CN206520696U - Sulky vehicle balance system - Google Patents
Sulky vehicle balance system Download PDFInfo
- Publication number
- CN206520696U CN206520696U CN201720086433.2U CN201720086433U CN206520696U CN 206520696 U CN206520696 U CN 206520696U CN 201720086433 U CN201720086433 U CN 201720086433U CN 206520696 U CN206520696 U CN 206520696U
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- China
- Prior art keywords
- vehicle
- balance
- weight assembly
- drive mechanism
- balance weight
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Abstract
The utility model provides a kind of sulky vehicle balance system, and the vehicle balance system includes：Auxiliary supports, auxiliary supports land when vehicle stops, and are risen when vehicle is travelled；Gyro system, is arranged on vehicle frame, and gyro system is used for the balance for adjusting the vehicle；Balance weight assembly, is arranged on the vehicle, is connected with auxiliary supports, and balance weight assembly adjusts the position of centre of gravity of the vehicle according to the running status of the gyro system.By the technical solution of the utility model, vehicle needs to be swung back and forth when can either avoid the gyro from unloading, and need not additionally increase obvious space and weight configuration requirement again, more preferable driving experience is provided for driver.Ensure the driver comfort of driver i.e. on the premise of Car design index request is not weakened.
Description
Technical field
The utility model is related to two wheeler balancing technique field, is realized in particular to one kind using auxiliary supports
Vehicle static balances the system with dynamic equilibrium.
Background technology
Two wheels automobile is distribution before and after a kind of wheel, and relies on internal balanced system to adjust the traffic of left and right vehicle wheel balance
Instrument.
Two wheels automobile of the prior art, its internal balanced system relies primarily on gyro system and put down to adjust the left and right of vehicle
Weighing apparatus.Gyro system includes flywheel, rotor case and motor, and flywheel is fixed in rotor case by bearing.In order to make it easy to understand, regulation
The travel direction of automobile is X-axis, and the left and right directions of automobile is Y-axis, and the vertical direction of automobile is Z axis.And automobile direction of advance
It is Y-axis positive direction along the left side of automobile direction of advance automobile for X-axis positive direction, the top of automobile is the positive direction of Z axis.Specifically
, flywheel can do rotary motion about the z axis, and rotor case is fixed in frame, and can do the rotary motion around Y-axis.Wherein, flywheel
Rotated with the positive direction of Z axis, when motor drives rotor case with Y-axis positive direction rotary motion, due to gyroscopic procession effect
Should, then the torque of X-axis negative direction can be exported by frame, makes frame overall towards the skew of Y-axis positive direction.When motor drives rotor case
During with Y-axis negative direction rotary motion, then the torque of X-axis positive direction can be exported by frame, and make frame overall towards Y-axis negative direction
Skew.The offset for adjusting rotor case by motor can adjust the left-right balance of vehicle.Because the skew of rotor case is limited by space
System, thus when vehicle repeatedly by unidirectional outer force-disturbance after or after being acted on by persistently same external force, rotor case up to
It can not then continue to resist outer force-disturbance after to maximum position, then can influence vehicle balance, make vehicle run-off the straight, it is therefore desirable to right
Gyro system is unloaded, and the rotor case in gyro system is returned to initial position.
In the prior art when being unloaded to gyro system, for example, it is disturbed or external force effect when vehicle, vehicle
When being offset to Y-axis negative direction, rotor case is driven to Y-axis positive direction rotary speed by improving motor, exports frame negative to X-axis
The bigger torque in direction, and then the angle that vehicle is offset to Y-axis negative direction can be made more more than what is reduced before, until crossing perpendicular
Straight center line and there is the situation offset to Y-axis positive direction, when vehicle balance, when rotor case is not at initial rest position, top
Spiral shell room still can produce torque, and the torque causes vehicle to may proceed to move and deviate equilbrium position, such gyroscopic couple and vehicle
Gravity torque reaches a dynamic equilibrium, thus by adjusting repeatedly, can make vehicle upright and keep balance, and realize
Unloading to gyro system.
The mode unloaded in the prior art to gyro system, can cause vehicle to swing back and forth, and can so cause to drive
Person drives uncomfortable, influences usage experience.
The vehicles that solve other at present swing back and forth generally using the extra part of increase, on the one hand need to take extra sky
Between, on the other hand need to increase additional weight, such architectural feature is not that we are desired on Car design.
The content of the invention
The utility model provides a kind of vehicle balance system, to solve of the prior art to unload to gyro system
When vehicle frequently rock problem and solve to need substantially that extra increase vehicle volume and weight go to solve vehicle in the prior art
The problem of frequently rocking.
The utility model provides a kind of vehicle balance system, and vehicle balance system includes：Auxiliary supports, the auxiliary
Support member lands when vehicle stops, and is risen when vehicle is travelled；Gyro system, is arranged on vehicle, and the gyro system is used
In the balance for adjusting the vehicle；Balance weight assembly, is arranged on the vehicle, is connected with the auxiliary supports, the counterweight
Component adjusts the position of centre of gravity of the vehicle according to the running status of the gyro system.
Further, vehicle balance system also includes slide rail, and the slide rail is used to carry balance weight assembly, is that balance weight assembly is moved
It is dynamic that running track is provided.
Further, the balance weight assembly includes：First sliding block；First drive mechanism, is connected with the slider-actuated, institute
Stating the first drive mechanism is used to drive the sliding block to move up in the slide rail side.
Further, the balance weight assembly also includes：Second sliding block；Second drive mechanism, is connected with the slider-actuated,
First drive mechanism is used to drive the sliding block to move up in the slide rail side.
Further, the balance weight assembly also includes：First controller, first controller and first driving machine
Structure is electrically connected, and first controller controls the sliding block to move according to the gyro system motion state and vehicle-state.
Further, the balance weight assembly includes：Second controller, the second controller and first drive mechanism
With the electrical connection of the second drive mechanism, the controller controls the sliding block according to the gyro system motion state and vehicle-state
It is mobile.
Further, the balance weight assembly includes：Two controllers, one of controller and first drive mechanism
Electrical connection, another controller is electrically connected with second drive mechanism.
Further, the balance weight assembly includes telescoping mechanism, is connected with the auxiliary supports, can be with dynamic auxiliary branch
Support member does horizontal and vertical movement；Drive mechanism, with the telescoping mechanism drive connection, the drive mechanism is described for driving
Telescoping mechanism is moved on the direction that center of gravity is adjusted.
Further, the balance weight assembly and two auxiliary supports connections are integral.
Further, the slide rail length is smaller than body width.
Using the technical solution of the utility model, vehicle weight is adjusted using the movement of auxiliary supports and corresponding counterweight
The heart, vehicle needed to be swung back and forth when both having avoided the gyro from unloading, and need not additionally increase obvious space and weight configuration again
It is required that, provide more preferable driving experience for driver.Ensure driver on the premise of Car design index request is not weakened
Driver comfort.
Brief description of the drawings
The Figure of description for constituting the part of the application is used for providing further understanding to of the present utility model, this practicality
New schematic description and description is used to explain the utility model, does not constitute to improper restriction of the present utility model.
In the accompanying drawings：
Fig. 1 shows the balance system horizontal cross-section structure diagram provided according to the utility model embodiment；
Fig. 2 shows the balance system overlooking the structure diagram provided according to the utility model embodiment；
Fig. 3 shows that the auxiliary supports provided according to the utility model embodiment are in raised configuration schematic diagram;
Fig. 4 shows that the auxiliary supports provided according to the utility model embodiment are in landing view.
Embodiment
Below in conjunction with the accompanying drawing in the utility model embodiment, the technical scheme in the utility model embodiment is carried out
Clearly and completely describe, it is clear that described embodiment is only a part of embodiment of the utility model, rather than whole
Embodiment.The description only actually at least one exemplary embodiment is illustrative below, never as to this practicality
New and its application or any limitation used.Based on the embodiment in the utility model, those of ordinary skill in the art are not having
There is the every other embodiment made and obtained under the premise of creative work, belong to the scope of the utility model protection.
It should be noted that term used herein above is merely to describe embodiment, and be not intended to restricted root
According to the illustrative embodiments of the application.As used herein, unless the context clearly indicates otherwise, otherwise singulative
It is also intended to include plural form, additionally, it should be understood that, when in this manual using term "comprising" and/or " bag
Include " when, it indicates existing characteristics, step, operation, device, component and/or combinations thereof.
Unless specifically stated otherwise, the part and positioned opposite, the digital table of step otherwise illustrated in these embodiments
Scope of the present utility model is not limited up to formula and numerical value.Simultaneously, it should be appreciated that each shown in accompanying drawing for the ease of description
The size of individual part is not to be drawn according to actual proportionate relationship.For skill known to person of ordinary skill in the relevant
Art, method and apparatus may be not discussed in detail, but in the appropriate case, the technology, method and apparatus should be considered as awarding
Weigh a part for specification.In shown here and discussion all examples, any occurrence should be construed as merely example
Property, not as limitation.Therefore, the other examples of exemplary embodiment can have different values.It should be noted that：It is similar
Label and letter similar terms is represented in following accompanying drawing, therefore, once be defined in a certain Xiang Yi accompanying drawing, then with
It need not be further discussed in accompanying drawing afterwards.
In description of the present utility model, it is to be understood that the noun of locality such as " forward and backward, upper and lower, left and right ", " horizontal,
Vertically, vertically, level " and " top, bottom " etc. indicated by orientation or position relationship be normally based on orientation shown in the drawings or position
Relation is put, description the utility model is for only for ease of and simplifies description, in the case where not making opposite explanation, these nouns of locality
Do not indicate that and imply that the device or element of meaning there must be specific orientation or with specific azimuth configuration and operation, because
This is it is not intended that limitation to the utility model protection domain；The noun of locality " inside and outside " refers to the wheel relative to each part in itself
Wide is inside and outside.
For the ease of description, space relative terms can be used herein, such as " ... on ", " ... top ",
" ... upper surface ", " above " etc., for describing such as a device shown in the figure or feature and other devices or spy
The spatial relation levied.It should be appreciated that space relative terms are intended to comprising the orientation except device described in figure
Outside different azimuth in use or operation.If for example, the device in accompanying drawing is squeezed, be described as " in other devices
It will be positioned as " under other devices or construction after the device of part or construction top " or " on other devices or construction "
Side " or " under other devices or construction ".Thus, exemplary term " ... top " can include " ... top " and
" in ... lower section " two kinds of orientation.The device can also other different modes positioning (being rotated by 90 ° or in other orientation), and
And respective explanations are made to the relative description in space used herein above.
Furthermore, it is necessary to which explanation, limits parts, it is only for be easy to using the word such as " first ", " second "
Corresponding parts are distinguished, such as without Stated otherwise, above-mentioned word does not have particular meaning, therefore it is not intended that to this
The limitation of utility model protection scope.
The utility model embodiment provides a kind of vehicle balance system, and the vehicle balance system includes auxiliary supports,
The auxiliary supports land when vehicle stops, and are risen when vehicle is travelled；Gyro system, is arranged on vehicle, the top
Spiral shell system is used for the balance for adjusting the vehicle；Balance weight assembly, is arranged on the vehicle, is connected with the auxiliary supports,
The balance weight assembly adjusts the position of centre of gravity of the vehicle according to the running status of the gyro system.
On the one hand auxiliary supports play a part of stable vehicle when vehicle stops, and are on the other hand connected with balance weight assembly,
Ensured to realize vehicle's center of gravity in the case that vehicle body is upright as far as possible according to gyro system and the state of vehicle together with balance weight assembly
The adjustment of position, improves the driver comfort of user.
Specifically, such as Fig. 1 and Fig. 2 vehicle balances system also includes slide rail, slide rail is used to carry balance weight assembly, is counterweight
Component movement provides running track.
The slide rail and vehicle heading formation angle, it can also be other angles that can be 90 degree.
Specifically, the balance weight assembly includes：First sliding block；First drive mechanism, is connected with the slider-actuated, described
First drive mechanism is used to drive the sliding block to move up in the slide rail side.
First slide rail, the first sliding block and the first drive mechanism constitute first set balance weight assembly, configure different heavy as needed
The sliding block of amount, the dynamics of the bigger sliding block center-of-gravity regulating of weight is bigger.
Specifically, the balance weight assembly also includes the second slide rail, the second sliding block, the second drive mechanism, the second drive mechanism
It is connected with the slider-actuated, second drive mechanism is used to drive the sliding block to move up in the slide rail side.
Second slide rail, the second sliding block and the second drive mechanism constitute second set of balance weight assembly, two sets of symmetrical cloth of balance weight assembly
Put, two sets of balance weight assemblies are completely independent in structure, each sliding block drives a support member, it is assumed that the first balance weight assembly is connected
Vehicle left side support member, the second balance weight assembly connection vehicle right side support member, then only drive left side to prop up when the first slide block movement
Support member is moved, and only drives right side supporting piece to move when the second slide block movement.
Specifically, the balance weight assembly also includes controller, the controller is electrically connected with first drive mechanism, institute
State the first controller controls the sliding block to move according to the gyro system motion state and vehicle-state.
How controller control slide block moves, according to the move distance and movement velocity of built-in command control slide block.
Specifically, if two sets of balance weight assemblies, balance weight assembly can be controlled by same controller, the controller with
First drive mechanism and the second drive mechanism electrical connection, the controller is according to the gyro system motion state and vehicle
State controls the sliding block movement.
Two drive mechanisms are controlled by same controller, the action of two driving mechanisms control sliding blocks, two sliding blocks can be with
Single movement, can also be acted simultaneously.
Specifically, if two sets of balance weight assemblies, balance weight assembly can respectively be controlled by two controllers, one of control
Device processed is electrically connected with first drive mechanism, and another controller is electrically connected with second drive mechanism.One of them
Controller controls the first drive mechanism, and another controller controls the second drive mechanism.The sliding block of first driving mechanisms control
It can individually slide, can also slide simultaneously with the sliding block of the second driving mechanisms control.
In the embodiment two that the utility model is provided, the balance weight assembly includes：Telescoping mechanism, with the auxiliary supports
Connection, can drive auxiliary supports to do horizontal and vertical movement；Drive mechanism, and the telescoping mechanism drive connection is described
Drive mechanism is used to drive the telescoping mechanism to move on the direction that center of gravity is adjusted.
Telescoping mechanism is equivalent to mechanical arm, and the telescoping mechanism with horizontal movement, can realize the center of gravity regulation of vehicle, to improve
The driving experience of driver, telescoping mechanism can also move vertically, for aiding in sulky vehicle to keep static balancing in stopping.
The telescoping mechanism is connected with auxiliary supports, it is not necessary to which slide rail is that function of regulating center of gravity can be achieved.
Connecting bracket in accompanying drawing Fig. 1, Fig. 2, Fig. 3, Fig. 4 of the present utility model can be chosen as needed, on sliding block
Connection mounting structure, i.e. sliding block, which can be carried, directly to be connected with auxiliary supports；Auxiliary supports lift drive mechanism can be set
Put on sliding block, the wire of connection drive mechanism reserves certain length.
The utility model additionally provide a kind of vehicle in vehicle balance system control method, the control method be with
The two wheeler of sliding block, the initial position of sliding block is to be from sliding block direction and car longitudinal axis intersection point solstics, the initial position on sliding block
The default location of sliding block, default location is the position at other all moment in addition to needing center of gravity regulation and must come out at this.
The initial position of sliding block is that the initial position is sliding block from sliding block direction and car longitudinal axis intersection point solstics on sliding block
Default location, as shown in Figures 2 and 3.Now for optimal support member rise landing place can as sliding block initial position and
Default location, do not need center of gravity regulation in the case of, sliding block is always at initial position, only when need adjust vehicle's center of gravity
When, just need the control slide block under support member raised configuration to be moved in assigned direction, final center of gravity regulation is finished, and support member is returned to
Initial position.
Specifically, it is preferred that the auxiliary supports are just performed when the sliding block is in initial position rises dropping action.
So that balance and security preferably are kept, only auxiliary supports can be allowed to perform liter when sliding block is in initial position
Play dropping action.If auxiliary supports can be landed when sliding block is in optional position, ground is contacted in auxiliary supports
Later left and right vehicle wheel both sides unbalance stress, influences vehicle service life.
In the embodiment three that the utility model is provided, it is not placed in relative to the balance weight assembly of embodiment one on vehicle frame, but
Body top section is placed on, the auxiliary supports balance weight assembly of left and right two and auxiliary supports connection are integral, there is drive mechanism
Drive balance weight assembly and auxiliary supports to realize to rise or landing function, slide rail is fixed in drive mechanism, and slide rail length can be big
In or be smaller than body width.
Structures and methods disclosed in the utility model are applied to the vehicle for having gyro system, are also applied for no gyro system
The vehicle of system, it is all to need what vehicle's center of gravity was adjusted, and using auxiliary supports position movement change vehicle's center of gravity at this
Within the protection domain of utility model.
Preferred embodiment of the present utility model is the foregoing is only, the utility model is not limited to, for this
For the technical staff in field, the utility model can have various modifications and variations.It is all it is of the present utility model spirit and principle
Within, any modification, equivalent substitution and improvements made etc. should be included within protection domain of the present utility model.
Claims (10)
1. a kind of vehicle balance system, it is characterised in that the vehicle balance system includes：
Auxiliary supports, the auxiliary supports land when vehicle stops, and are risen when vehicle is travelled；
Gyro system, is arranged on vehicle frame, and the gyro system is used for the balance for adjusting the vehicle；
Balance weight assembly, is arranged on the vehicle, is connected with the auxiliary supports, and the balance weight assembly is according to the gyro system
The running status of system adjusts the position of centre of gravity of the vehicle.
2. vehicle balance system according to claim 1, it is characterised in that the vehicle balance system also includes slide rail,
The slide rail is used to carry balance weight assembly, and running track is provided for balance weight assembly movement.
3. vehicle balance system according to claim 2, it is characterised in that the balance weight assembly includes：
First sliding block；
First drive mechanism, is connected with the slider-actuated, and first drive mechanism is used to drive the sliding block in the cunning
Rail side is moved up.
4. vehicle balance system according to claim 3, it is characterised in that the balance weight assembly also includes：
Second sliding block；
Second drive mechanism, is connected with the slider-actuated, and first drive mechanism is used to drive the sliding block in the cunning
Rail side is moved up.
5. vehicle balance system according to claim 3, it is characterised in that the balance weight assembly also includes：
First controller, first controller is electrically connected with first drive mechanism, and first controller is according to described
Gyro system motion state and vehicle-state control the sliding block movement.
6. vehicle balance system according to claim 4, it is characterised in that the balance weight assembly includes：
Second controller, the second controller is electrically connected with first drive mechanism and the second drive mechanism, the control
Device controls the sliding block to move according to the gyro system motion state and vehicle-state.
7. vehicle balance system according to claim 4, it is characterised in that the balance weight assembly includes：
Two controllers, one of controller is electrically connected with first drive mechanism, another controller with it is described
Second drive mechanism is electrically connected.
8. vehicle balance system according to claim 1, it is characterised in that the balance weight assembly includes：
Telescoping mechanism, is connected with the auxiliary supports, auxiliary supports can be driven to do horizontal and vertical movement；
Drive mechanism, with the telescoping mechanism drive connection, the drive mechanism is used to drive the telescoping mechanism to adjust in center of gravity
Moved on the direction of section.
9. vehicle balance system according to claim 4, it is characterised in that the balance weight assembly and two auxiliary supports
Connection is integral.
10. vehicle balance system according to claim 9, it is characterised in that the slide rail length is smaller than body width.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720086433.2U CN206520696U (en) | 2017-01-23 | 2017-01-23 | Sulky vehicle balance system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720086433.2U CN206520696U (en) | 2017-01-23 | 2017-01-23 | Sulky vehicle balance system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206520696U true CN206520696U (en) | 2017-09-26 |
Family
ID=59891252
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201720086433.2U Expired - Fee Related CN206520696U (en) | 2017-01-23 | 2017-01-23 | Sulky vehicle balance system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN206520696U (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2018133554A1 (en) * | 2017-01-23 | 2018-07-26 | 北京凌云智能科技有限公司 | Balance system of vehicle and control method thereof |
| CN111361681A (en) * | 2020-03-19 | 2020-07-03 | 北京大学 | Device and method capable of realizing self-balancing of bicycle and bicycle |
| CN111874125A (en) * | 2020-08-11 | 2020-11-03 | 行星算力(深圳)科技有限公司 | Wheeled robot with parking function |
-
2017
- 2017-01-23 CN CN201720086433.2U patent/CN206520696U/en not_active Expired - Fee Related
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2018133554A1 (en) * | 2017-01-23 | 2018-07-26 | 北京凌云智能科技有限公司 | Balance system of vehicle and control method thereof |
| CN108341001A (en) * | 2017-01-23 | 2018-07-31 | 北京凌云智能科技有限公司 | Sulky vehicle balance system and its control method |
| CN111361681A (en) * | 2020-03-19 | 2020-07-03 | 北京大学 | Device and method capable of realizing self-balancing of bicycle and bicycle |
| CN111361681B (en) * | 2020-03-19 | 2021-02-09 | 北京大学 | Device and method capable of realizing self-balancing of bicycle and bicycle |
| CN111874125A (en) * | 2020-08-11 | 2020-11-03 | 行星算力(深圳)科技有限公司 | Wheeled robot with parking function |
| CN111874125B (en) * | 2020-08-11 | 2023-08-18 | 行星算力(深圳)科技有限公司 | Wheeled robot with parking function |
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| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20170926 Termination date: 20200123 |
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| CF01 | Termination of patent right due to non-payment of annual fee |