CN206813194U - Two wheel scooters - Google Patents
Two wheel scooters Download PDFInfo
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- CN206813194U CN206813194U CN201720229350.4U CN201720229350U CN206813194U CN 206813194 U CN206813194 U CN 206813194U CN 201720229350 U CN201720229350 U CN 201720229350U CN 206813194 U CN206813194 U CN 206813194U
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- wheel
- pedal
- vehicle body
- trailing wheel
- motor
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Abstract
The utility model discloses a kind of two wheel scooters,Including vehicle body,Handlebar,Front-wheel and trailing wheel,Handlebar is fixedly connected with vehicle body and front-wheel respectively,Trailing wheel is driven by self balancing device,Self balancing device includes pedal assembly,Control system and motor,Motor is in trailing wheel,The motor shaft of motor is pivotally connected on the outside of trailing wheel and with vehicle body,Pedal assembly is pivotally connected on the vehicle body between front-wheel and trailing wheel and with vehicle body,Control system includes the posture detecting unit being connected with pedal assembly and the processing unit being connected respectively with posture detecting unit and motor shaft,Posture detecting unit is used for the inclination angle of pedal assembly and horizontal plane,Processing unit operates according to inclination angle by motor control trailing wheel,Pedal assembly is also associated with least can be when processing unit controls trailing wheel accelerated service for partially or completely compensating inclination angle with the auxiliary balance mechanism of balanced pedal component.The two-wheeled scooter structure is simple, flexible and convenient operation, and stationarity and security are preferable.
Description
Technical field
It the utility model is related to a kind of scooter, more particularly to a kind of two wheel scooters.
Background technology
In recent years, two wheel scooters are because it has the advantages that small volume, in light weight, flexible operation, as leisure and amusement
It is widely applied Deng walking-replacing tool.
At present, the control mode of two wheel scooters has two kinds on the market：One kind be using manpower drive, its it is simple in construction but
Generally requiring user has more skilled operation skill, and its balance sexual experience is poor, larger potential safety hazard be present；It is another
It is to use driven by power, pedal assembly is specifically set in the foot-operated region of vehicle body, and the pedal assembly is with being connected to control system
Posture detecting unit is connected, and detects body gesture change based on posture detecting unit, is driven by control system controlled motor
To realize that body movement balances, i.e., user is actual only need to be different by being exerted a force to pedal assembly front and back end, you can with " foot control " side
Formula realizes advance, retrogressing, turning and the stopping of vehicle body, simple to operate and time saving and energy saving.However, due to existing two skateboard
Car, its pedal assembly often exist with vehicle body as the entirety being fixedly connected, and user needs to drive when in use whole vehicle body
Vehicle operation can be controlled by control system, induction sensitivity is low, causes the actual manipulation difficulty of user, balance sexual experience is poor, especially
It is to be difficult to held stationary operation in wheel accelerated service, larger potential safety hazard be present.
Utility model content
In order to overcome the above-mentioned deficiencies of the prior art, the utility model provides a kind of two wheel scooters, it is intended to further
Reduce the manipulation difficulty of user and improve running stability.
In order to solve the above-mentioned technical problem, the technical scheme of two wheel scooters use of the present utility model is：
Two wheel scooters, including vehicle body, handlebar, front-wheel and trailing wheel, the handlebar respectively with the vehicle body and the front-wheel
It is fixedly connected, the trailing wheel is driven by self balancing device, and the self balancing device includes pedal assembly, control system and motor,
In the trailing wheel, the motor shaft of the motor is pivotally connected the motor on the outside of the trailing wheel and with the vehicle body, described
Pedal assembly is pivotally connected on the vehicle body between the front-wheel and the trailing wheel and with the vehicle body, the control system bag
Include the posture detecting unit being connected with the pedal assembly and be connected respectively with the posture detecting unit and the motor shaft
Processing unit, the posture detecting unit is used for the inclination angle of the pedal assembly and horizontal plane, and the processing unit is according to institute
State inclination angle to operate by trailing wheel described in the motor control, the pedal assembly is also associated with least can be in the processing unit control
For partially or completely compensating the inclination angle to balance the auxiliary balance machine of the pedal assembly when making the trailing wheel accelerated service
Structure.
Further, the auxiliary balance mechanism is the lazy-tongs that are connected with the electric machine shaft driving, the synchronous machine
Structure can at least act on the trailing wheel when the processing unit controls the driving wheel accelerated service power of the motor shaft
The pedal assembly is fed back to partially or completely to compensate the inclination angle.
Further, the lazy-tongs are gear drive, chain-drive mechanism, tape handler, pull bar driver
Any one in structure and bulb gangbar transmission mechanism.
Further, the pedal assembly includes pedal body, pedal support and pedal shaft, and the pedal body passes through institute
State pedal support to be fixedly connected with the pedal shaft, the pedal shaft sets with the motor shaft keeping parallelism and through described synchronous
Mechanism keeps being connected with the motor shaft.
Further, two lazy-tongs of the trailing wheel both sides are symmetrically set in including.
Further, the posture detecting unit includes being located at the pedal body or the pedal support or the synchronization
Gyroscope and acceleration transducer in mechanism.
Further, the vehicle body, which is provided with, is used to install the first mounting seat of the pedal shaft and for installing the electricity
Second mounting seat of arbor, the pedal shaft is articulated in first mounting seat by clutch shaft bearing and the first briquetting, described
Motor shaft is articulated in second mounting seat by second bearing and the second briquetting.
Further, between the pedal shaft and first mounting seat and the motor shaft and second mounting seat
Between be equipped with axial limit structure.
Further, the control system includes being used for the master control borad for setting the processing unit, and the master control borad is located at
On the vehicle body.
Further, the handlebar includes standpipe, the front fork for being fixedly connected with the standpipe and the front-wheel, located at described vertical
Handrail on pipe and the support for being fixedly connected with the standpipe and the vehicle body.
Based on above-mentioned technical proposal, two wheel scooter of the present utility model at least has beneficial below relative to prior art
Effect：Its is simple in construction, and on the one hand by the way that pedal assembly and vehicle body are pivotally connected, user by pedal assembly when carrying out " foot control "
Whole vehicle body need not be driven, you can accurately drive trailing wheel to operate using control system controlled motor, flexible and convenient operation, the opposing party
Face can make pedal assembly tend to balance by setting auxiliary balance mechanism in trailing wheel accelerated service, stationarity and security compared with
It is good.
Brief description of the drawings
Fig. 1 is a kind of decomposition texture schematic diagram for two wheel scooter that the utility model embodiment provides；
Fig. 2 is the overlooking the structure diagram of two wheel scooters shown in Fig. 1；
The side structure schematic view of two wheel scooters shown in Fig. 3 bitmaps 1.
Embodiment
In order that the technical problems to be solved in the utility model, technical scheme and beneficial effect are more clearly understood, below
With reference to drawings and Examples, the utility model is further elaborated.It should be appreciated that specific implementation described herein
Example only to explain the utility model, is not used to limit the utility model.
It should be noted that when element is referred to as on " being fixed on " or " being located at " another element, it can directly exist
On another element or it may be simultaneously present centering elements.When an element is known as " connection " another element, it can
To be to be directly connected to another element or may be simultaneously present centering elements.
Only it is relative concept or with production each other it should also be noted that, the orientation term such as upper and lower in following examples
The normal operating condition of product is reference, and be should not be regarded as restrictive.
Referring to figs. 1 to Fig. 3, two wheel scooters that the utility model embodiment provides, including it is vehicle body 100, handlebar 200, preceding
Wheel 310 and trailing wheel 320, handlebar 200 are fixedly connected with vehicle body 100 and front-wheel 310 respectively, and trailing wheel 320 is driven by self balancing device,
Self balancing device includes pedal assembly 500, control system and motor, and in trailing wheel 320, the motor shaft 600 of motor is set motor
Be pivotally connected in the outside of trailing wheel 320 and with vehicle body 100, pedal assembly 500 on the vehicle body 100 between front-wheel 310 and trailing wheel 320 and
Be pivotally connected with vehicle body 100, control system include the posture detecting unit that is connected with pedal assembly 500 and respectively with attitude detection list
The processing unit that member is connected with motor shaft 600, posture detecting unit are used for the inclination angle of pedal assembly 500 and horizontal plane, and processing is single
Member operates according to inclination angle by motor control trailing wheel 320, and pedal assembly 500 is also associated with that at least trailing wheel can be controlled in processing unit
For partially or completely compensating inclination angle with the auxiliary balance mechanism of balanced pedal component 500 during 320 accelerated service.
Two wheel scooter, simple in construction, on the one hand by the way that pedal assembly 500 and vehicle body 100 are pivotally connected, user is passing through
Pedal assembly 500 need not drive whole vehicle body 100 when carrying out " foot control ", you can after control system controlled motor accurately driving
The operating of wheel 320, flexible and convenient operation, on the other hand by setting auxiliary balance mechanism, can make to step in 320 accelerated service of trailing wheel
Board component 500 is tended to balance, it is ensured that the steady of user is ridden, and improves security.
Above-mentioned trailing wheel 320 is common motor wheel, and its concrete structure is not described in detail here.
Further, referring to figs. 1 to Fig. 3, in the present embodiment, auxiliary balance mechanism is to be connected with motor shaft 600
Lazy-tongs 700, lazy-tongs 700 can at least act on trailing wheel 320 when processing unit controls 320 accelerated service of trailing wheel
The force feedback of motor shaft 600 is to pedal assembly 500 partially or completely to compensate inclination angle.
Specifically in the present embodiment, pedal body 510, pedal support 520 are included referring to figs. 1 to Fig. 3, pedal assembly 500
And pedal shaft 530, pedal body 510 are fixedly connected by pedal support 520 with pedal shaft 530, pedal shaft 530 and motor shaft
600 keeping parallelisms are set and synchronized mechanism 700 keeps being connected with motor shaft 600.The pedal support 520 is as installation
The supporting member of pedal body 510 and pedal shaft 530 can greatly improve integrally-built stability and reliability.Pedal body
510 and pedal support 520 can both use threaded connection or riveting and what can be dismantled be fixed together, weldering can also be passed through
Connect and be fixed as an entirety or be integrally formed, to ensure structural stability.
In actual use, above-mentioned processing unit can be common servo unit.
By taking acceleration as an example, the specific control process for two wheel scooters that the present embodiment provides is：When user is to pedal assembly
Gone all out or before the anterior application of 500 (being specially the pedal body 510 of pedal assembly 500) when the center of gravity of user is relative to pedal
When component 500 leans forward, pedal body 510 with respect to the horizontal plane produces inclination angle, and on the one hand the inclination angle is detected by posture detecting unit
Corresponding data are converted into after and are transferred to servo unit, servo unit adjusts the running environment of motor according to the data accordingly
Parameter so as to accurately control the acceleration of motor rotation, also can by the lazy-tongs 700 being on the other hand connected with pedal body 510
A torque is transmitted to motor shaft 600 accordingly, so as to which drive motor axle 600 accelerates to rotate, thus, it is possible to greatly improve totality
Induction sensitivity, so that operation is more flexible；The process that operating is accelerated forwardly in drive trailing wheel 320 can be understood as the outer of motor
Rotor is by an active force forward of inner stator, and under the active force, trailing wheel 320 produces acceleration forward, and and this
Accordingly, synchronous inner stator and the motor shaft 600 being attached thereto also can be by a reaction force of outer rotor, lazy-tongs
The reaction force is cleverly fed back to pedal assembly 500 by 700 be designed to by motor shaft 600, to utilize the reaction force
Act on before pedal body 510 with riding user and go all out mutually to balance, so as to compensate foregoing inclination angle accordingly, ensure that operation is flat
Surely, security is improved.
In practical application, above-mentioned processing unit can also coordinate with posture detecting unit to realize layback protection, it is controlled
Process processed is specially：After processing unit judges that trailing wheel 320 is overrun, control instruction can be sent so that posture to posture detecting unit
The corresponding adjustment angle of detection unit, so as to drive pedal assembly 500 to tilt backwards certain angle, makes user be forced to reach
The purpose of center of gravity backward, slow down so as to realize, to be further ensured that two wheel scooters operate steadily, improve security.
Specifically in the present embodiment, posture detecting unit is included located at pedal body 510 or pedal support 520 or synchronous
Gyroscope (not shown) and acceleration transducer (not shown) in mechanism 700.Gyroscope and acceleration transducer are scooters
In the common structure that can accurately detect the with respect to the horizontal plane inclination angle of pedal body 510.
Further, in the present embodiment, above-mentioned control system includes being used for the master control borad 400 for setting processing unit, main
Plate 400 is controlled on vehicle body 100.The master control borad 400 includes power electronic device and integrated circuit modules etc..Such master control borad
400 one side can be used for receiving the signals such as startup, stopping and the braking of motor, with the startup, stopping and braking of controlled motor；Separately
On the one hand it is easy to improve the standard of the positive and negative rotaring signal of the position signalling of pedal assembly 500 for receiving posture detecting unit detection and motor
True property, preferably to control the break-make of each power electronic device, so that motor produces continuous torque；In addition, it is also convenient for receiving
Speed command and feedback speed signal, for controlling and adjusting motor speed.The structure of the master control borad 400 and install and use mode
It is common in existing technical field of electric control, therefore corresponding prior art can be used, does not repeat herein.
In practical application, lazy-tongs 700 design simply, by the lazy-tongs for selecting different sizes and/or species
700 connections that can just complete to pedal assembly 500 and motor shaft 600 in limited assembling space position, and ensure it is compact-sized,
Assembly operation is convenient.
Specifically, lazy-tongs 700 are existing gear drive, chain-drive mechanism, tape handler, pull bar transmission
Any one in mechanism and bulb gangbar transmission mechanism, user can be according to the design and assembly space structure of scooter and transmission
Demand carries out corresponding selection design.Reference picture 1, the present embodiment is using tape handler.
Further, in the present embodiment, two wheel scooter includes two synchronous machines for being symmetrically set in the both sides of trailing wheel 320
Structure 700.Such structure not only contributes to improve integrally-built stability and the stationarity of actual motion.
Further, reference picture 1 and Fig. 3, in the present embodiment, vehicle body 100, which is provided with, to be used to install the of pedal shaft 530
One mounting seat 810 and the second mounting seat 820 for installing motor shaft 600, pedal shaft 530 pass through clutch shaft bearing 830 and first
Briquetting 850 is articulated in the first mounting seat 810, and motor shaft 600 is articulated in second by the briquetting 860 of second bearing 840 and second
It is simple in construction in mounting seat 820, it is easy to assembly, can ensure that whole pedal assembly 500 can under " foot control " of user light and flexible
Regulation angle of inclination, avoid driving bulky vehicle body 100 to act, operating flexibility is preferable.
Specifically in the present embodiment, due to two synchronous machines of two wheel scooter including being symmetrically set in the both sides of trailing wheel 320
Structure 700, therefore symmetrical two the first mounting seats 810 and symmetrical two the second mounting seats 820 also are provided with accordingly, and first axle
Hold 830 and second bearing 840 it is also corresponding be two.
Further, in the present embodiment, between the mounting seat 810 of pedal shaft 530 and first and motor shaft 600 and
Axial limit structure (not shown) is equipped between two mounting seats 820.Such structure to pedal shaft 530 and vehicle body 100 with
And motor shaft 600 is played with vehicle body 100 while being connected positioning action, moreover it is possible to ensure pedal support 520 and pedal body 510 with
And trailing wheel 320 will not occur axially to rock relative to vehicle body 100.The axial limiting mechanism can use existing jump ring or stop
The structures such as ring, its is simple in construction, cheap and easy for installation.
Specifically in the present embodiment, handlebar 200 includes standpipe 220, is fixedly connected with the front fork of standpipe 220 and front-wheel 310
210th, the handrail 230 on standpipe 220 and the support 240 of standpipe 220 and vehicle body 100 is fixedly connected with, simple in construction, processing
Easy to make, cost is relatively low.In order to simplify structure, above-mentioned front-wheel 310 is preferably driven pulley.Above-mentioned handlebar 200 on the one hand can be with
The stationarity that user is stood on vehicle body 100 is improved, is on the other hand easy to user to carry out steering operation.
Specifically in the present embodiment, reference picture 1 and Fig. 3, above-mentioned two wheel scooter also include carrying for control system and motor
The power module 900 for power of powering, the power module 900 are preferably disposed on the vehicle body 100 between pedal assembly 500 and trailing wheel 320
To reach the purpose for saving overall space.The power module 900 is also preferably rechargeable battery, to improve ease of use.
It should be noted that above-mentioned two wheel scooter also includes power supply 900, for installing positioning pedal shaft 530, motor shaft
Other required elements such as 600 threaded connector or structure, these structures are all common in existing scooter, therefore all may be used
To realize that it is not described here in detail using corresponding prior art.
Preferred embodiment of the present utility model is these are only, it is all in this practicality not to limit the utility model
All any modification, equivalent and improvement made within new spirit and principle etc., should be included in guarantor of the present utility model
Within the scope of shield.
Claims (10)
1. liang wheel scooter, including vehicle body, handlebar, front-wheel and trailing wheel, the handlebar are consolidated with the vehicle body and the front-wheel respectively
Fixed connection, it is characterised in that：The trailing wheel is driven by self balancing device, and the self balancing device includes pedal assembly, control system
System and motor, the motor in the trailing wheel, the motor shaft of the motor on the outside of the trailing wheel and with the vehicle body
Pivot joint, the pedal assembly is pivotally connected on the vehicle body between the front-wheel and the trailing wheel and with the vehicle body, described
Control system include the posture detecting unit that is connected with the pedal assembly and respectively with the posture detecting unit and described
The connected processing unit of motor shaft, the posture detecting unit are used for the inclination angle of the pedal assembly and horizontal plane, the processing
Unit trailing wheel according to the inclination angle by the motor control operates, and the pedal assembly is also associated with least can be described
For partially or completely compensating the inclination angle to balance the pedal assembly when processing unit controls the trailing wheel accelerated service
Auxiliary balance mechanism.
2. two wheel scooter as claimed in claim 1, it is characterised in that：The auxiliary balance mechanism is to be passed with the motor shaft
The lazy-tongs of dynamic connection, the lazy-tongs at least can be when the processing unit control the driving wheel accelerated service by institute
State trailing wheel and act on the force feedback of the motor shaft to the pedal assembly partially or completely to compensate the inclination angle.
3. two wheel scooter as claimed in claim 2, it is characterised in that：The lazy-tongs are gear drive, chain biography
Any one in motivation structure, tape handler, drag link transmission mechanism and bulb gangbar transmission mechanism.
4. two wheel scooter as claimed in claim 2, it is characterised in that：The pedal assembly includes pedal body, pedal branch
Frame and pedal shaft, the pedal body are fixedly connected by the pedal support with the pedal shaft, the pedal shaft with it is described
Motor shaft keeping parallelism sets and keeps being connected through the lazy-tongs and the motor shaft.
5. two wheel scooter as claimed in claim 4, it is characterised in that：Two institutes including being symmetrically set in the trailing wheel both sides
State lazy-tongs.
6. two wheel scooter as claimed in claim 4, it is characterised in that：The posture detecting unit includes being located at the pedal
Body or the pedal support or gyroscope and acceleration transducer on the lazy-tongs.
7. two wheel scooter as claimed in claim 4, it is characterised in that：The vehicle body, which is provided with, to be used to install the pedal shaft
The first mounting seat and the second mounting seat for installing the motor shaft, the pedal shaft pass through clutch shaft bearing and the first briquetting
It is articulated in first mounting seat, the motor shaft is articulated in second mounting seat by second bearing and the second briquetting
It is interior.
8. two wheel scooter as claimed in claim 7, it is characterised in that：Between the pedal shaft and first mounting seat with
And it is equipped with axial limit structure between the motor shaft and second mounting seat.
9. two wheel scooter as claimed in claim 1, it is characterised in that：The control system includes being used to set the processing
The master control borad of unit, the master control borad is on the vehicle body.
10. two wheel scooter as claimed in any one of claims 1-9 wherein, it is characterised in that：The handlebar includes standpipe, consolidated
Surely the front fork of the standpipe and the front-wheel, the handrail on the standpipe are connected and be fixedly connected the standpipe with it is described
The support of vehicle body.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720229350.4U CN206813194U (en) | 2017-03-09 | 2017-03-09 | Two wheel scooters |
| PCT/CN2018/078506 WO2018161947A1 (en) | 2017-03-09 | 2018-03-09 | Self-balancing device, electric vehicle, posture vehicle, manned trunk and two-wheeled skateboard |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720229350.4U CN206813194U (en) | 2017-03-09 | 2017-03-09 | Two wheel scooters |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206813194U true CN206813194U (en) | 2017-12-29 |
Family
ID=60751425
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201720229350.4U Active CN206813194U (en) | 2017-03-09 | 2017-03-09 | Two wheel scooters |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN206813194U (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2018161947A1 (en) * | 2017-03-09 | 2018-09-13 | 深圳市亮点智控科技有限公司 | Self-balancing device, electric vehicle, posture vehicle, manned trunk and two-wheeled skateboard |
| CN108891517A (en) * | 2018-07-18 | 2018-11-27 | 深圳市亮点智控科技有限公司 | Body-sensing vehicle and electric vehicle |
| CN109436160A (en) * | 2018-11-22 | 2019-03-08 | 深圳乐行运动科技有限公司 | Human-computer interaction body-sensing vehicle and the method for control human-computer interaction body-sensing vehicle movement |
| CN113753164A (en) * | 2021-09-07 | 2021-12-07 | 深圳市亮点智控科技有限公司 | Motion sensing vehicle operation control system and method |
-
2017
- 2017-03-09 CN CN201720229350.4U patent/CN206813194U/en active Active
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2018161947A1 (en) * | 2017-03-09 | 2018-09-13 | 深圳市亮点智控科技有限公司 | Self-balancing device, electric vehicle, posture vehicle, manned trunk and two-wheeled skateboard |
| CN108891517A (en) * | 2018-07-18 | 2018-11-27 | 深圳市亮点智控科技有限公司 | Body-sensing vehicle and electric vehicle |
| CN108891517B (en) * | 2018-07-18 | 2024-05-17 | 深圳市亮点智控科技有限公司 | Somatosensory vehicle and electric vehicle |
| CN109436160A (en) * | 2018-11-22 | 2019-03-08 | 深圳乐行运动科技有限公司 | Human-computer interaction body-sensing vehicle and the method for control human-computer interaction body-sensing vehicle movement |
| CN109436160B (en) * | 2018-11-22 | 2024-07-19 | 深圳乐行天下科技有限公司 | Human-computer interaction motion sensing vehicle and method for controlling human-computer interaction motion sensing vehicle |
| CN113753164A (en) * | 2021-09-07 | 2021-12-07 | 深圳市亮点智控科技有限公司 | Motion sensing vehicle operation control system and method |
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