CN202879694U - Single wheel self-balancing electric vehicle - Google Patents

Single wheel self-balancing electric vehicle Download PDF

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Publication number
CN202879694U
CN202879694U CN 201220552976 CN201220552976U CN202879694U CN 202879694 U CN202879694 U CN 202879694U CN 201220552976 CN201220552976 CN 201220552976 CN 201220552976 U CN201220552976 U CN 201220552976U CN 202879694 U CN202879694 U CN 202879694U
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China
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wheel
self
vehicle
balancing
motor
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CN 201220552976
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Chinese (zh)
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邹帆
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邹帆
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Abstract

The utility model discloses a single wheel self-balancing electric vehicle which comprises a support, wherein the support is connected with a wheel and a seat, a grab rail is arranged on the seat, a spring shock absorber is arranged between the seat and the support, the wheel is driven by a motor, the motor is connected with a self-balancing controller which controls the motor to rotate and keeps a vehicle in balance and moving, the self-balancing controller is connected with an electronic gyro device which detects the angle changing of the vehicle to judge the moving direction, and the self-balancing controller and a battery are arranged in a control box. Compared with the prior art, the single wheel self-balancing electric vehicle has the advantages that the size is small, the weight is light, the operation is simple with self-balancing, the single wheel self-balancing electric vehicle can be used as a vehicle without specially training to a rider, the space occupied when riding the vehicle is not more than a necessary space when a person naturally stand, on site direction changing in riding can be achieved, and the vehicle can be taken into an elevator, a room or a bus directly.

Description

单轮自平衡电动车技术领域[0001] 本实用新型涉及电动车辆,尤其涉及一种单轮自平衡电动车。 Single wheel self-balancing electric vehicle Technical Field [0001] The present invention relates to an electric vehicle, particularly to a self-balancing electric single-wheel vehicle. 背景技术[0002] 现有的电动自行车沿用传统人力自行车的前后轮串行结构,前后轮轴距决定着车辆的横向与纵向稳定性,同时决定着转弯半径,这一结构使得稳性与灵活性成为无法解决的矛盾,为了减轻重量和减小转弯半径就只能牺牲行驶稳性,因此尺寸小的车辆难以操纵; 这种前后轮串行结构限制了车辆的尺寸和转弯距离,使得自行车无法进入房间使用。 [0002] The conventional electric bicycle rear wheel of the bicycle using the traditional human serial structure, wheelbase determine lateral and longitudinal stability of the vehicle, and determines the turning radius, the structure becomes such that the stability and flexibility Unable to resolve the conflict, in order to reduce the weight and reduce the turning radius can only with sacrifice stability, small size and therefore difficult to maneuver the vehicle; front and rear wheels of such a serial configuration limits the size and distance of the turning of the vehicle, the bicycle can not enter the room use. [0003] 已有的单轮车辆极难控制平衡,非专业人士无从掌握,更无法用来代步。 [0003] existing single-wheeled vehicle is extremely difficult to control the balance, non-professionals unable to grasp, let alone to travel. 实用新型内容[0004] 本实用新型为了解决现有技术的上述不足,提供了一种使用电子陀螺装置增加稳定性、利用车轮上的电机自行保持纵向平衡、只用一个车轮、可供单人乘坐的单轮自平衡电动车。 SUMMARY [0004] The present invention to solve the above deficiencies of the prior art, there is provided an electronic device increases the gyroscopic stability, on the wheel by the motor to maintain its own longitudinal balance, with only one wheel, for single occupant the single wheel self-balancing electric vehicle. [0005] 本实用新型的上述目的通过以下的技术方案来实现:一种单轮自平衡电动车,包括一支架,所述支架连接车轮和座位,所述的座位上安装有扶手杆,座位与支架之间装有弹簧减震器以增加乘坐舒适性;车轮由一电机驱动,所述的电机连接控制电机转动保持车辆平衡和运动的自动平衡控制器,自动平衡控制器连接检测车身角度变化来判断运动方向的电子陀螺装置,自动平衡控制器和电池安装于一控制箱内。 [0005] In the present invention the above object is achieved by the following technical solutions: A self-balancing electric single-wheel vehicle, comprising a frame, wheels connected to the bracket and the seat, the grab bar is mounted on the seat, the seat and fitted between the leg spring damper to increase comfort; wheel driven by a motor, said motor connected to control the motor rotation motion and keep the vehicle balanced automatic balance control, automatic balancing controller connection detecting change in angle of the vehicle body gyro electronic device determines the direction of movement, automatic balancing controller and a battery mounted on a control box. [0006] 优选地,所述的电子陀螺装置安装于车架上。 [0006] Preferably, the electronic device is mounted to the gyro frame. [0007] 优选地,所述的车架的截面为H形的龙骨式车架。 [0007] Preferably, the cross section of the frame is H-shaped keel type frame. [0008] 优选地,所述的扶手杆安装于座位的后方。 [0008] Preferably, the grab bar attached to the rear seat. [0009] 优选地,所述的电机为安装于车轮内的轮毂电机,轮轴外侧固定有左右踏板。 [0009] Preferably, the motor is mounted on the wheel motor in the wheel axle is fixed to the outer left and right pedals. [0010] 使用时,乘员乘坐在座位上,双脚自然支撑地面,身体重心稍向前倾,则支架随之前倾,此时电子陀螺装置检测到角度变化,通过自动平衡控制器驱动电机产生向前运转的动力,此动力将抑制支架的倾斜使之维持平衡,一旦乘员双脚离开地面,电机的动力推动整车前进同时继续保持平衡;乘员身体重心后倾,电子陀螺装置和自动平衡控制器驱动电机产生向后的制动力,在制动的同时仍然维持平衡,同理,也可以向后加速运动;在前进过程中,乘员身体向左倾斜,由于车轮运转的陀螺效应,整车行驶方向自然向左偏转,此时的离心力会抑制身体的进一步倾斜,原理同二轮自行车一样。 [0010] In use, seated by an occupant, the support feet of natural ground, the body center of gravity slightly forward, then forward along the bracket, when the electronic device detects the gyro angular change, the driving motor is generated by the balancing controller automatically before the operation of the power, this power will be suppressed so that the tilt bracket to maintain balance, once the occupant feet off the ground, pushing power of the motor vehicle advances while continuing to maintain balance; center of gravity tilt the body of the occupant, the electronic device and an automatic balancing controller gyroscope drive motor generate a braking force rearward, the brake balance while still maintaining the same token, can accelerate the rearward movement; forward of the occupant body is inclined to the left, since the operation of the gyroscopic effect of the wheel, the vehicle traveling direction NATURAL left deflection, the centrifugal force at this time will inhibit further tilt of the body, two principles with a bicycle. 由此,乘员可以通过左右倾斜身体控制前进方向。 Accordingly, the occupant can tilt the body about the control forward direction. [0011] 本实用新型与现有技术相比的优点是:本实用新型的单轮自平衡电动车体积小巧、重量轻,能自动保持平衡,操纵简单,不需专门训练即可使用作为代步工具,乘用这种车辆时占用的空间不超过人体自然站立所必需的空间,并且行驶中可以原地转向,乘用它可以直接进入电梯、房间,或乘坐公交车。 [0011] The advantages of the present invention compared to prior art are: the present invention is self-balancing single wheel electric cars small size, light weight, can automatically balance, simple operation, without special training can be used as a means of transport , occupied by the passenger when such vehicles no more space than the space necessary for the body's natural standing and moving can pivot turn, it can directly enter the passenger elevator, room, or take the bus. 附图说明[0012] 图1是本实用新型的结构示意图。 BRIEF DESCRIPTION [0012] FIG. 1 is a structural diagram of the present invention novel. 具体实施方式[0013] 下面结合附图对本实用新型进一步详述:[0014] 如图1所示,本实施例的单轮自平衡电动车,包括一支架1,所述支架I连接车轮2 和座位3,所述的座位3上安装有扶手杆4,座位3与支架I之间装有弹簧减震器5以增加乘坐舒适性;车轮2由一电机6驱动,所述的电机6连接控制电机转动保持车辆平衡和运动的自动平衡控制器7,自动平衡控制器7连接检测车身角度变化来判断运动方向的电子陀螺装置8,自动平衡控制器7和电池9安装于一控制箱10内。 A stent 1, the stent, the self-balancing electric single-wheel vehicle according to the present embodiment [0014] As shown in FIG 1, comprises a wheel connected to I and 2: drawings of the present invention in further detail DETAILED DESCRIPTION [0013] below with reference to seat 3, the seat 3 is mounted on the handrail rod 4, a spring-loaded shock absorber 5 between the seat 3 and the bracket I to increase comfort; wheel 2 is driven by a motor 6, the motor 6 is connected to a control motor rotational motion and keep the vehicle balanced automatic balancing controller 7, a gyro means for automatically balancing the electronic controller 7 is connected to the vehicle body detects the angle change to determine the direction of movement 8, the automatic balancing controller 7 and the battery 9 is mounted in a control box 10. [0015] 所述的电子陀螺装置8安装于车架上;所述的车架I的截面为H形的龙骨式车架; 所述的扶手杆4安装于座位3的后方;所述的电机6为安装于车轮2内的轮毂电机,轮轴外侧固定有左右踏板11。 [0015] The electronic gyroscopic device mounted on the frame 8; keel section of the chassis frame of formula I is H-shaped; the grab bar 4 is attached to the rear seat 3; said motor 6 is attached to the wheel motor in the wheel 2, the outer shaft 11 is fixed to the left and right pedals. [0016] 乘员利用身体前后倾斜即可控制车辆前进、后退以及执行加速、减速、制动等动作;利用身体左右倾斜则可控制车辆左右转弯;该车尺寸很小,成年人乘坐时占用空间不大于人体自然占用的空间,可以在人员拥挤的环境中使用;该车重量很轻,可以小于5公斤,方便携带上下公共交通车辆;乘员使用双脚配合可以实现O半径原地转弯,便于在房间内使用。 [0016] The use of the occupant leans back and forth to control the vehicle forward, backward and to perform acceleration, deceleration, braking action; oblique turning can be controlled using the right and left of the vehicle body around; car small in size, the space occupied by an adult when riding is not it is greater than the space occupied by the body's natural, may be used in the crowded environment of the art; lightweight car, may be less than 5 kg, easy to carry down public transport vehicles; feet occupant can be achieved with the use of O-situ radius turn, facilitate room internal use. 由于使用半导体陀螺控制电路保证稳定性,该车的使用非常简单,会骑自行车的人可以立即掌握使用技巧。 Due to the use of semiconductor gyro control circuit to ensure stability, the car is very simple, ride a bicycle who can immediately grasp tips. [0017] 但是,上述的具体实施方式只是示例性的,是为了更好的使本领域技术人员能够理解本专利,不能理解为是对本专利包括范围的限制;只要是根据本专利所揭示精神的所作的任何等同变更或修饰,均落入本专利包括的范围。 [0017] However, the above-described specific embodiments are merely exemplary, in order to better enable those skilled in the art to understand the patent, can not be construed as limiting the present patent includes a range; as long as is disclosed in the spirit of the present patent any equivalent changes or modifications made to, fall within the scope of this patent.

Claims (5)

1. 一种单轮自平衡电动车,其特征在于:包括一支架,所述支架连接车轮和座位,所述的座位上安装有扶手杆,座位与支架之间装有弹簧减震器;车轮由一电机驱动,所述的电机连接控制电机转动保持车辆平衡和运动的自动平衡控制器,自动平衡控制器连接检测车身角度变化来判断运动方向的电子陀螺装置,自动平衡控制器和电池安装于一控制箱内。 A self-balancing electric single-wheel vehicle, characterized by: comprising a bracket, the bracket is mounted on the grab bar connected to the wheel seat and the seat, said spring loaded shock absorber between the seat and the bracket; wheel driven by a motor, said motor connected to control the motor rotation motion and keep the vehicle balanced automatic balance control, automatic balancing controller connected to the angle change detecting body motion direction determination electronic gyroscopic device, automatic balancing controller and a battery mounted on a control box.
2.根据权利要求1所述的一种单轮自平衡电动车,其特征在于:所述的电子陀螺装置安装于车架上。 According to claim 1. A single wheel self-balancing electric vehicle, wherein: the electronic device is mounted to the gyro frame.
3.根据权利要求1所述的一种单轮自平衡电动车,其特征在于:所述的车架的截面为H 形的龙骨式车架。 The self balancing a single-wheel motor vehicle according to claim 1, characterized in that: a cross section of the frame is H-shaped keel type frame.
4.根据权利要求1所述的一种单轮自平衡电动车,其特征在于:所述的扶手杆安装于座位的后方。 According to claim 1. A single self-balancing electric vehicle wheel, characterized in that: the grab bar attached to the rear seat.
5.根据权利要求1所述的一种单轮自平衡电动车,其特征在于:所述的电机为安装于车轮内的轮毂电机,轮轴外侧固定有左右踏板。 The self balancing a single-wheel motor vehicle according to claim 1, wherein: said motor is mounted on the wheel inside the wheel hub motors, the outer shaft is fixed to left and right pedals.
CN 201220552976 2012-10-25 2012-10-25 Single wheel self-balancing electric vehicle CN202879694U (en)

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Cited By (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN104118503A (en) * 2013-04-23 2014-10-29 文张斌 electric bicycle
CN104118509A (en) * 2014-08-11 2014-10-29 上海新世纪机器人有限公司 Man riding detection and steering control device of seat type vehicle
CN104417685A (en) * 2013-09-01 2015-03-18 常州爱尔威智能科技有限公司 Electric self-balancing unicycle with cushion
CN104527909A (en) * 2015-01-15 2015-04-22 南京快轮智能科技有限公司 Barycenter controlling hollow single wheel self-balancing electromobile without spoke and controlling method thereof
CN104670391A (en) * 2015-03-18 2015-06-03 济南大学 Electric wheelbarrow
CN105172973A (en) * 2013-09-25 2015-12-23 东莞威信运动用品有限公司 Steering control mechanism
CN105730585A (en) * 2014-12-11 2016-07-06 光阳工业股份有限公司 Body sensing movable carrier
CN105857475A (en) * 2015-01-21 2016-08-17 常州爱尔威智能科技有限公司 Two-wheel driving intelligent self-balancing battery-operated motorcycle and operation control method thereof
CN109153425A (en) * 2016-03-17 2019-01-04 陈星� Self-balancing transport device with the pedal platform for carrying out angular movement

Cited By (15)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN104118503B (en) * 2013-04-23 2016-03-09 文张斌 Electrical Bicycle
CN104118503A (en) * 2013-04-23 2014-10-29 文张斌 electric bicycle
CN104417685A (en) * 2013-09-01 2015-03-18 常州爱尔威智能科技有限公司 Electric self-balancing unicycle with cushion
CN105197158B (en) * 2013-09-25 2018-08-31 东莞威信运动用品有限公司 Course changing control mechanism
CN105172973A (en) * 2013-09-25 2015-12-23 东莞威信运动用品有限公司 Steering control mechanism
CN105197158A (en) * 2013-09-25 2015-12-30 东莞威信运动用品有限公司 Steering control mechanism
CN104118509A (en) * 2014-08-11 2014-10-29 上海新世纪机器人有限公司 Man riding detection and steering control device of seat type vehicle
CN104118509B (en) * 2014-08-11 2016-05-04 上海新世纪机器人有限公司 Manned detection and the steering control device of chair type vehicle
CN105730585A (en) * 2014-12-11 2016-07-06 光阳工业股份有限公司 Body sensing movable carrier
CN105730585B (en) * 2014-12-11 2018-10-12 光阳工业股份有限公司 Human body temperature type mobile carrier
CN104527909B (en) * 2015-01-15 2016-10-05 南京快轮智能科技有限公司 By the hollow Self-balance electric vehicle of single wheel without spoke and the control method thereof of gravity's center control
CN104527909A (en) * 2015-01-15 2015-04-22 南京快轮智能科技有限公司 Barycenter controlling hollow single wheel self-balancing electromobile without spoke and controlling method thereof
CN105857475A (en) * 2015-01-21 2016-08-17 常州爱尔威智能科技有限公司 Two-wheel driving intelligent self-balancing battery-operated motorcycle and operation control method thereof
CN104670391A (en) * 2015-03-18 2015-06-03 济南大学 Electric wheelbarrow
CN109153425A (en) * 2016-03-17 2019-01-04 陈星� Self-balancing transport device with the pedal platform for carrying out angular movement

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Denomination of utility model: Self-balancing single-wheel electric bicycle

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Assignor: Zou Fan

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Denomination of utility model: Self-balancing single-wheel electric bicycle

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