CN117465588A - Two-wheeled electrodynamic balance car - Google Patents

Abstract

The invention provides a two-wheeled electric balance car; the steering wheel comprises a middle bracket assembly positioned in the middle and wheels (7) which are arranged at two ends of the middle bracket assembly and respectively controlled by respective motors, wherein the middle bracket assembly is provided with a steering rod connecting piece (10). The middle support assembly comprises a chassis (1), a battery (2), a first speed reducer (3), a second speed reducer (4), a chassis cover plate (5), a plastic pedal (8), a revolving body shell (9), a first plastic pedal (12), a second plastic pedal (13), a front guard plate (14), a rear guard plate (15), a front bottom plate (16), a pedal (17), a charging plug (18), a connecting knob (19) and a foot support (20); the invention is provided with the boss component on the right side of the stator, and the frame and the stator are fixed by the screw, so that the outer circular surface of the boss is matched with the inner bearing, thereby effectively solving the problem of the size design of the wheel axle.

Description

Two-wheeled electrodynamic balance car

Technical Field

The invention relates to the field of electric balance vehicles; in particular to a two-wheel electric balance car.

Background

The electric balance car, also called body feeling car, thinking car, its operation principle is mainly based on a basic principle called "dynamic stabilization", and utilizes gyroscope and acceleration sensor in the car body to detect the change of car body posture, and utilizes servo control system to accurately drive motor to make correspondent regulation so as to retain balance of system. The product is a new-onset product because the interest is widely liked by young and children.

The current electrodynamic balance car, including left socle frame, right branch frame, the outside one end of left socle frame is provided with the left wheel, the outside one end of right branch frame is provided with the right wheel, the inboard of left socle frame, right branch frame is direct to be in the same place through the bearing rotation, directly support left socle frame, right branch frame unsettledly through left wheel, right branch frame, after the user steps on left socle frame, right branch frame, make the position of being connected between left socle frame, the right branch frame can bear very big pressure, this just hardly has guaranteed the axiality of the hookup location of two, has caused the serious wearing and tearing of bearing, also influenced the flexibility ratio of electrodynamic balance car.

Disclosure of Invention

The invention aims to provide a two-wheeled electric balance car.

The invention is realized by the following technical scheme:

the invention relates to a two-wheeled electric balance car, which comprises a middle bracket component positioned in the middle and wheels 7 which are arranged at two ends of the middle bracket component and respectively controlled by respective motors, wherein the middle bracket component is provided with a steering rod connecting piece 10;

preferably, the intermediate bracket assembly comprises: chassis 1, battery 2, first reduction gear 3, second reduction gear 4, chassis apron 5, plastics footboard 8, solid of revolution shell 9, first plastics footboard 12, second plastics footboard 13, front guard plate 14, back guard plate 15, front bottom plate 16, footboard 17, charging plug 18, connection knob 19, heel brace 20;

wherein, the pedal 17 is arranged on the upper end surface of the chassis 1, and the wheels 7 are symmetrically arranged at two ends of the pedal 17;

one end of the steering rod connecting piece 10 is connected with the chassis 1, and the other end is connected with the handle 11;

the foot support 20 is arranged on the lower end surface of the chassis 1;

the connecting knob 19 is arranged at one end of the steering rod connecting piece 10 connected with the chassis 1;

the battery 2 and the first speed reducer 3 are arranged at the same side end of the chassis 1; the second decelerator 4 is arranged at the opposite side end of the chassis 1;

the first plastic pedal 12 and the second plastic pedal 13 are symmetrically arranged on the upper surface of the pedal 17 by the steering rod connecting piece 10;

the plastic pedal 8 is arranged at the lower ends of the first plastic pedal 12 and the second plastic pedal 13;

the chassis cover plate 5 is connected with the chassis 1 in a matching way;

the hub cap 6 is cooperatively connected with the wheel 7.

Preferably, the steering rod connector 10 is provided with a balance control system comprising three parts, a sensor, a controller and an actuator. The sensor is a device for measuring the inclination angle and angular velocity of a vehicle, and includes a gyroscope, an accelerometer, an angle sensor, and the like. Gyroscopes are used to measure the angular velocity of a vehicle, accelerometers are used to measure the acceleration and inclination of a vehicle, and angle sensors are used to measure the turning angle of the wheels and the steering angle of the vehicle. The sensors can acquire the motion state information of the vehicle in real time and transmit the motion state information to the controller for processing. The controller is a device for calculating the required torque and controlling the actuator to apply the torque, and comprises a microprocessor, a control algorithm, a motor controller and the like. The microprocessor is used for processing the data acquired by the sensor and calculating the required torque and direction, the control algorithm calculates the required torque according to the real-time vehicle state information and outputs the required torque to the motor controller, and the motor controller is responsible for controlling the rotating speed and the steering of the motor so as to apply the corresponding torque to balance the vehicle. An actuator is a device for applying torque, including an electric motor and wheels. The motor is a power source of the vehicle, and torque is applied by changing the rotation speed and steering of the motor. The wheels are driven by motors, which are capable of rotating and driving the vehicle in motion. The actuator can realize balance control of the vehicle. During the balance control, the controller controls the motion state of the vehicle by calculating a required torque and outputting the calculated torque to the actuator, thereby maintaining the balance state of the vehicle. Through continuous sensor acquisition and controller calculation, the vehicle can realize real-time and accurate balance control, thereby realizing stable and efficient running.

Preferably, the total reduction ratio of the first reduction gear 3 is 6.

Preferably, the wheels 7 have a tire width of 2.75 inches, an inner diameter of 18 inches, and a nominal vehicle speed of 200 meters/minute.

Preferably, the steering rod connecting piece 10 is connected with the vehicle central processing unit and is transmitted to the vehicle motor control module, so that steering control of the balance car is realized. When the user leans to the left or wants to turn the balance car to the left, the control lever moves to the left. Otherwise, the balance car can be turned to the right by swinging the control rod to the right. Therefore, the control lever of the electric balance car plays a very key role in the use process, and directly influences the driving experience and the driving safety of the balance car.

Preferably, the tyre pattern of said wheel 7 is of longitudinal arch shape.

Preferably, the motor is a direct current brush hub motor.

Preferably, three small holes are circumferentially distributed on the axle of the wheel 7.

All the motor components of the hub motor according to the present invention are assembled in the interior of the hub 21.

For medium-high speed hub motors, the stator is usually designed in a shell shape and fixed on a shaft, and magnetic steel is welded inside the stator in order to reduce the axial length of the gear and the rotor. The printed coreless disc armature is manufactured by adopting a printed circuit board technology, and has low cost and good effect. In the structure, the rotor and the shaft are connected through the bearing and can freely rotate. In operation, the rotor is decelerated via a two-stage or planetary gear set, transmitting torque to a ring gear mounted inside the hub, thereby propelling the wheel to rotate. The main parameters of the brush-equipped medium-high speed motor are rated power p=180w and rated rotation speed 635r/min.

Since the axle of the wheel 7 is too thick, the pitch circle diameter of the central pinion increases, which is disadvantageous for increasing the transmission ratio, and therefore the axle cannot be too thick. On the other hand, the shaft cannot be too thin, which would otherwise result in too small an inboard bearing and reduced spline strength. According to the invention, the boss member is arranged on the right side of the stator, and the frame and the stator are fixed by the screw, so that the outer circular surface of the boss is matched with the inner bearing, and the problem of the size design of the wheel axle is effectively solved.

Because the invention adopts the brush outer rotor motor, three small holes which are uniformly distributed on the shaft of the wheel 7 in the circumferential direction are called commutator wire holes so as to supply power for the commutator. All commutator wires are collectively connected together and led out from the motor wire guide at the center of the shaft. In the running of the wheels, the direction of the driving torque applied to the wheels is changed in order to maintain balance. This effect is reflected in the shaft, which is subject to frequent positive and negative torsion, accelerating fatigue damage to the axle. Therefore, the shaft must be appropriately modified and reinforced to improve its torsional resistance. Therefore, the axle should be made of a relatively strong material, such as alloy steel, to ensure sufficient strength and life.

The working principle of the invention is as follows:

the invention relates to a two-wheeled electric balance car, which comprises: chassis 1, 2 wheels 7, a power assembly, an operating mechanism and the like. The chassis 1 comprises a chassis cover plate 5, a plastic pedal 8, a heel brace 20, a front guard plate 14, a rear guard plate 15 and a front bottom plate 16; the wheel 7 includes: the hub cover 6, the hub 21 and the mud guard 22, the wheels are important components of the vehicle, and good bearing capacity, wear resistance and impact resistance are required; the power assembly comprises a battery 2, a gear motor, a charging plug 18 and a connecting knob 19, and the motor is required to have the characteristics of high efficiency, reliability and energy conservation. The battery 2 is required to have the characteristics of high energy density, long service life, safety, reliability and the like; the operating mechanism comprises a handle 11 and a steering rod connector 10. The starting button is pressed on the control handle, a person stands on the pedal of the balance car, and the speed and the running direction of the balance car are controlled through the control handle and the control rod, so that the balance car can safely reach a destination by carrying a driver according to road conditions and planned paths.

The invention is provided with the boss component on the right side of the stator, and the frame and the stator are fixed by the screw, so that the outer circular surface of the boss is matched with the inner bearing, thereby effectively solving the problem of the size design of the wheel axle.

The invention has the following advantages:

(1) The invention designs the boss on the right side of the stator, and fixes the frame and the stator by using the screw, so that the outer circular surface of the boss is matched with the inner bearing, thereby effectively solving the problem of the size design of the wheel axle.

(2) The invention relates to a wheel, which comprises three small holes which are uniformly distributed on the shaft in the circumferential direction and are called commutator wire guide holes for supplying power to a commutator. All commutator wires are collectively connected together and led out from the motor wire guide at the center of the shaft. In the running of the wheels, the direction of the driving torque applied to the wheels is changed in order to maintain balance. This effect is reflected in the shaft, which is subject to frequent positive and negative torsion, accelerating fatigue damage to the axle.

Drawings

FIG. 1 is a schematic diagram of a two-wheeled electrodynamic balance car according to the present invention;

FIG. 2 is a schematic side view of a two-wheeled electrodynamic balance car according to the present invention;

FIG. 3 is a schematic top view of a two-wheeled electrodynamic balance car according to the present invention;

fig. 4 is a schematic view of a wheel structure of a two-wheeled electrodynamic balance vehicle according to the present invention;

fig. 5 is a schematic view of a fender structure of a two-wheeled electrodynamic balance car according to the present invention;

the drawings are marked: the automobile steering wheel comprises a chassis 1, a battery 2, a first speed reducer 3, a second speed reducer 4, a chassis cover plate 5, a hub cover 6, wheels 7, a plastic pedal 8, a revolving body shell 9, a steering rod connecting piece 10, a handle 11, a first plastic pedal 12, a second plastic pedal 13, a front guard plate 14, a rear guard plate 15, a front bottom plate 16, a pedal 17, a charging plug 18, a connecting knob 19, a foot support 20, a hub 21 and a mud guard 22.

Detailed Description

The present invention will be described in detail with reference to specific examples. It should be noted that the following examples are only further illustrative of the present invention, but the scope of the present invention is not limited to the following examples.

Examples

The embodiment relates to a two-wheeled electric balance car, as shown in fig. 1-3, comprising a middle bracket component positioned in the middle and wheels 7 which are arranged at two ends of the middle and respectively controlled by respective motors, wherein the middle bracket component is provided with a steering rod connecting piece 10;

preferably, the intermediate bracket assembly comprises: chassis 1, battery 2, first reduction gear 3, second reduction gear 4, chassis apron 5, plastics footboard 8, solid of revolution shell 9, first plastics footboard 12, second plastics footboard 13, front guard plate 14, back guard plate 15, front bottom plate 16, footboard 17, charging plug 18, connection knob 19, heel brace 20;

wherein, the pedal 17 is arranged on the upper end surface of the chassis 1, and the wheels 7 are symmetrically arranged at two ends of the pedal 17;

one end of the steering rod connecting piece 10 is connected with the chassis 1, and the other end is connected with the handle 11;

the foot support 20 is arranged on the lower end surface of the chassis 1;

the connecting knob 19 is arranged at one end of the steering rod connecting piece 10 connected with the chassis 1;

the battery 2 and the first speed reducer 3 are arranged at the same side end of the chassis 1; the second decelerator 4 is arranged at the opposite side end of the chassis 1;

the first plastic pedal 12 and the second plastic pedal 13 are symmetrically arranged on the upper surface of the pedal 17 by the steering rod connecting piece 10;

the plastic pedal 8 is arranged at the lower ends of the first plastic pedal 12 and the second plastic pedal 13;

the chassis cover plate 5 is connected with the chassis 1 in a matching way;

the hub cap 6 is cooperatively connected with the wheel 7.

Preferably, the steering rod connector 10 is provided with a balance control system comprising three parts, a sensor, a controller and an actuator. The sensor is a device for measuring the inclination angle and angular velocity of a vehicle, and includes a gyroscope, an accelerometer, an angle sensor, and the like. Gyroscopes are used to measure the angular velocity of a vehicle, accelerometers are used to measure the acceleration and inclination of a vehicle, and angle sensors are used to measure the turning angle of the wheels and the steering angle of the vehicle. The sensors can acquire the motion state information of the vehicle in real time and transmit the motion state information to the controller for processing. The controller is a device for calculating the required torque and controlling the actuator to apply the torque, and comprises a microprocessor, a control algorithm, a motor controller and the like. The microprocessor is used for processing the data acquired by the sensor and calculating the required torque and direction, the control algorithm calculates the required torque according to the real-time vehicle state information and outputs the required torque to the motor controller, and the motor controller is responsible for controlling the rotating speed and the steering of the motor so as to apply the corresponding torque to balance the vehicle. An actuator is a device for applying torque, including an electric motor and wheels. The motor is a power source of the vehicle, and torque is applied by changing the rotation speed and steering of the motor. The wheels are driven by motors, which are capable of rotating and driving the vehicle in motion. The actuator can realize balance control of the vehicle. During the balance control, the controller controls the motion state of the vehicle by calculating a required torque and outputting the calculated torque to the actuator, thereby maintaining the balance state of the vehicle. Through continuous sensor acquisition and controller calculation, the vehicle can realize real-time and accurate balance control, thereby realizing stable and efficient running.

Preferably, the total reduction ratio of the first reduction gear 3 is 6.

Preferably, the wheels 7 have a tire width of 2.75 inches, an inner diameter of 18 inches, and a nominal vehicle speed of 200 meters/minute.

Preferably, the steering rod connecting piece 10 is connected with the vehicle central processing unit and is transmitted to the vehicle motor control module, so that steering control of the balance car is realized. When the user leans to the left or wants to turn the balance car to the left, the control lever moves to the left. Otherwise, the balance car can be turned to the right by swinging the control rod to the right. Therefore, the control lever of the electric balance car plays a very key role in the use process, and directly influences the driving experience and the driving safety of the balance car.

Preferably, the tyre pattern of said wheel 7 is of longitudinal arch shape, as shown in fig. 4.

Preferably, the motor is a direct current brush hub motor.

Preferably, three holes are circumferentially distributed on the axle of the wheel 7, and a mud guard 22 is also installed on the wheel 7, as shown in fig. 5.

All the motor components of the hub motor according to the present invention are assembled in the interior of the hub 21.

For medium-high speed hub motors, the stator is usually designed in a shell shape and fixed on a shaft, and magnetic steel is welded inside the stator in order to reduce the axial length of the gear and the rotor. The printed coreless disc armature is manufactured by adopting a printed circuit board technology, and has low cost and good effect. In the structure, the rotor and the shaft are connected through the bearing and can freely rotate. In operation, the rotor is decelerated via a two-stage or planetary gear set, transmitting torque to a ring gear mounted inside the hub, thereby propelling the wheel to rotate. The main parameters of the brush-equipped medium-high speed motor are rated power p=180w and rated rotation speed 635r/min.

Since the axle of the wheel 7 is too thick, the pitch circle diameter of the central pinion increases, which is disadvantageous for increasing the transmission ratio, and therefore the axle cannot be too thick. On the other hand, the shaft cannot be too thin, which would otherwise result in too small an inboard bearing and reduced spline strength. The technical problem is solved, and the frame and the stator are fixed by the screw, so that the outer circular surface of the boss is matched with the inner bearing, and the problem of the size design of the wheel axle is solved effectively.

Because the invention adopts the brush outer rotor motor, three small holes which are uniformly distributed on the shaft of the wheel 7 in the circumferential direction are called commutator wire holes so as to supply power for the commutator. All commutator wires are collectively connected together and led out from the motor wire guide at the center of the shaft. In the running of the wheels, the direction of the driving torque applied to the wheels is changed in order to maintain balance. This effect is reflected in the shaft, which is subject to frequent positive and negative torsion, accelerating fatigue damage to the axle. Therefore, the shaft must be appropriately modified and reinforced to improve its torsional resistance. Therefore, the axle should be made of a relatively strong material, such as alloy steel, to ensure sufficient strength and life.

The foregoing describes specific embodiments of the present invention. It is to be understood that the invention is not limited to the particular embodiments described above, and that various changes and modifications may be made by one skilled in the art within the scope of the claims without affecting the spirit of the invention.

Claims (8)

1. The two-wheeled electrodynamic balance car is characterized by comprising a middle bracket component positioned in the middle and wheels (7) which are arranged at two ends of the middle bracket component and controlled by respective motors, wherein the middle bracket component is provided with a steering rod connecting piece (10).

2. The two-wheeled electrodynamic balance vehicle of claim 1, wherein the intermediate bracket assembly comprises: the novel electric bicycle comprises a chassis (1), a battery (2), a first speed reducer (3), a second speed reducer (4), a chassis cover plate (5), a plastic pedal (8), a revolving body shell (9), a first plastic pedal (12), a second plastic pedal (13), a front guard plate (14), a rear guard plate (15), a front bottom plate (16), a pedal (17), a charging plug (18), a connecting knob (19) and a foot support (20);

wherein, the pedal (17) is arranged on the upper end surface of the chassis (1), and the wheels (7) are symmetrically arranged at two ends of the pedal (17);

one end of the steering rod connecting piece (10) is connected with the chassis (1), and the other end is connected with the handle (11);

the foot support (20) is arranged on the lower end surface of the chassis (1);

the connecting knob (19) is arranged at one end of the steering rod connecting piece (10) connected with the chassis (1);

the battery (2) and the speed reducer (3) are arranged at the same side end of the chassis (1); the mirror image speed reducer (4) is arranged at the opposite side end of the chassis (1);

the plastic pedal (12) and the mirror image plastic pedal (13) are symmetrically arranged on the upper surface of the pedal (17) through the steering rod connecting piece (10);

the plastic pedal (8) is arranged at the lower ends of the plastic pedal (12) and the mirror image plastic pedal (13);

the chassis cover plate (5) is connected with the chassis (1) in a matching way;

the hub cover (6) is matched and connected with the wheel (7).

3. The two-wheeled electrodynamic balance vehicle of claim 1, characterized in that the steering rod connection (10) is provided with a balance control system comprising three parts, a sensor, a controller and an actuator.

4. The two-wheeled electrodynamic balance vehicle according to claim 1, characterized in that the total reduction ratio of the first reduction gear (3) is 6.

5. The two-wheeled electrodynamic balance vehicle of claim 1, in which the wheels (7) have a tyre width of 2.75 inches and an inner diameter of 18 inches.

6. The two-wheeled electrodynamic balance car of claim 1, wherein the steering rod connector (10) is connected to the vehicle central processor and transferred to the vehicle motor control module for steering control of the balance car.

7. A two-wheeled electrodynamic balance vehicle as claimed in claim 1, characterized in that the tyre pattern of said wheels (7) is of longitudinal arch shape.

8. The two-wheeled electrodynamic balance vehicle of claim 1, characterized in that three apertures are circumferentially distributed on the axle of the wheels (7).