CN112298427A - Independent suspension balance car - Google Patents
Independent suspension balance car Download PDFInfo
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- CN112298427A CN112298427A CN202011333118.8A CN202011333118A CN112298427A CN 112298427 A CN112298427 A CN 112298427A CN 202011333118 A CN202011333118 A CN 202011333118A CN 112298427 A CN112298427 A CN 112298427A
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- frame
- frame body
- controller
- balance car
- mounting
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62K—CYCLES; CYCLE FRAMES; CYCLE STEERING DEVICES; RIDER-OPERATED TERMINAL CONTROLS SPECIALLY ADAPTED FOR CYCLES; CYCLE AXLE SUSPENSIONS; CYCLE SIDE-CARS, FORECARS, OR THE LIKE
- B62K11/00—Motorcycles, engine-assisted cycles or motor scooters with one or two wheels
- B62K11/007—Automatic balancing machines with single main ground engaging wheel or coaxial wheels supporting a rider
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G17/00—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load
- B60G17/015—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G17/00—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load
- B60G17/015—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements
- B60G17/019—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements characterised by the type of sensor or the arrangement thereof
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G3/00—Resilient suspensions for a single wheel
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- 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
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- 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
Abstract
The invention relates to the technical field of two-wheeled balance cars, and discloses an independent suspension balance car, which comprises: the device comprises a frame, a controller, a suspension damping mechanism, two driving motors and two wheels; the controller is arranged on the frame; the suspension damping mechanism comprises a frame body, a mounting seat and an elastic piece, the frame body is respectively mounted on the left side and the right side of the frame, one end of the elastic piece is connected with the frame body, and the other end of the elastic piece is connected with the mounting seat; the fixed shaft of each driving motor is correspondingly connected with one of the mounting seats, and the driving motors are electrically connected with the controller; each wheel is respectively connected with the power output end of one of the driving motors; the elastic part of the invention can be compressed and popped up, and when the independent suspension balance car runs on uneven roads, the wheels on two sides independently bounce to obtain a large damping effect.
Description
Technical Field
The invention relates to the technical field of two-wheel balance cars, in particular to an independent suspension balance car.
Background
The electric balance car is also called a body-sensing car, a thinking car, a camera car and the like. The market mainly comprises a single wheel and two wheels. The operating principle is mainly based on a basic principle called dynamic stability. The balance car utilizes a gyroscope and an acceleration sensor inside the car body to detect the change of the posture of the car body, and utilizes a servo control system to accurately drive a motor to carry out corresponding adjustment so as to keep the balance of the system. Is a novel green and environment-friendly product used as a travel tool and leisure and entertainment by modern people.
The balance car generally comprises a main frame, a driving battery, a control circuit board, two hub motors and the like. Wherein, among the current balance car, the support often designs the support compacter in order to possess stronger rigidity bearing structure, has sacrificed its elastic construction design, leads to the whole effect of moving away to avoid possible earthquakes of balance car relatively poor, has the relatively poor problem of user experience.
Disclosure of Invention
The purpose of the invention is: the independent suspension balance car has the advantages that when the car runs to a road surface with obstacles, the servo motor controls the wheels to move upwards or downwards, so that the car frame is kept in a parallel stable state, and the situation that a driver overturns in the running process is avoided.
In order to achieve the above object, the present invention provides an independent suspension balance car, comprising: the device comprises a frame, a controller, a suspension damping mechanism, two driving motors and two wheels;
the controller is arranged on the frame;
the suspension damping mechanism comprises a frame body, a mounting seat and an elastic piece, the frame body is respectively mounted on the left side and the right side of the frame, one end of the elastic piece is connected with the frame body, and the other end of the elastic piece is connected with the mounting seat;
the fixed shaft of each driving motor is correspondingly connected with one of the mounting seats, and the driving motors are electrically connected with the controller;
each wheel is respectively connected with the power output end of one of the driving motors;
the elastic piece can elastically drive the mounting seat and the wheel to passively move upwards or downwards relative to the frame when the wheel is impacted by uneven road surfaces.
In some embodiments, the suspension damping mechanism further comprises a servo motor, the servo motor is mounted on the side of the frame body and electrically connected with the controller, and a power output end of the servo motor is connected with the elastic member;
the controller can control the servo motor to rotate, so that the elastic piece is driven to move upwards or downwards, and the mounting seat is enabled to move upwards or downwards actively.
In some embodiments, the vehicle further comprises a level sensor, the level sensor is mounted on the vehicle frame or in the controller and is used for detecting the level height of the left end and the right end of the vehicle frame, and the level sensor is electrically connected with the controller; when the horizontal sensor detects that the horizontal heights of the left end and the right end of the frame are not consistent, the controller controls the servo motor at one end of the frame to drive the elastic piece to move up and down, so that the mounting seat and the wheel move up and down.
In some embodiments, two elastic members are arranged on the left side or the right side of the frame, and the elastic members are cylindrical; the mounting base is provided with connecting holes which are connected with the elastic pieces in a one-to-one correspondence mode.
In some embodiments, the servo motors are provided in two or four; when two servo motors are arranged, each servo motor is respectively arranged on the frame bodies on the left side and the right side, and one servo motor drives the two elastic pieces on the same side to stretch; when four servo motors are arranged, two servo motors are respectively arranged on each frame body, each servo motor is connected with the elastic piece in a one-to-one correspondence mode, and one servo motor correspondingly drives one elastic piece to stretch.
In some embodiments, the bicycle frame further comprises two mounting plates, each mounting plate is rotatably mounted on the left side and the right side of the bicycle frame respectively, and a guide groove in fit connection with the frame body is formed in each mounting plate.
In some embodiments, the suspension damping mechanism further includes a fixing plate fixedly connected to the mounting plate, the fixing plate is provided with a fixing groove corresponding to the guide groove, a mounting hole is defined between the fixing groove and the guide groove, and the frame body is mounted on the mounting hole.
In some embodiments, an angle sensor for detecting the steering of the frame is mounted on the frame, and the angle sensor is electrically connected with the controller;
when the angle sensor detects that the frame generates a steering angle, the controller respectively controls the rotating speeds of the driving motors to be different so as to form a differential speed to realize steering.
In some embodiments, the vehicle frame comprises:
the first frame body is used for a user to stand;
the second frame bodies are correspondingly arranged below the first frame bodies at intervals; the two wheels are respectively and rotatably arranged on the left side and the right side of the first frame body and are respectively and rotatably connected with the left side and the right side of the second frame body;
the handlebar assembly is rotatably arranged on the first frame body and the second frame body respectively; when the handlebar assembly swings left and right, the first frame body can move left and right in parallel along with the handlebar assembly relative to the second frame body;
one end of the elastic component is connected with the first frame body, and the other end of the elastic component is connected with the second frame body; when the first frame body moves left and right in parallel relative to the second frame body, the elastic component can drive the first frame body to automatically reset.
In some embodiments, a first centering mechanism capable of enabling the first frame body to automatically swing and return is connected between the handlebar assembly and the first frame body.
In some embodiments, the handlebar assembly includes a link member and a handlebar, the link member is respectively and rotatably connected with the first frame body and the second frame body, and the handlebar is rotatably mounted at the top end of the link member; and a second centering mechanism capable of enabling the handlebar to automatically rotate and return relative to the linkage piece is connected between the linkage piece and the handlebar.
In some embodiments, the first frame body comprises a bearing plate and two first mounting rods, and the first mounting rods are respectively arranged at the front side and the rear side of the bearing plate; the second frame body comprises a connecting plate and two second mounting rods, the second mounting rods are respectively arranged on two sides of the connecting plate, the connecting plate is correspondingly arranged below the bearing plate, and the two second mounting rods are respectively positioned below the two first mounting rods; the linkage piece is respectively connected with the first mounting rod and the second mounting rod on the same side in a rotating mode.
In some embodiments, at least four elastic members are provided and are respectively located at four corners of the bottom of the first frame body.
Compared with the prior art, the independent suspension balance car provided by the invention has the beneficial effects that: when the independent suspension balance car runs on a non-horizontal complex road surface, the suspension damping mechanism is used for damping due to the fact that the suspension elastic part stretches and independently jumps, the possibility of side turning is greatly reduced, when the car body inclines left and right, the controller converts the inclination angles captured by the left and right horizontal sensors into driving signals to drive the servo motor, the servo motor rotates to enable the elastic part to ascend or descend for correcting the inclination of the car body, and driving stability and safety are further guaranteed; when a user stands on the first frame body, the first frame body and the second frame body are linked through left and right swinging of the handlebar to generate parallelogram deformation, when the user faces to a road with left and right high-low fall and high-speed steering, the first frame body and a human body keep the same posture, so that rollover of the user under the high-low fall is prevented, meanwhile, the suspension damping mechanism reduces vibration of the independent suspension balance vehicle, and the independent suspension balance vehicle is ensured to keep a relatively stable state in the running process; the swing angle of the first frame body and the handlebar linked with the first frame body is detected through the first angle sensor, the rotation angle of the handlebar is detected through the second angle sensor, the controller controls the power assembly to perform corresponding actions after processing angle information detected by the first angle sensor and the second angle sensor, and the power assembly generates a driving speed difference, so that the steering of the independent suspension balance car is realized; when the first frame body and the second frame body generate parallelogram deformation, the elastic part connected between the first frame body and the second frame body generates elastic deformation due to the deformation, and when the straight line driving is recovered and the road surface is stable, the elastic part resets the first frame body to be right above the second frame body through elasticity, so that one-time elastic deformation is completed; under the interference effect of the linkage piece, the whole frame can only swing left and right and elastically deform in the vertical direction of the same plane in the advancing and retreating directions, and can not swing front and back and elastically deform in the advancing and retreating directions, so that the structural limitation not only greatly enhances the rigidity strength of the whole frame, but also improves the driving stability of a user, avoids the phenomenon that the body of the user tilts forward or backwards and overturns due to road surface conditions or accidental stress in the driving process, and has stronger practicability; when the frame is stressed and deformed, the front and rear deformation surfaces present parallelogram structural deformation, the overall stress condition of the frame can be optimized by the arrangement of the structure, and the whole stability of the frame is greatly contributed.
Drawings
FIG. 1 is a schematic view of the overall structure of the independent suspension balance car of the invention;
FIG. 2 is an exploded view of the self-contained suspended balance car configuration of the present invention;
FIG. 3 is a schematic view of a first frame structure of the present invention;
FIG. 4 is a schematic structural view of a second frame of the present invention;
FIG. 5 is a schematic view of the independently suspended balance car of the present invention in a high speed right steering state;
FIG. 6 is a schematic view of the independently suspended balance car of the present invention in a high speed left turn condition;
FIG. 7 is a schematic view showing a damping state of the independent suspension balance car of the present invention;
FIG. 8 is a schematic view of the independent suspension balance car of the present invention in a damping state.
In the figure, 110, the frame; 1. a first frame body; 101. a bearing plate; 102. a first mounting bar; 2. a second frame body; 201. mounting a plate; 202. a second mounting bar; 3. a battery pack; 4. a handlebar assembly; 401. a handlebar; 402. a connecting rod; 403. a linkage member; 5. an elastic member; 6. a connecting member; 7. a controller; 8. a second angle sensor; 9. a first angle sensor; 10. a first mounting groove; 11. a suspension damping mechanism; 1101. a mounting seat; 1102. an elastic member; 1103. a servo motor; 1104. a frame body; 1105. a fixing plate; 12. a wheel; 13. the motor is driven.
Detailed Description
The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only a part of the embodiments of the present application, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
In the description of the present application, it is to be understood that the terms "center", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", and the like indicate orientations or positional relationships based on those shown in the drawings, and are only for convenience in describing the present application and simplifying the description, but do not indicate or imply that the referred device or element must have a particular orientation, be constructed in a particular orientation, and be operated, and thus should not be construed as limiting the present application.
The terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the present application, "a plurality" means two or more unless otherwise specified.
In the description of the present application, it is to be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meaning of the above terms in the present application can be understood in a specific case by those of ordinary skill in the art.
As shown in fig. 1 and 2, in some embodiments according to the present application, an independent suspension balance car includes: the device comprises a frame 110, a controller 7, a suspension damping mechanism 11, two driving motors 13 and two wheels 12; the controller 7 is mounted on the frame 110; the suspension damping mechanism 11 comprises a frame body 1104, a mounting seat 1101 and an elastic member 1102, wherein the frame body 1104 is respectively mounted at the left side and the right side of the frame 110, one end of the elastic member 1102 is connected with the frame body 1104, and the other end of the elastic member 1102 is connected with the mounting seat 1101; the fixed shaft of each driving motor 13 is correspondingly connected with one of the mounting seats 1101, and the driving motor 13 is electrically connected with the controller 7; each wheel 12 is connected with the power output end of one of the driving motors 13; the elastic member 1102 can elastically drive the mounting seat 1101 and the wheel 12 to move up or down relative to the frame 110 when the wheel 12 is impacted by uneven road.
Based on the above scheme, the suspension damping mechanisms 11 are suspended on two sides of the frame body 110, the frame body 1104 is suspended relative to the frame 110, when the vehicle runs to uneven road surfaces, the wheel 12 contacts an obstacle, and due to the existence of the elastic member 1102, the elastic member 1102 passively contracts to drive the mounting seat 1101 to move upwards, so that the wheel 12 is driven to move upwards, the frame 110 is kept in a relatively stable state, and the purpose of passive damping is achieved.
In some embodiments, the suspension damping mechanism 11 further includes a servo motor 1103, the servo motor 1103 is mounted on a side of the frame 1104 and electrically connected to the controller 7, and a power output end of the servo motor 1103 is connected to the elastic member 1102; the controller 7 can control the servo motor 1103 to rotate, so as to drive the elastic member 1102 to move up or down, so that the mounting seat 1101 is moved up or down actively. The vehicle frame comprises a vehicle frame 110 and a controller 7, and is characterized by further comprising a horizontal sensor, wherein the horizontal sensor is mounted on the vehicle frame 110 or the controller 7 and used for detecting the horizontal height of the left end and the right end of the vehicle frame 110, and the horizontal sensor is electrically connected with the controller 7; when the level sensor detects that the horizontal heights of the left end and the right end of the frame 110 are not consistent, the controller 7 controls the servo motor 1103 at the high end of the frame 110 to drive the elastic member 1102 to move upwards, so that the mounting seat 1101 and the wheel 12 move upwards.
Based on the scheme, when the independent suspension balance car runs on a non-horizontal complex road surface, the suspension damping mechanism 11 is used for damping due to the fact that the suspension elastic piece 1102 stretches and independently jumps, the possibility of side turning is greatly reduced, when the car frame 110 inclines left and right, the controller 7 converts the inclination angle captured by the left and right horizontal sensors into a driving signal to drive the servo motor 1103, the servo motor 1103 rotates to enable the elastic piece 1102 to ascend or descend for correcting the inclination of the car frame 110, and driving stability and safety are further guaranteed. The horizontal sensors are arranged in a manner of being matched with an independent suspension balance car with a servo motor 1103, the left horizontal sensor and the right horizontal sensor are arranged on the car frame 110, the inclination angle information of the car frame 110 is detected, the controller 7 converts the inclination angles captured by the left horizontal sensor and the right horizontal sensor into driving signals to drive the servo motor 1103, and the servo motor 1103 rotates to lift or move the elastic element 120 downwards for correcting the inclination of the car frame 110, so that the driving stability and safety are further ensured.
In some embodiments, two elastic members 1102 are arranged on the left side or the right side of the frame 1104, and the elastic members 1102 are cylindrical; the mounting base 1101 is provided with connecting holes correspondingly connected with the elastic members 1102 one by one.
In some embodiments, the servo motors 1103 are provided in two or four; when two servo motors 1103 are arranged, each servo motor 1103 is respectively arranged on the frame body 1104 at the left side and the right side, and one of the servo motors 1103 drives the two elastic members 1102 at the same side to extend and retract; when four servo motors 1103 are arranged, two servo motors 1103 are respectively arranged on each frame body 1104, each servo motor 1103 is correspondingly connected with the elastic piece 1102 one by one, and one servo motor 1103 correspondingly drives one elastic piece 1102 to stretch and retract.
In some embodiments, the vehicle further includes two mounting plates 6, each of the mounting plates 6 is rotatably mounted on the left and right sides of the frame 110, and the mounting plate 6 is provided with a guide groove cooperatively connected with the frame body 1104.
In some embodiments, the suspension damping mechanism 11 further includes a fixing plate 1105, the fixing plate 1105 is fixedly connected to the mounting plate 6, the fixing plate 1105 defines a fixing groove corresponding to the guide groove, a mounting hole is defined between the fixing groove and the guide groove, and the frame body 1104 is mounted on the mounting hole.
In some embodiments, the frame 110 includes a first frame body 1, a second frame body 2, a handlebar assembly 4 and an elastic member 5; the first frame body 1 is used for a user to stand; the second frame bodies 2 are correspondingly arranged below the first frame body 1 at intervals; the handlebar assembly 4 is rotatably mounted on the first frame body 1 and the second frame body 2 respectively; when the handlebar assembly 4 swings left and right, the first frame body 1 can move left and right in parallel along with the handlebar assembly 4 relative to the second frame body 2; one end of the elastic component 5 is connected with the first frame body 1, and the other end is connected with the second frame body 2; when the first frame body 1 moves left and right in parallel relative to the second frame body 2, the elastic component 5 can drive the first frame body 1 to automatically reset.
Based on the scheme, the automobile hand-held vehicle handle assembly works based on the inverted pendulum principle, when the automobile hand-held vehicle handle assembly is used, a driver stands on the first frame body 1 vertically to hold the vehicle handle assembly 4, when the body of the driver leans forward and pushes the assembly 4, the first frame body 1 and the second frame body 2 lean forward, the gyro assembly sensing the pitching angle of the vehicle frame in the controller 7 detects an inclination angle signal, the signal is processed by the controller 7 to become a motor driving signal, and the driving motor rotates to drive the automobile body to move, so that balance is kept, and the automobile moves forwards and backwards; a cuboid shape is formed between the first frame body 1 and the second frame body 2, and the handlebar assembly 4 is arranged at the front ends of the first frame body 1 and the second frame body 2, namely the side of the frame which moves forwards integrally; the handlebar assembly 4 mainly swings with the first frame body 1, and then is stably connected with the first frame body 1 and the second frame body 2; when a user stands on the first frame body 1, holds the handlebar assembly 4, controls the handlebar assembly 4 to swing left and right, the controller 7 acquires the swing information of the handlebar assembly 4, processes the swing information, and sends related control signals to the power assembly, so that the power assemblies at the left end and the right end of the vehicle body generate speed difference, and further realize steering, the handlebar assembly 4 swings left and right by linking the first frame body 1, parallelogram deformation is generated between the first frame body 1 and the second frame body 2 when swinging, the handlebar assembly 4 and the first frame body 1 can tilt along with the user in a parallelogram deformation mode, and accordingly overturning caused by centrifugal force is avoided; after the parallelogram between the first frame body 1 and the second frame body 2 is deformed, the elastic part 5 connected between the first frame body 1 and the second frame body 2 can generate elastic deformation due to deformation, when the straight line driving is recovered and the road surface is stable, the elastic part 5 resets the first frame body 1 to be right above the second frame body 2 through elasticity, and thus, one-time elastic deformation is completed; when the independent suspension balance car runs on left and right fluctuated road surfaces and obstacle road surfaces, the suspension damping mechanisms 11 play a certain buffering role, so that the car body keeps a relative stable state, and a user is prevented from falling.
In some embodiments, the frame further comprises two mounting plates 6 which are rotatably mounted on the left and right sides of the first frame body 1 and are rotatably connected with the left and right sides of the second frame body 2; and a guide groove matched and connected with the servo motor 1103 is formed in the mounting plate 6. The effect that mounting panel 6 set up is connected first support body 1 and second support body 2, simultaneously for connecting installation wheel 12, all leave the space between mounting panel 6 and first support body 1 and the second support body 2, when taking place parallelogram deformation for first support body 1 and second support body 2, certain activity space remains between mounting panel 6 and first support body 1 and the second support body 2, can accomplish in order to ensure deformation, be unlikely to because mounting panel 6 blocks and leads to can not take place deformation.
In some embodiments, the vehicle further includes a battery pack 3 and two driving motors 13, the controller 7 is electrically connected to the driving motors 13, the controller 7 is installed on the first frame body 1, the battery pack 3 is installed on the second frame body 2, a fixed end of the driving motor 13 is connected to the installation seat 1101, and a power output end of the driving motor 13 is connected to the wheel 12 for driving the wheel 12 to rotate. The battery pack 3 provides power for the driving motor 13, and the driving motor 13 drives the wheels 12 to rotate so as to drive the independent suspension balance car to move; the rotation speed of the left driving motor 13 and the rotation speed of the right driving motor 13 are controlled, so that the two driving motors 13 generate rotation speed difference, and the steering of the independent suspension balance car can be realized.
In some embodiments, an angle sensor for detecting a rotation angle of the handlebar assembly 4 with respect to the first frame 1 is disposed between the handlebar assembly 4 and the first frame 1, and the angle sensor is electrically connected to the controller 7; when the angle sensor detects that the handlebar assembly 4 rotates at different angles relative to the first frame 1, the controller 7 controls the rotation speeds of the driving motors 13 to be different, so as to form a differential speed.
In some embodiments, the handlebar assembly 4 includes a link 403 and a handlebar 401, the link 403 is respectively rotatably connected to the first frame 1 and the second frame 2, and the handlebar 401 is mounted on the top end of the link 403; the angle sensor comprises a first angle sensor 9 arranged on the first frame body 1 and a second angle sensor 8 arranged on the linkage part 403; the first angle sensor 9 is electrically connected with the controller 7 and is used for detecting the swing angle of the first frame body 1 and the handlebar 401 linked with the first frame body; the second angle sensor 8 is electrically connected to the controller 7 for detecting a rotation angle of the handlebar 401 with respect to the link 403. First angle sensor 9 is installed on the arbitrary movable angle of first support body 1, can detect the swing angle of first support body 1, because first support body 1 and handlebar 401 are the linkage, handlebar 401 swings and drives first support body 1 swing, be equivalent to the swing angle that first angle sensor 9 detected handlebar 401 and first support body 1, and with this angle information transmission to controller 7, controller 7 sends relevant drive command to power component 12 after handling, the driving motor of the left and right sides produces the difference in rotation speed, and then the realization turns to. The second angle sensor 8 is used for detecting the rotation angle of the handlebar 401, the controller 7 sends a related driving instruction to the driving motor after acquiring the rotation angle information of the handlebar 401 for processing, and the steering is controlled.
In some embodiments, the handlebar assembly 4 further includes a connecting rod 402, and one end of the connecting rod 402 is connected to the linkage 403 and the other end is connected to the handlebar 401. The connecting rod 402 is designed to adapt to the design of the handlebars 401 with different heights, and the height of the connecting rod 402 is designed according to requirements so as to match the requirements of users with different heights to hold the handlebars 401 by hands; the connecting rod 402 may be of a telescopic type, and its height may be freely adjusted during use, and further, the connecting rod 402 and the handle 401 may be integrally formed.
In some embodiments, a first centering mechanism capable of automatically swinging and returning the link 403 relative to the first frame 1 is connected between the link 403 and the first frame 1, and a second centering mechanism capable of automatically rotating and returning the handle 401 relative to the link 402 is connected between the link 402 and the handle 401.
In some embodiments, the link member 403 is rotatably connected to the first frame 1 and the second frame 2, and the link member 403 links the first frame 1 to swing parallel to the second frame 2 while overcoming the elastic force of the elastic member 5. Because the linkage member 403 is rotatably connected with the first frame body 1, when the handlebar 401 swings left and right, the linkage member 403 firstly swings along with the first frame body 1, and then drives the first frame body 1 to swing along with the first frame body 1, namely the linkage member 403 swings at a certain angle relative to the second frame body 2, the swinging angles of the first frame body 1 and the handlebar 401 are consistent, the inclination angle of the human body is ensured to be consistent with the swinging angles of the first frame body 1 and the handlebar 401, and therefore the condition that the inclination angle of the human body is consistent with the swinging angles of the
In some embodiments, the first frame body 1 is provided with a first mounting groove 10 for accommodating the controller 7; and a second mounting groove for accommodating the battery pack 3 is formed in the second frame body 2. The independent suspension balance car needs controller 7 to go the control to and need group battery 3 to provide the power supply, dispose the first mounting groove 10 of installation controller 7 on first support body 1, dispose the second mounting groove of installation group battery 3 on second support body 2, avoid the surface of controller 7 and group battery 3 protrusion frame, guaranteed the holistic aesthetic property of frame.
In some embodiments, the linking member 403 further defines a third mounting groove for accommodating the second angle sensor 8, and the third mounting groove corresponds to the axis of the handlebar 401. The second angle sensor 8 is mainly used for detecting the rotation angle of the handlebar 401, the handlebar 401 is connected with the connecting rod 402, the second angle sensor 8 is installed on the third installation groove of the linkage part 403, the rotation angle of the linkage part 403 detected by the second angle sensor 8 is the rotation angle of the handlebar 401, in addition, the position of the third installation groove can be a position which is close to the first frame body 1 in a downward mode, the detection precision can be improved, and the controller 7 which is convenient for independently hanging the balance car can perform corresponding control adjustment.
In some embodiments, as shown in fig. 3 and 4, the first frame body 1 includes a bearing plate 101 and two first mounting rods 102, and the first mounting rods 102 are respectively disposed at front and rear sides of the bearing plate 101; the second frame body 2 comprises a connecting plate 201 and two second mounting rods 202, the second mounting rods 202 are respectively arranged on two sides of the connecting plate 201, the connecting plate 201 is correspondingly arranged below the bearing plate 101, and the two second mounting rods 202 are respectively arranged below the two first mounting rods 102; the linkage member 403 is rotatably connected to the first mounting rod 102 and the second mounting rod 202 on the same side. The bearing plate 101 is used for a user to stand, the front end and the rear end of the bearing plate 101 are connected with the first mounting rod 102, the first mounting rod 102 is connected with the linkage piece 403, the connecting plate 201 and the corresponding second mounting rod 202 are arranged to be matched with the bearing plate 101 and the first mounting rod 102, and the linkage piece 403 is rotatably connected with the first mounting rod 102 and the second mounting rod 202, namely, force is transmitted through the first mounting rod 102 and the second mounting rod 202 during swinging, so that influence on mounting parts on the bearing plate 101 and the connecting plate 201 can be avoided.
In some embodiments, at least four elastic members 5 are provided and are respectively located at four corners of the bottom of the first frame 1. In order to ensure that the frame is stable when the parallelogram deforms and the first frame body 1 can completely reset to be right above the second frame body 2, the number of the elastic parts 5 is preferably four, and the elastic parts are respectively positioned at four end corners, so that the first frame body 1 and the second frame body 2 are stressed uniformly when the parallelogram deforms, and the frame is more stable when the parallelogram deforms; in addition, the elastic member 5 is a spring.
Based on the above embodiment, when the independent suspension balance car realizes high-speed right steering, the state is as shown in fig. 5, and the first frame body deviates to the left; when the independent suspension balance car realizes high-speed left steering, the state is as shown in fig. 6, and the first frame body deviates to the right; when the independent suspension balance car runs on an uneven road surface, the state of the independent suspension balance car without the servo motor is shown in figure 7, the car body generates parallelogram deformation, the aim of buffering and shock absorption can be achieved, the state of the independent suspension balance car with the servo motor is shown in figure 8, the car body can be kept horizontal, and the shock absorption effect is better.
To sum up, the effect of moving away to avoid possible earthquakes of buffering has been reached through elastic deformation to the independent balance car that hangs that this application provided, further improves the effect of moving away to avoid possible earthquakes of independent balance car through hanging damper cooperation shock attenuation simultaneously, has improved user's use and has experienced and guaranteed the security in the use.
The above description is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, various modifications and substitutions can be made without departing from the technical principle of the present invention, and these modifications and substitutions should also be regarded as the protection scope of the present invention.
Claims (11)
1. An independently suspended balance car, comprising:
a frame;
a controller mounted on the frame;
the suspension damping mechanism comprises a frame body, a mounting seat and an elastic piece, the frame body is respectively mounted on the left side and the right side of the frame, one end of the elastic piece is connected with the frame body, and the other end of the elastic piece is connected with the mounting seat;
the fixed shaft of each driving motor is correspondingly connected with one of the mounting seats, and the driving motors are electrically connected with the controller;
the two wheels are respectively connected with the power output end of one of the driving motors;
the elastic piece can elastically drive the mounting seat and the wheel to passively move upwards or downwards relative to the frame when the wheel is impacted by uneven road surfaces.
2. The independent suspension balance car of claim 1, wherein the suspension damping mechanism further comprises a servo motor, the servo motor is mounted on the side of the frame body and electrically connected with the controller, and the power output end of the servo motor is connected with the elastic member;
the controller can control the servo motor to rotate, so that the elastic piece is driven to move upwards or downwards, and the mounting seat is enabled to move upwards or downwards actively.
3. The independently suspended balance car of claim 2, further comprising a level sensor mounted on the frame or inside the controller for detecting the level of the left and right ends of the frame, the level sensor being electrically connected to the controller; when the horizontal sensor detects that the horizontal heights of the left end and the right end of the frame are not consistent, the controller controls the servo motor at one end of the frame to drive the elastic piece to move up and down, so that the mounting seat and the wheel move up and down.
4. The independently suspended balance car of claim 2, wherein there are two of the elastic members on either the left or right side of the frame, and the elastic members are cylindrical; the mounting base is provided with connecting holes which are connected with the elastic pieces in a one-to-one correspondence mode.
5. The independently suspended balance car of claim 4, wherein there are two or four of said servo motors; when two servo motors are arranged, each servo motor is respectively arranged on the frame bodies on the left side and the right side, and one servo motor drives the two elastic pieces on the same side to stretch; when four servo motors are arranged, two servo motors are respectively arranged on each frame body, each servo motor is connected with the elastic piece in a one-to-one correspondence mode, and one servo motor correspondingly drives one elastic piece to stretch.
6. The independently suspended balance car of claim 1, further comprising two mounting plates, wherein each mounting plate is rotatably mounted on the left side and the right side of the frame, and the mounting plates are provided with guide grooves in fit connection with the frame body.
7. The independent suspension balance car of claim 6, wherein the suspension damping mechanism further comprises a fixing plate, the fixing plate is fixedly connected with the mounting plate, the fixing plate is provided with a fixing groove corresponding to the guide groove, a mounting hole is defined between the fixing groove and the guide groove, and the frame body is mounted on the mounting hole.
8. The independently suspended balance car of claim 1, wherein an angle sensor for detecting the steering of the frame is mounted on the frame, the angle sensor being electrically connected to the controller;
when the angle sensor detects that the frame generates a steering angle, the controller respectively controls the rotating speeds of the driving motors to be different so as to form a differential speed to realize steering.
9. The independently suspended balance car of any one of claims 1 to 8, wherein the frame comprises:
the first frame body is used for a user to stand;
the second frame bodies are correspondingly arranged below the first frame bodies at intervals; the two wheels are respectively and rotatably arranged on the left side and the right side of the first frame body and are respectively and rotatably connected with the left side and the right side of the second frame body;
the handlebar assembly is rotatably arranged on the first frame body and the second frame body respectively; when the handlebar assembly swings left and right, the first frame body can move left and right in parallel along with the handlebar assembly relative to the second frame body;
one end of the elastic component is connected with the first frame body, and the other end of the elastic component is connected with the second frame body; when the first frame body moves left and right in parallel relative to the second frame body, the elastic component can drive the first frame body to automatically reset.
10. The independently suspended balance vehicle of claim 9, wherein a first centering mechanism is coupled between the handlebar assembly and the first frame body to enable the first frame body to automatically swing back.
11. The independently suspended balance car of claim 9, wherein the handlebar assembly includes a linkage rotatably coupled to the first frame and the second frame, respectively, and a handlebar rotatably mounted to a top end of the linkage; and a second centering mechanism capable of enabling the handlebar to automatically rotate and return relative to the linkage piece is connected between the linkage piece and the handlebar.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011333118.8A CN112298427A (en) | 2020-11-24 | 2020-11-24 | Independent suspension balance car |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011333118.8A CN112298427A (en) | 2020-11-24 | 2020-11-24 | Independent suspension balance car |
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| Publication Number | Publication Date |
|---|---|
| CN112298427A true CN112298427A (en) | 2021-02-02 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202011333118.8A Pending CN112298427A (en) | 2020-11-24 | 2020-11-24 | Independent suspension balance car |
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| CN (1) | CN112298427A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115140225A (en) * | 2022-06-28 | 2022-10-04 | 江苏双双高新科技有限公司 | Electrodynamic balance car with brake protection tests speed |
-
2020
- 2020-11-24 CN CN202011333118.8A patent/CN112298427A/en active Pending
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115140225A (en) * | 2022-06-28 | 2022-10-04 | 江苏双双高新科技有限公司 | Electrodynamic balance car with brake protection tests speed |
| CN115140225B (en) * | 2022-06-28 | 2023-08-01 | 江苏双双高新科技有限公司 | Electrodynamic balance car with brake protection tests speed |
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