of a person during driving. When the three-wheel or four-wheel is grounded, the person can certainly think that the self-balance of the person is not necessary and completely depends on the inherent supporting structure of the vehicle, so the contradiction between the size and the safety of the vehicle is generated.

The traditional design concept can not combine the characteristics of a two-wheel vehicle with a tricycle or a four-wheel vehicle, and the increase of wheels means that the balance function of people is abandoned, which is the most fundamental defect of the traditional design concept.

Disclosure of Invention

The small-sized vehicle parking device has the advantages that the compartment is totally closed on the premise that the small-sized vehicle safely runs and stably parks through a simple and economic means, so that the small-sized vehicle can completely shield wind and rain, and is sun-proof and warm-keeping. The problem of present two wheeler carriage can not totally close, prevent sideslip ability not enough, small-size tricycle/four wheeler have the risk of overturning mentioned in "background art" is solved.

A man-machine combined balance car comprises a balance car body 1, a swing device 2, a car chassis 3 and a swing control device 4;

the balance car body 1 is connected with the car chassis 3 through the swinging device 2, and the balance car body 1 swings relative to the car chassis 3 in the vertical direction of car advancing through the swinging device 2, namely transversely swings;

the pivot control device 4 is used to control the transverse pivoting and/or pivoting amplitude of the balancing body 1.

The man-machine combined balance car is mainly characterized in that the dynamic balance of a car body is realized by utilizing the perception and the balance capability of a human body, a driver adjusts the swing angle, the advancing direction and the running speed of the car body through the centrifugal force sensed by the body, and the resultant force of the centrifugal force and the gravity passes through a fulcrum of a swing device, so that the car body is stabilized in a balanced upright state; when the vehicle is at low speed and parked, the swing control device 4 is used to erect the vehicle body. The conditions for realizing the balance control of the human are as follows: the balance body 1 can freely swing relative to the chassis 3.

The upright balance state of the balance car body can also be realized by an electronic balance control device, such as a gyroscope and a control system thereof used by the current balance car.

Further, the swing device 2 is implemented as a revolute pair, which may be a revolute pair high pair or a revolute pair low pair. The oscillating device 2 can be implemented in various forms, and a revolute pair is the most common form.

Further, when the swing device 2 adopts a revolute pair high pair, one of the modes is a rotation device consisting of bearings, specifically, the bottom end of the balance car body 1 is connected with the rotating shaft 22 into a whole, the bearings 23 are installed at the two ends of the rotating shaft 22, the bearings 23 are installed in bearing seats formed by the bearing base 24 and the bearing cover 21, the bearing base 24 is fixed on the car chassis 3, and the balance car body 1 swings with the rotating shaft 22 as a rotation center; when the swing device 2 adopts a revolute pair low pair, one mode is a hinge structure swing device, specifically, the bottom end of the balance car body 1 is integrally connected with an upper member 26, a lower member 28 is fixed on the chassis 3, a pin 27 passes through the upper member 26 and the lower member 28 and is axially fixed by a fastener 29, and the balance car body 1 swings with the pin 27 as a rotation center.

Further, the chassis 3 is a device provided with wheels for supporting the whole vehicle at least two points on the road surface in the transverse direction (the vertical direction of the vehicle running), and the device is matched with the wheels in the advancing direction of the vehicle to form surface contact of the whole vehicle to the ground. The chassis does not necessarily have to comprise all wheels, as the case may be, but it is a device that constitutes at least two point support of the entire vehicle in the lateral direction.

Further, when the chassis 3 adopts a two-wheel structure, two wheels are respectively arranged on the left side and the right side in the transverse direction, and the chassis 3 of the two-wheel structure and a single wheel form a three-wheel structure with a front single wheel and a rear two wheel or a front two wheel and a rear single wheel; or the chassis 3 with the two-wheel structure is combined into a four-wheel structure with a front two-wheel and a rear two-wheel. When the man-machine combined balance vehicle adopts a three-wheel structure, a single wheel of the man-machine combined balance vehicle is arranged on the balance vehicle body 1, such as a front single-wheel rear two-wheel vehicle, the front wheel is arranged on the balance vehicle body, and the rear wheel is arranged on the balance vehicle body like a front two-wheel rear single wheel; when the man-machine combined balance car adopts a four-wheel structure, wheels are not arranged on a balance car body, and the car body is connected with the front chassis 3 and the rear chassis 3 of the car through the front swing device and the rear swing device 2.

Further, the chassis 3 is composed of a support beam 31, a damper 32, a wheel frame 33, and wheels 34, wherein the wheels 34 are mounted at the left and right ends of the wheel frame 33, and the support beam 31 is mounted above the wheel frame 33 through the damper 32. Only one specific form of construction is given here, but without being limited thereto, and there are many combinations of chassis forms that achieve the same result.

Further, the balance car body 1 comprises a direction mechanism 11, a car power device or battery 12, a car seat 13, a car body frame and a shell 14, wherein the direction mechanism 11 is similar to a handle steering mechanism of the current electric bicycle. All the parts can adopt the prior art and products, and the parts are necessary elements for forming the whole vehicle. The body frame and the housing 14 may be open or closed.

Further, the swing control means 4 is composed of a parking means 41 and a parking control means 42, and the parking means 41 restricts the swing of the balance car body 1 under the control of the parking control means 42 to keep the car body upright when the car is at a low speed or in a parked state.

Further, the swing control device 4 is an electronic balance control device, and is composed of a sensor, a controller and an actuator, the sensor can sense the balance state of the balance car body 1 and send the balance state to the controller, the controller processes the information sent back by the sensor and then controls the actuator to work, and the balance car body 1 is kept in a stable balance state by controlling the swing of the balance car body 1, controlling the speed of the car and controlling the turning radius of the car, specifically, the electronic balance control device is a gyroscope sensing and balance control system of the current balance car.

Further, the parking device 41 adopts a telescopic structure, and the telescopic length of the parking device is controlled by a driver to be supported on the chassis 3, so that the required supporting force is obtained at low speed or during parking, the swing of the balance car body 1 is limited, and the car body is kept upright. The parking device 41 may be in the form of a lever structure, a locking structure, or the like, in addition to the telescopic structure.

Further, a specific structure of the retractable parking device 41 is a cam and slide rod combination mechanism: a cam mechanism 411 fixed inside the vehicle body is in contact with a parking support rod 414, the parking support rod 414 can slide in a slide rail 412, the slide rail 412 is fixed on the balance vehicle body 1, a spring 413 is arranged at the lower part of the support rod 414, and when the cam mechanism 411 rotates, under the action of the spring 413, the parking support rod 414 clings to the cam and slides up and down along the slide rail to realize telescopic action; when the parking support rod 414 is retracted to the extreme position, it again acts to limit the maximum angle of swing of the balance body 1.

Further, when the parking control device 42 is a force transmission mechanism, the driver can transmit the control force to the parking device 41 through the parking control device 42, so as to operate the parking device 41, thereby realizing low-speed assistance or parking. When the parking control device can also be a signal control mechanism, a driver sends a control signal to the parking control device, and the parking control device converts the control signal into the control over the parking device, so that the parking device acts, and low-speed assistance or parking is realized.

Further, the parking control device 42 is of a pedal structure, and is composed of a pedal device 421 and a transmission device 422, wherein the transmission device 422 may be a steel wire rope, a link transmission mechanism or a hydraulic transmission mechanism, etc. The displacement is generated by the stepping of the pedal device 421, and the transmission device 422 transmits the displacement to the cam mechanism 411 to rotate, so that the parking support rod 414 moves up and down to realize the telescopic action.

Further, the swing control device 4 further comprises a vehicle body swing limiting device 43, and the vehicle body swing limiting device 43 is used for limiting the maximum swing angle of the balance vehicle body 1.

Further, the automobile body swing limiting device 43 is fixed on the limiting blocks on two sides of the bottom of the balance automobile body 1, along with the increase of the swing angle of the balance automobile body 1, the automobile body swing limiting device 43 is closer to the chassis 3 until the chassis is touched, and the maximum swing angle of the balance automobile body 1 is limited.

Further, the combined human-computer balance car also comprises a forced reduction gear 5, and when the car body swings to a position close to the maximum position, the forced reduction gear 5 is started to reduce the speed of the car. The purpose of this is to increase the driving safety performance, because when the balance car body swings to the maximum angle, the centrifugal force is already reached to the limit, and the forced deceleration can effectively reduce the centrifugal force at this time, so as to prevent the unsafe caused by the accidental mistake of human operation.

Furthermore, the structure of the forced reduction gear 5 is similar to a mechanical brake lever device, a trigger rod 51 of the forced reduction gear is installed between the bottom of the balance car body 1 and the car chassis 3, the trigger rod is connected with a brake steel wire 53, a steel wire sheath base 52 is fixed on the balance car body, and the end of the brake steel wire 53 is connected with a brake device of a conventional wheel, such as a drum brake. When the balance car body swings to the position near the limit position, the trigger rod starts to contact the car chassis, the other end of the trigger rod starts to leave the steel wire sheath base and pulls the brake steel wire under the action of the lever principle of the trigger rod, and then the brake device of the wheel starts to act to brake and decelerate; when the balance car body continuously swings to the limit position, the trigger rod continuously pulls the brake steel wire, so that the braking action is further strengthened, and a stronger braking result is obtained. The added brake devices do not influence the normal brake system of the whole vehicle, and the brake devices and the brake system are mutually complementary.

Further, when the human-computer combined balance vehicle is driven by electricity, another structure of the forced deceleration device 5 is an electronic brake, specifically, an electronic brake system of the current electricity-driven vehicle, and a trigger switch of the electronic brake may be installed in the steel wire sheath base 52, or may be installed at any other position where the swing limit position of the balance vehicle body can trigger the micro switch to operate. The electronic brake system is a ready-made product in the prior art and can be directly applied to the patent product.

The core of the present invention is the discovery of an ingenious method and form of combining a conventional two-wheel bicycle balancing system with a conventional three/four-wheel vehicle: the point O of the combined balancing vehicle moves from the ground to the chassis, the source of the parking auxiliary force also moves from the ground to the chassis, and the chassis is a stable structure which has at least two points to support the ground, thus realizing the combination of the two-wheel vehicle and the three-wheel/four-wheel vehicle. As shown in fig. 3.

Since the vehicle body can still swing freely, the driving speed and direction can still be controlled by people, namely the three parameters of v, r and theta are still controlled by people, the combination can not lose the control of people on the dynamic balance of the vehicle.

The beneficial effects are that: this patent has combined the advantage of traditional two wheeler and tricycle, has both utilized human balanced function to ensure the safety and stability when the driving, has tricycle/four wheeler sideslip prevention ability and low-speed, the stability of parking again to the carriage that has realized the minibus is totally closed, not only can reduce the size of dolly, and possess very high security. Compared with a two-wheeled vehicle, the novel anti-skid device adopts a three-wheel or four-wheel mode, so that the novel anti-skid device has larger holding power to the ground compared with the two-wheeled vehicle, greatly improves the anti-skid capability and the braking capability of the vehicle, particularly has transverse anti-skid and anti-impact performances, and has higher safety compared with the two-wheeled vehicle. The specific beneficial effects are as follows.

① is safer than two-wheel vehicles, it is intuitively safer than two-wheel vehicles, and the theoretical analysis is the same, because the increased wheels increase the friction between the vehicle and the ground, the anti-sideslip capability, braking capability, stability and impact resistance of the vehicle are greatly improved, and because the limit swing angle gamma is set, the vehicle cannot be completely toppled, even cannot be toppled, because it is also a 'three-wheel/four-wheel' vehicle.

② it is safer and more controllable than three-wheel/four-wheel vehicle, the dynamic balance of the driving process can be realized by the people on the vehicle body which can swing freely, just like the people riding the bicycle, the dynamic balance realizes the timely monitoring of the centrifugal force by the people, the traditional three-wheel/four-wheel vehicle can not swing, the people can not sense the centrifugal force in time, so the accident of turning over is easy to happen, so the balance vehicle fundamentally solves the control problem of the risk of turning over, at the same time, it can be seen from the comparison of the stress analysis chart of the front traditional three-wheel vehicle and the man-machine combined balance vehicle (hereinafter referred to as balance vehicle), the range of the safe centrifugal force is much larger when turning over, the balance vehicle is much larger than the three-wheel/four-wheel vehicle, namely, the balance vehicle can have faster turning speed and safety, the balance vehicle is the sense of two-wheel vehicle in the driving control, and has excellent control experience.

③, it has higher safe speed than the traditional three/four wheel vehicle because of the dynamic balance of the two wheel vehicle, it has lower gravity center (vertical distance between M and O) than the two wheel vehicle, and it has better anti-sideslip ability because of the lateral wheels, so it has higher safe speed than the two wheel vehicle.

④, which is a more compact body size than a conventional three/four wheel vehicle, it can be seen from the previous force analysis chart that the critical value of the conventional three/four wheel vehicle α = arctan (L/2H), the critical angle of the balance vehicle β = arctan (L/2H), since H is much smaller than H, the balance vehicle can have a smaller L value, i.e., lateral wheel spacing, which means that the balance vehicle can be more compact than the conventional three/four wheel vehicle.

⑤ the carriage can be totally enclosed, because of the parking device, the balance car does not need the feet to touch the ground to assist and support during the driving and parking process, therefore the carriage can be totally enclosed, and the driver and the passenger can get rid of the trouble and the injury of wind, rain and snow thoroughly.

Drawings

Fig. 1 is a diagram illustrating a balance force analysis of a two-wheeled vehicle according to the prior art.

Fig. 2 is a diagram illustrating the balance stress analysis of a tricycle or a quadricycle in the prior art.

Fig. 3 is a balance stress analysis diagram of the human-machine balance car.

Fig. 4 is a main structural schematic diagram (front view) of the human-machine balance car in the embodiment.

FIG. 5 is a schematic view of the main structure of the vehicle (left view) in the embodiment

Fig. 6 is a schematic structural view (front view) of a swing device (in the form of a bearing) of the balance vehicle in the embodiment.

Fig. 7 is a schematic structural diagram (a sectional view B-B) of a swing device (in the form of a bearing) of the human-machine balance car in the embodiment.

Fig. 8 is a schematic structural diagram (a-a sectional view) of a swing device (in the form of a bearing) of the human-machine balance car in the embodiment.

Fig. 9 is a schematic structural view (front view) of a swing device (a revolute pair low pair form) of the human-machine balance car in the embodiment.

Fig. 10 is a structural schematic diagram (F-F cross section) of a swing device (a revolute pair low pair form) of the human-machine balance car in the embodiment.

Fig. 11 is a structural schematic diagram (E-E sectional view) of a swing device (a low pair form of a revolute pair) of the human-machine balance car in the embodiment.

Fig. 12 is a schematic structural diagram of a chassis and a parking device of the human-machine balance car in the embodiment.

Fig. 13 is a schematic structural diagram of a balance car body of the human-computer balance car in the embodiment.

Fig. 14 is a schematic composition diagram of a swing control device of the human-machine balance car in the embodiment.

Fig. 15 is a schematic structural view of a vehicle body swing limiting device and a forced reduction gear of the human-machine balance vehicle in the embodiment.

Fig. 16 is a schematic structural diagram (C-C sectional view) of the forced deceleration device of the human-computer balance car in the embodiment.

Wherein, 1-balance vehicle body, 2-swing device, 3-vehicle chassis, 4-swing control device, 5-forced speed reduction device, 11-direction mechanism, 12-vehicle power device or battery, 13-vehicle seat, 14-vehicle body frame and shell, 21-bearing cover, 22-rotating shaft, 23-bearing, 24-bearing base, 26-upper component, 27-pin, 28-lower component, 29-fastener, 31-supporting beam, 32-vibration absorber, 33-wheel carrier, 34-wheel, 411-cam mechanism, 412-slide rail, 413-spring, 414-parking support rod, 421-pedal device, 422-transmission device, 43-vehicle body swing limiting device, 51-trigger rod, 52-steel wire sheath base, 53-brake steel wire.

Detailed Description

The technical scheme of the patent is further described in detail in the following with reference to the attached drawings of the specification.

Fig. 4 to 16 show a human-machine combination balance vehicle, the whole vehicle adopts a three-wheel structure, and is a front single-wheel and rear two-wheel structure, which is one of all possible cases, and the principle of the structure is described in detail only in this case.

Fig. 4 is a front view of a main structural schematic diagram of the human-machine balance car, and the whole car comprises a balance car body 1, a swing device 2, a car chassis 3, a swing control device 4 and a forced reduction gear 5. The balance car body 1 is connected with a car chassis 3 through a swinging device 2, and the balance car body 1 swings relative to the car chassis 3 in the vertical direction of the advancing car, namely, transversely swings through the swinging device 2. The swing control device 4 is used to control the lateral swing and/or the swing amplitude of the balance body 1. The speed-reducing gear 5 is not essential, and in this embodiment, the speed-reducing gear 5 is activated to decelerate the vehicle when the balance body 1 swings to near the maximum position, so as to increase the safety factor of the whole vehicle.

Since the balance car body 1 is free to swing, a driver must feel the centrifugal force of the car at any time to adjust the swing angle, the advancing direction and the running speed of the car during driving, so that the resultant force of the centrifugal force and the gravity passes through the pivot of the swing device to enable the car body to be in a dynamic balance upright state, and the driver can realize the dynamic balance just because the balance car body can swing freely. When the vehicle is at low speed (less than 5 km/h) and parked, the swing control device 4 is adopted to limit the swing of the balance vehicle body 1 to enable the vehicle body to be upright when the dynamic balance of people gradually loses effect.

Fig. 5 is a left side view of the main structural schematic of the vehicle, in which it can be seen that in this embodiment, the swing device 2 is at the rear lower part of the balance body 1 for connecting the chassis 3, and the corresponding swing control device 4 and the forced deceleration device 5 are at the rear lower part of the balance body between the balance body 1 and the chassis 3.

Fig. 6 is a front view of a schematic structural diagram of a swing device 2 (in the form of a bearing) of the balance vehicle in the embodiment. The swing device 2 is composed of a bearing cover 21, a rotating shaft 22, a bearing seat 23 and a bearing base 24, the bottom end of the balance car body 1 is connected with the rotating shaft 22 into a whole (such as welded into a whole), the bearings 23 are installed at two ends of the rotating shaft 22, the bearings 23 are installed in the bearing seats formed by the bearing base 24 and the bearing cover 21, the bearing base 24 is fixed (such as welded) on the car chassis 3, and the balance car body 1 swings by taking the rotating shaft 22 as a rotation center.

Fig. 7 is a B-B sectional view of a schematic structural diagram of a swing device 2 (bearing type) of the human-machine balance vehicle in the embodiment, and the connection relationship among the balance vehicle body 1, each component of the swing device 2 (a bearing cover 21, a rotating shaft 22, a bearing seat 23, a bearing base 24) and the chassis 3 can be seen in the diagram.

Fig. 8 is a sectional view a-a of the swing device 2 (bearing type) of the balance car according to the embodiment.

Fig. 9 is a front view showing a schematic structure of a swing device 2 (a revolute pair low pair type) of the balance vehicle according to the embodiment. The swinging device 2 is composed of an upper member 26, a pin 27, a lower member 28 and a fastener 29, the bottom end of the balance car body 1 is connected with the upper member 26 into a whole, the lower member 28 is fixed on the car chassis 3, the pin 27 penetrates through the upper member 26 and the lower member 28 and is axially fixed by the fastener 29, and the balance car body 1 swings by taking the pin 27 as a rotation center.

Fig. 10 is a sectional view F-F showing a structural schematic diagram of the swing unit 2 (a revolute pair low pair type) of the balance vehicle according to the embodiment, and shows the connection relationship between the balance vehicle body 1, the components of the swing unit 2 (the upper member 26, the pin 27, the lower member 28, and the fastener 29) and the chassis 3.

Fig. 11 is a cross-sectional view E-E of the swing device 2 (in the form of a lower pair of revolute pairs) of the balance car according to the embodiment.

For the three-wheel structure shown in the figure, the front wheel of the vehicle (the front wheel is mounted on the balance vehicle body, which is the same as the front wheel structure of a conventional electric vehicle and motorcycle) and the swinging device 2 at the rear and lower end of the vehicle body form two pivot points in the front and rear direction of the whole vehicle, and the balance vehicle body 1 swings transversely around the two pivot points.

In general, a common rotating pair structure and a swinging structure can realize the function of the swinging device 2.

Fig. 12 is a schematic structural diagram of a chassis 3 and a parking device 41 of the human-machine balance car in the embodiment. The chassis 3 is composed of a support beam 31, a damper 32, a wheel frame 33 and wheels 34, wherein the wheels 34 are installed at the left end and the right end of the wheel frame 33, and the support beam 31 is installed above the wheel frame 33 through the damper 32. The chassis shown in the figure is the chassis of a tricycle with a front single wheel and a rear two wheel, and the chassis and the front wheels form surface contact of the whole tricycle with the ground. Generally, therefore, the chassis 3 is a device to which wheels are mounted to support the entire vehicle at least two points in the lateral direction (the vertical direction of travel of the vehicle) from the road surface. When the front wheels and the rear wheels are both in the chassis form, a four-wheel structure can be formed.

In fig. 12, the parking device 41 is a cam and slide rod combined mechanism, and is composed of a cam mechanism 411, a slide rail 412, a spring 413 and a parking support rod 414, the cam mechanism 411 fixed inside the vehicle body is in contact with the parking support rod 414, the parking support rod 414 can slide in the slide rail 412, the slide rail 412 is fixed on the balance vehicle body 1, the spring 413 is arranged at the lower part of the support rod 414, when the cam mechanism 411 rotates, under the action of the spring 413, the parking support rod 414 clings to the cam and slides up and down along the slide rail, so as to realize the telescopic action; when the parking support rod 414 is retracted to the extreme position, it again serves to limit the maximum angle at which the balance body 1 can swing. Generally, the parking device 41 is a telescopic structure, and the telescopic length of the parking device is controlled by a driver to be supported on the chassis 3 so as to obtain the required supporting force at low speed or parking, limit the swing of the balance car body 1 and keep the car body upright; the parking device 41 may be in the form of a lever structure, a locking structure, or the like, in addition to the telescopic structure.

Fig. 13 is a schematic structural view of a balance car body 1 of the man-machine balance car in the embodiment. The balance car body 1 comprises a direction mechanism 11, a car power device or a battery 12, a car seat 13, a car body frame and a shell 14, which are all the prior art and are the existing products, and the parts are necessary elements for forming the whole car. The body frame and housing 14 may be open or fully enclosed.

Fig. 14 is a schematic composition diagram of the swing control device 4 of the balance vehicle in the embodiment. The swing control device 4 is composed of a parking device 41 and a parking control device 42. The parking device 41 is composed of four parts, the same as shown in fig. 12; the parking control device consists of a pedal device 421 and a transfer device 422, wherein the transfer device 422 can be a steel wire rope, a connecting rod force transfer mechanism or a hydraulic force transfer mechanism and the like. The transmission device 422 transmits the displacement to the cam mechanism 411 to rotate, and the parking support rod 414 moves up and down to extend and retract. The parking device 41 restricts the swing of the balance body 1 under the control of the parking control device 42 to keep the body upright when the vehicle is at a low speed (less than 5 km/h) or parked.

Generally, the parking control device 42 is a force transmission mechanism, and a driver can transmit a control force to the parking device 41 through the parking control device 42 to operate the parking device 41, thereby realizing low-speed assist or parking. The parking control device 42 may also be a signal control means that receives a parking control signal from a human and converts the signal into an actuation of the parking device 41 to implement parking control.

Fig. 15 is a schematic structural diagram of the vehicle body swing limiting device 43 and the forced reduction gear 5 of the human-machine balance vehicle in the embodiment. The body pivot limiting device 43 is part of the pivot control device 4 and serves to limit the maximum pivoting angle of the balance body 1. The limiting blocks on two sides of the bottom of the balance car body 1 are arranged in the figure, and along with the increase of the swing angle of the balance car body 1, the car body swing limiting device 43 is closer and closer to the car chassis 3 until the car chassis is touched, so that the limiting effect is achieved on the maximum swing angle of the balance car body 1. Through analysis and calculation, the maximum swing angle is set to be 25 degrees (0 degree when the vehicle body is upright) and is most reasonable, under the angle, the turning radius required by the vehicle speed of 60km/h is less than 20m and is smaller than the maximum value of the turning radius design of the non-primary and secondary roads (the turning radius design range is 20-30m of urban main roads, 15-20m of secondary main roads and 10-20m of non-primary and secondary roads), and under the angle, the gravity center of the man-vehicle is still between the left and right wheels in a static state, namely the vehicle cannot completely topple.

The swing control device 4 can adopt an electronic balance control device besides the mechanical structure, and comprises a sensor, a controller and an actuator, wherein the sensor can sense the balance state of the balance car body and send the balance state to the controller, the controller processes the information transmitted back by the sensor and then controls the actuator to work, and the balance car body is kept in a stable balance state by controlling the swing of the balance car body, controlling the speed of the car and controlling the turning radius of the car. The electronic balance control device can directly adopt a gyroscope sensing and balance control system of the prior balance car.

In fig. 15, the forced reduction gear 5 is similar to a mechanical brake lever device, a trigger lever 51 of the forced reduction gear is installed between the bottom of the balance car body 1 and the car chassis 3, the trigger lever is connected with a brake steel wire 53, a steel wire sheath base 52 is fixed on the balance car body, and the end of the brake steel wire 53 is connected with a brake device of a conventional wheel, such as a drum brake. When the balance car body swings to the position near the limit position, the trigger rod starts to contact the car chassis, the other end of the trigger rod starts to leave the steel wire sheath base and pulls the brake steel wire under the action of the lever principle of the trigger rod, and then the brake device of the wheel starts to act to brake and decelerate; when the balance car body continuously swings to the limit position, the trigger rod continuously pulls the brake steel wire, so that the braking action is further strengthened, and a stronger braking result is obtained.

Fig. 16 is a C-C sectional view showing a structural schematic diagram of the forced deceleration device 5 of the human-computer balance car in the embodiment.

The forced reduction gear 5 can also adopt an electronic brake system, a trigger switch of the electronic brake system is arranged near the swing limit position of the balance car body, once the car body swings to the limit position, the trigger switch can be triggered to act to start the electronic brake system, and the electronic brake system is a product in the prior art and is an existing product and can be directly applied to the patent product.

Under the combined action of the parts, the man-machine combined balance vehicle has the advantages of the traditional two-wheel vehicle and the three-wheel/four-wheel vehicle, not only can realize totally closed carriage, but also increases the controllability and the safety of the vehicle.

The above embodiments are only one embodiment of the present disclosure, and the protection scope of the present disclosure is not limited to the above embodiments, but equivalent modifications and changes made by those skilled in the art according to the disclosure of the present disclosure should be included in the protection scope of the claims.

Claims

1. The utility model provides a human-computer combined balance car, includes balanced automobile body (1), pendulous device (2), vehicle chassis (3), swing controlling means (4), its characterized in that:

the balance car body (1) is connected with the car chassis (3) through the swinging device (2), and the balance car body (1) swings in the vertical direction of the advancing car, namely transversely swings relative to the car chassis (3) through the swinging device (2);

the swing control device (4) is used for controlling the transverse swing and/or the swing amplitude of the balance car body (1).

2. The human-machine combination balance car of claim 1, characterized in that: the swing device (2) is in a structure of a revolute pair.

3. The human-machine combination balance car of claim 2, characterized in that: the swing device (2) adopts a revolute pair high pair and is a rotation device consisting of bearings, specifically, the bottom end of the balance car body (1) is connected with the rotating shaft (22) into a whole, the bearings (23) are installed at the two ends of the rotating shaft (22), the bearings (23) are installed in bearing seats formed by the bearing bases (24) and the bearing covers (21), the bearing bases (24) are fixed on the car chassis (3), and the balance car body (1) swings by taking the rotating shaft (22) as a rotation center.

4. The human-machine combination balance car of claim 2, characterized in that: the swing device (2) adopts a revolute pair low pair and is a hinge structure, specifically, the bottom end of the balance car body (1) is connected with an upper member (26) into a whole, a lower member (28) is fixed on the car chassis (3), a pin (27) penetrates through the upper member (26) and the lower member (28) and is axially fixed by a fastener (29), and the balance car body (1) swings by taking the pin (27) as a rotation center.

5. The human-machine combination balance car of claim 1, characterized in that: the chassis (3) is a device provided with wheels which can support the whole vehicle at least two points on the road surface in the transverse direction, namely the vertical direction of the vehicle running, and the wheels are matched with the wheels in the running direction of the vehicle to form surface contact of the whole vehicle to the ground.

6. The human-machine combination balance car of claim 5, characterized in that: the chassis (3) adopts a two-wheel structure, namely, wheels are respectively arranged on the left side and the right side in the transverse direction; or the chassis (3) of the two-wheel structure and the single wheel form a front single-wheel rear two-wheel structure or a three-wheel structure of a front two-wheel rear single-wheel structure; or the chassis (3) with the two-wheel structure is combined into a four-wheel structure with a front two-wheel and a rear two-wheel.

7. The human-machine combination balance car of claim 6, characterized in that: the chassis (3) consists of a support beam (31), a shock absorber (32), a wheel carrier (33) and wheels (34), wherein the wheels (34) are arranged at the left end and the right end of the wheel carrier (33), and the support beam (31) is arranged above the wheel carrier (33) through the shock absorber (32).

8. The human-machine combination balance car of claim 6, characterized in that: the single wheel of the man-machine combined balance car with the three-wheel structure is arranged on the balance car body (1); the man-machine combined balance car with the four-wheel structure is characterized in that wheels are not arranged on a balance car body (1), and the car body is connected with a front car chassis (3) and a rear car chassis (2) through the front swing device and the rear swing device.

9. The human-machine combination balance car of claim 1, characterized in that: the balance car body (1) comprises a direction mechanism (11), a car power device or a battery (12), a car seat (13), a car body frame and a shell (14), wherein the direction mechanism (11) is specifically a handlebar steering mechanism of an electric bicycle.

10. The human-machine combination balance car of claim 1, characterized in that: the swing control device (4) is composed of a parking device (41) and a parking control device (42), and when the vehicle is in low speed or parking, the parking device (41) limits the swing of the balance vehicle body (1) under the control of the parking control device (42) so as to keep the vehicle body upright.

11. The human-machine combination balance car of claim 1, characterized in that: the swing control device (4) is an electronic balance control device, the electronic balance control device is composed of a sensor, a controller and an actuator, the sensor can sense the balance state of the balance car body (1) and send the balance state to the controller, the controller processes the information transmitted back by the sensor and then controls the actuator to work, and the balance car body (1) is kept in a stable balance state by controlling the swing of the balance car body (1), controlling the speed of the car and controlling the turning radius of the car, and specifically, the electronic balance control device is a gyroscope sensing and balance control system of the current balance car.

12. The human-machine combination balance car of claim 10, wherein: the parking device (41) adopts a telescopic structure, and the telescopic length of the parking device is controlled by a driver to be supported on the vehicle chassis (3), so that the required supporting force can be obtained at low speed or during parking, the swing of the balance vehicle body (1) is limited, and the vehicle body is kept upright.

13. The human-machine combination balance car of claim 12, wherein: the retractable parking device (41) is a cam and slide rod combination mechanism, and specifically comprises: the parking mechanism (411) fixed in the vehicle body is in contact with a parking support rod (414), the parking support rod (414) can slide in a sliding rail (412), the sliding rail (412) is fixed on the balance vehicle body (1), a spring (413) is arranged at the lower part of the parking support rod (414), and when the cam mechanism (411) rotates, under the action of the spring (413), the parking support rod (414) clings to a cam and slides up and down along the sliding rail to realize telescopic action; when the parking support rod (414) is contracted to the limit position, the maximum angle of the swing of the balance car body (1) is limited.

14. The human-machine combination balance car of claim 10, wherein: the parking control device (42) is a force transmission mechanism, and a driver transmits the control force to the parking device (41) through the parking control device (42) to enable the parking device (41) to act.

15. The human-machine combination balance car of claim 14, wherein: parking controlling means (42) comprises foot pedal device (421) and transmission device (422), and the people is through right foot pedal device (421) trample and produce the displacement, transmission device (422) transmit this kind of displacement for cam mechanism (411), make it rotate, and then make parking bracing piece (414) reciprocate, realize flexible action.

16. The human-machine combination balance car of claim 10, wherein: the swing control device (4) further comprises a vehicle body swing limiting device (43), and the vehicle body swing limiting device (43) is used for limiting the maximum swing angle of the balance vehicle body (1).

17. The human-computer combination balance car of claim 16, wherein: automobile body swing stop device (43) are for fixing the stopper of balanced automobile body (1) bottom both sides, along with the swing angle increase of balanced automobile body (1), automobile body swing stop device (43) leave chassis (3) are more and more near, until touch the chassis, right balanced automobile body (1) wobbling maximum angle plays the effect of restriction.

18. The human-machine combination balance car of claim 1, characterized in that: the man-machine combined balance car further comprises a forced reduction gear (5), and when the car body swings to a position close to the maximum position, the forced reduction gear (5) is started to reduce the speed of the car.

19. The human-computer combination balance car of claim 18, wherein: the forced reduction gear (5) is a mechanical brake handle device, a trigger rod (51) of the forced reduction gear is installed between the bottom of the balance car body (1) and the car chassis (3), the trigger rod (51) is connected with a brake steel wire (53), a steel wire sheath base (52) is fixed on the balance car body (1), and the tail end of the brake steel wire (53) is connected with a brake device of a conventional wheel, such as a drum brake; when the balance car body swings to the position near the limit position, the trigger rod (51) starts to contact the car chassis (3), the other end of the trigger rod (51) starts to leave the steel wire sheath base (52) and pulls the brake steel wire (53) under the action of the lever principle of the trigger rod (51), and then a brake device at the end of the brake steel wire (53) starts to act to brake and decelerate; when the balance car body continues to swing to the limit position, the trigger rod (51) continues to pull the brake steel wire (53), so that the braking action is further enhanced, and a stronger braking effect is obtained.