CN209096382U - A kind of single self-balancing spherical shape electric car - Google Patents
A kind of single self-balancing spherical shape electric car Download PDFInfo
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- CN209096382U CN209096382U CN201821896184.4U CN201821896184U CN209096382U CN 209096382 U CN209096382 U CN 209096382U CN 201821896184 U CN201821896184 U CN 201821896184U CN 209096382 U CN209096382 U CN 209096382U
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Abstract
The utility model discloses a kind of single self-balancing spherical shape electric car, comprising: car body is hollow ball；And first wheel rim and the second wheel rim, for annular, and rotatable it is symmetricly set on the cross-car two sides；First motor stator and the second motor stator to be annular, and are separately positioned in first wheel rim and the second wheel rim, and the inner ring surface of the first motor stator and the second motor stator is fixedly connected with the car body respectively；First motor winding and the second machine winding to be annular, and are fixedly connected with the first motor stator and the second motor stator outer ring surface respectively；First permanent magnet and the second permanent magnet to be annular, and are respectively fixedly disposed on first wheel rim and the second wheel rim inner wall, and be oppositely arranged with the first motor winding and the second machine winding；Wherein, when the first motor winding and the second machine winding are powered, first wheel rim and the second wheel rim can be rotated around the cross-car axle center relative to the car body.
Description
Technical field
The utility model relates to technical field of transportation means, and more particularly, the utility model relates to one kind, one is certainly flat
Weigh spherical electric car.
Background technique
With the high speed development of social economy and science and technology, the effect of automobile in people's lives is more and more important, early
It has been not only a kind of simple vehicles.And in recent years, with the exploitation of automobile the relevant technologies, this is provided for various imaginations
Possibility.
The shape of orthodox car has become a kind of formwork style, this has limited to people to automobile appearance structure already
Innovation, and it is novel, with more creativity, the appearance of attraction then be easier attract most people note that by more people
Favor.Simultaneously traditional general 7 people of limit for tonnage of general car hereinafter, using two axis four-wheels drive arrangement form, this makes energy
Consumption is relatively more, results in waste of resources.And when one drives to go on a journey alone, the energy consumption per capita of vehicle is then bigger.In life
More common sulky vehicle such as bicycle, motorcycle etc. is mostly front and back arrangement, and stability is poor, safety problem easily occurs.And it is close
There is the two-wheeled balance car of lateral arrangement, the research just because of people to electric machines control technology and balancing technique in Nian Lai
And invent, this two-wheeled balance car has many advantages, for example cast, any steering may be implemented, largely
Improve flexibility.But what it was also merely resting on a kind of short distance walking-replacing tool or more at present is a kind of amusement, pastime
On tool, the requirement of transport facility is far not achieved.Along with the research and development of hub motor independence actuation techniques, make vapour
The drive arrangement form of vehicle is more flexible.It is so based on this, utilizes In-wheel motor driving technology and self-balancing technology, design one
Kind drives trip for single, and car body novel appearance using two-wheel drive, while truly can be used as traffic to deliver work
On the one hand the vehicle of tool largely reduces energy consumption when single trip, on the other hand break and existing set to automobile external form
The limitation thinking of meter, while designed sulky vehicle compensate for tradition and take turns the disadvantages of layout vehicle flexibility is poor more.
Utility model content
The utility model has designed and developed a kind of single self-balancing spherical shape electric car, rotatable right in cross-car two sides
Claim the first wheel rim of setting and the second wheel rim, and two wheel rims independently drive, the single vehicle energy driven when going on a journey can be effectively reduced
Amount consumption, while greatly improving the flexibility of vehicle, make up the shortcomings that traditional all-wheel drive is arranged and effectively improving two-wheeled
The stability and safety of vehicle.
Technical solution provided by the utility model are as follows:
A kind of single self-balancing spherical shape electric car, comprising:
Car body is hollow ball；And
First wheel rim and the second wheel rim for annular, and rotatable are symmetricly set on the cross-car two sides；
First motor stator and the second motor stator to be annular, and are separately positioned on first wheel rim and the second wheel
In rim, the inner ring surface of the first motor stator and the second motor stator is fixedly connected with the car body respectively；
First motor winding and the second machine winding, to be annular, and it is electric with the first motor stator and second respectively
Machine stator outer ring surface is fixedly connected；
First permanent magnet and the second permanent magnet to be annular, and are respectively fixedly disposed at first wheel rim and the second wheel
On rim inner wall, and it is oppositely arranged with the first motor winding and the second machine winding；
Wherein, when the first motor winding and the second machine winding are powered, first wheel rim and the second wheel rim energy
It is enough to be rotated around the cross-car axle center relative to the car body.
Preferably, further includes:
First motor controller and the second electric machine controller, respectively with the first motor stator and the second motor stator
Be fixedly connected, and be electrically connected respectively with the first motor winding and the second machine winding, for control the first motor around
The size of current and direction of group and the second machine winding；
Multiple boss are symmetrically arranged in first wheel rim and the second wheel rim, and are fixed and connected with the car body
It connects, the inner ring surface of the first motor stator and the second motor stator is fixedly connected with the boss；
Two wheels are separately positioned on first wheel rim and the second wheel rim.
Preferably, further includes:
Connected unit, it is circumferentially fixed to be arranged on the lower car body inner wall；
Floor is fixed in the connected unit, and the circumferential and car body inner wall airtight connection, by the car body
It is divided into the first compartment and second compartment two parts.
Preferably, further includes:
Multiple telescoping hydraulic cylinders, be arranged in second compartment, and one end respectively with the floor panel hinge, and around
The floor center surrounds rectangle；
Multiple supporting blocks, it is hinged with the telescoping hydraulic cylinder other end respectively；
Multiple notches are arranged in second car bottom, and correspond with the supporting block；
Wherein, when starting parking operation, the telescopic rod of the telescoping hydraulic cylinder successively stretches out and is pierced by the notch,
The supporting block and ground face contact, support car body keep parking balance；When cancelling parking operation, the telescoping hydraulic cylinder
Telescopic rod is successively withdrawn, and supporting block recycling is in the notch.
Preferably, further includes:
Driver seat is arranged in first compartment, and is fixed at the floor center；
Control stick is Universal rocking rod, and is arranged on the floor in front of the driver seat；
Entire car controller is arranged at the driver seat rear, connect with the control stick, for receiving the behaviour
The operation signal of vertical pole, and control vehicle operation；
Battery pack is fixed on the floor at the driver seat rear, for powering for vehicle.
Preferably, further includes:
Entrance door is arranged on the car body at the driver seat rear, and upper end and the car body are hinged, can be around institute
State cross-car rotation；
Exit door is arranged on the car body below the entrance door, and lower end and car body are hinged, can be around the car body
Transverse rotation.
It preferably, further include first group of car light and second group of car light, to be annular, and it is horizontal to be symmetricly set on the car body
To two sides, it to be used for night illumination.
Preferably, buffer layer is respectively arranged between the car body and the first motor stator, the second electronics stator；
The car body is high transparency, high-strength material.
Preferably, the exit door is located at vehicle body side and is provided with multi-stage stairs, convenient for driving when exit door opening
The person of sailing gets on the bus and gets off.
Preferably, further includes:
Gyroscope is fixed on the pilot set, and close to the spherical car body center；
Obliquity sensor is arranged against the gyroscope；
Acceleration transducer is arranged against the obliquity sensor；
Wherein, the gyroscope, obliquity sensor and acceleration transducer joint can obtain centre of gravity of vehicle offset in real time,
To detect body gesture, and it is sent to entire car controller.
It is described in the utility model the utility model has the advantages that
(1) the single self-balancing spherical shape electric car proposed in the utility model, it is rotatable symmetrical in cross-car two sides
First wheel rim and the second wheel rim are set, and two wheel rims independently drive, the single vehicle energy driven when going on a journey can be effectively reduced
Consumption, while greatly improving the flexibility of vehicle, make up the shortcomings that traditional all-wheel drive is arranged and effectively improving two wheeler
Stability and safety；
(2) the single self-balancing spherical shape electric car proposed in the utility model, breaks people to the tradition of vehicle external form
Thinking constraint, the body shapes substantially increase the ornamental value of automobile entirety, while being more more creative car body external forms
And drive arrangement design provides direction.
Detailed description of the invention
Fig. 1 is single self-balancing spherical automobile front view described in the utility model.
Fig. 2 is the Section A-A figure of Fig. 1.
Fig. 3 is the section B-B figure of Fig. 2.
Fig. 4 is the partial enlarged view of the section B-B figure of Fig. 3.
Fig. 5 is single self-balancing spherical automobile rearview described in the utility model.
Fig. 6 is halting mechanism structural schematic diagram.
Specific embodiment
The following describes the utility model in further detail with reference to the accompanying drawings, to enable those skilled in the art referring to explanation
Book text can be implemented accordingly.
The utility model can there are many different forms to implement, and should not be construed as limited to again the implementation of this elaboration
Example, on the contrary, these embodiments are provided, so that the disclosure will be thorough and complete.In the accompanying drawings, for clarity, it can overstate
The size and relative size of big structure and region.
As shown in Figs. 1-5, the utility model provides a kind of Novel one-player self-balancing spherical shape electric car, and main body is spherical shape
Car body 1 and two wheels 2 for being symmetrically mounted on car body central symmetry plane two sides.Wheel 2 is annular, is integrally surrounded on car body 1, vehicle
Wheel 2 is arranged on wheel rim that (including the first wheel rim and the second wheel rim, for annular, and rotatable to be symmetricly set on the car body horizontal
To two sides), motor stator 7 (including first motor stator and second motor stator) is annular, and setting is in the first wheel rim and the
In two wheel rims, matches with the boss 16 (being arranged in the first wheel rim and the second wheel rim) being arranged over and under car body and merge utilization
Bolt is fixedly connected, the rotation of limiting motor stator and translational degree of freedom.
Lateral wheel rotor part is rotatablely connected by rim for automobile wheel 3 and motor stator 7 and car body 1, guarantees wheel
It can be freely rotated, two sides wheel is completely mutually indepedent.1 lower part of car body is provided with 4 halting mechanisms, telescoping hydraulic cylinder 8 one
End is articulated with vehicle bottom, and the other end and external support block 9 are hinged, and supporting block 9 and ground face contact, keep car body appearance when parking
State.Car door is located at 1 rear portion of car body, is divide into upper part and lower part 10,14, and two parts fixing end, which passes through, hingedly to be connect with car body 1, makes
It can be rotated around car body 1.Car body two sides are provided with multiple car lights 15, guarantee vehicle night driveability.Vehicle body installation
There is floor in a vehicle 11, match and be fixedly connected with connected unit 19 (its circumferentially fixed setting is in 1 lower inner wall of car body),
And the circumferential and car body inner wall airtight connection, the car body is divided into the first compartment and second compartment two parts.Operator's seat
Chair 18, drive control lever 17 and battery case, entire car controller 12 are fixedly mounted in floor in a vehicle 11, and battery case 12 utilizes spiral shell
In the floor in a vehicle 11 of 18 lower section of bolt fastening and seat.Gyroscope, inclination angle acceleration controller 13 are mounted on 18 rear side phase of seat
To the position closer to 1 center of car body.
As shown in Figure 1, vehicle spherical shape car body 1 is given full play to this novel using high transparency, high-intensitive compound material
The characteristics of spherical vehicle external type, expands the visual field of driver to the full extent, guarantees driving safety.Spherical 1 left and right sides of car body
Front and back is disposed with 8 groups of car lights 15 altogether, most sufficient illumination can be provided for driver in the case where night and poor light.
Single driver seat is only arranged in vehicle body, provides conveniently for single driving trip, and energy consumption is greatly reduced.Control stick position
Immediately ahead of driver seat, right-hand man is facilitated arbitrarily to operate, while control stick uses Universal rocking rod, manipulation freedom degree can be close
Seemingly regard as, planar control stick can arbitrarily move in a border circular areas, and control stick deviates in this border circular areas
The direction of center and distance determine vehicle heading and travel speed.Battery case and the fixed peace of entire car controller 12
Below the pilot set and rear, in order to reduce vehicle's center of gravity, guarantee the stability of vehicle, battery pack should be closer to
It is arranged with floor in a vehicle.
As shown in Figure 2 to 4,1 longitudinal center's plane of symmetry two sides of car body are arranged symmetrically there are two wheel, 2 integral loop of wheel
It is around in car body 1 and perpendicular to ground, two sides wheel is completely independent.Wheel 2 is followed successively by tire 2, wheel rim 3, forever from outermost to interior
Magnet 4, machine winding 5, electric machine controller 6, motor stator 7, buffer layer 20, car body 1.Wherein, wheel portion uses similar wheel
The drive form of hub motor, outer rotor are connected with rim for automobile wheel 3, using rotation connection between wheel rim 3 and car body 1, can freely turn
It is dynamic.Permanent magnet 4 is fixed on outer rotor (i.e. wheel rim), electric machine controller 6 (including first motor controller and the second motor control
Device) motor is controlled, motor stator 7 is connected with car body using bolt by the fixing lug boss 16 being arranged on car body, car body
The direction of over and under fixing lug boss is opposite, and under the premise of guaranteeing installation accuracy, the rotation of effective limiting motor stator is certainly
By spending.Since wheel is directly installed on car body periphery, in order to reduce the vibration problem due to caused by traveling road conditions, in car body 1 and
Increase by one layer of buffer layer between motor stator 7, be filled using the material of yielding rubber, is transmitted to reduce by road surface
Vibration.When generating magnetic field to the energization of machine winding 5 and wheel 2 being made to generate rotational motion, power is directly output to wheel 2,
Since the weight of car body and vehicle body is much larger than wheel weight itself, car body 1 and the motor stator 7 connected with it become naturally
Opposite stator, and wheel becomes opposite rotor and rotated around car body 1, drives vehicle driving, whole without deceleration mechanism, this
Kind drive form and structure can effectively improve whole capacity usage ratio.
As shown in Fig. 2, Fig. 5, car door is located at the dead astern of car body 1, for spherical car body, in order to improve entire car body
Leakproofness, while driver being facilitated to get on or off the bus, car door is divide into upper part and lower part, two parts shaft end utilizes hingedly and vehicle
Body 1 is connected.When car door opening, car door top 14 is rotated up under motor driven around car door upper link point, similarly under car door
Portion 10 is rotated down around lower link point.After bottom of door 10 is opened simultaneously, vehicle body shape is two-stage step, conveniently up and down
Vehicle.In order to guarantee the leakproofness of car door and match with body shapes, door outside opening size should be opened not less than car door inside
Mouth size.
Fig. 6 halting mechanism is arranged in vehicle bottom, is made of telescoping hydraulic cylinder and supporting block, telescoping hydraulic cylinder cylinder barrel
It is mounted on by being hingedly connected to below floor in a vehicle in the space below car body and floor in a vehicle, hydraulic cylinder piston rod end portion benefit
With being hingedly connected with supporting block 9, the shape of supporting block 9 is identical as lower car body notch, in order to guarantee the whole beauty of car body and
Leakproofness, the outside notch size of supporting block 9 should equally be not less than inside notch size.When driver leaves or stops for a long time
When, parking function is enabled, to hydraulic oil is filled in four telescoping hydraulic cylinders, second piston rod successively stretches out, and makes four supports
Block 9 and mutually face contact, support car body keep parking balance.When cancelling parking function, hydraulic cylinder piston rod is retracted, and drives branch
Bracer 9 recycles supporting block 9 in lower car body gap position just.
The gyroscope, inclination angle and acceleration transducer 13, are fixedly mounted on pilot set rear, opposite closer to ball
The position at shape car body center.Gyro sensor 13 mainly acquires 1 rotational angular velocity of car body, but is integrated by its measuring signal
Easily there is large error to car body angle, so obliquity sensor must be cooperated, while in order to utmostly guarantee each sensing
The measurement accuracy of device is installed in relatively closer to 1 center of car body, can be effectively reduced since vibration bring is made an uproar
Sound.
The signal that the balance of car body 1 is acquired according to the gyroscope, inclination angle and acceleration transducer 13, calculates car body in real time
The offset of center of gravity controls wheel drive motors and issues control signal, and the moment keeps the dynamic equilibrium of vehicle car body 1.Meanwhile by
In rotating object rotary shaft meaning direction when not influenced by external force, will not change, this guarantees vehicles to be expert at
Cross the balance and stability of journey.
The Novel one-player self-balancing spherical shape electric car uses the independent driving of left and right sides two-wheeled 2, the driving of vehicle
Control is completed by the drive control lever 17, acquires 17 output signal of control stick, and the side of center is deviateed according to control stick 17
To and distance obtain the desired vehicle heading of driver and speed, this signal is sent to electric machine controller, by differential
The mode for driving two sides wheel, enables the vehicle to complete Turning travel, simultaneously because vehicle independently driven using two-wheeled, it can be achieved that
The special driving functions such as cast and any steering, any traveling driving exported that can fully achieve control stick 17 refer to
It enables.Since the driving power and complete vehicle quality of vehicle are relatively small, so can satisfy the normal row of vehicle only with electric braking
Requirement is sailed, guarantees stabilization, the safety traffic of vehicle.
The single self-balancing spherical shape electric car proposed in the utility model, it is rotatable arranged symmetrically in cross-car two sides
First wheel rim and the second wheel rim, and two wheel rims independently drive, and can effectively reduce the single vehicle energy consumption driven when going on a journey,
The shortcomings that greatly improving the flexibility of vehicle simultaneously, making up the drive arrangement that tradition is taken turns more simultaneously effectively improves sulky vehicle
Stability and safety.
It is not only in the description and the implementation although the embodiments of the present invention have been disclosed as above
Listed utilization, it can be applied to various fields suitable for the present invention completely, for those skilled in the art,
Other modifications may be easily implemented, therefore without departing from the general concept defined in the claims and the equivalent scope, this reality
It is not limited to specific details and legend shown and described herein with novel.
Claims (10)
1. a kind of single self-balancing spherical shape electric car characterized by comprising
Car body is hollow ball；And
First wheel rim and the second wheel rim for annular, and rotatable are symmetricly set on the cross-car two sides；
First motor stator and the second motor stator to be annular, and are separately positioned in first wheel rim and the second wheel rim,
The inner ring surface of the first motor stator and the second motor stator is fixedly connected with the car body respectively；
First motor winding and the second machine winding, to be annular, and it is fixed with the first motor stator and the second motor respectively
Sub- outer ring surface is fixedly connected；
First permanent magnet and the second permanent magnet to be annular, and are respectively fixedly disposed in first wheel rim and the second wheel rim
On wall surface, and it is oppositely arranged with the first motor winding and the second machine winding；
Wherein, when the first motor winding and the second machine winding are powered, first wheel rim and the second wheel rim can be around
The cross-car axle center is rotated relative to the car body.
2. single self-balancing spherical shape electric car as described in claim 1, which is characterized in that further include:
First motor controller and the second electric machine controller are fixed with the first motor stator and the second motor stator respectively
Connection, and be electrically connected with the first motor winding and the second machine winding respectively, for control the first motor winding with
The size of current of second machine winding and direction；
Multiple boss are symmetrically arranged in first wheel rim and the second wheel rim, and be fixedly connected with the car body, institute
The inner ring surface for stating first motor stator and the second motor stator is fixedly connected with the boss；
Two wheels are separately positioned on first wheel rim and the second wheel rim.
3. single self-balancing spherical shape electric car as claimed in claim 1 or 2, which is characterized in that further include:
Connected unit, it is circumferentially fixed to be arranged on the lower car body inner wall；
Floor is fixed in the connected unit, and the circumferential and car body inner wall airtight connection, and the car body is divided into
First compartment and second compartment two parts.
4. single self-balancing spherical shape electric car as claimed in claim 3, which is characterized in that further include:
Multiple telescoping hydraulic cylinders are arranged in second compartment, and one end respectively with the floor panel hinge, and around described
Floor center surrounds rectangle；
Multiple supporting blocks, it is hinged with the telescoping hydraulic cylinder other end respectively；
Multiple notches are arranged in second car bottom, and correspond with the supporting block；
Wherein, when starting parking operation, the telescopic rod of the telescoping hydraulic cylinder successively stretches out and is pierced by the notch, described
Supporting block and ground face contact, support car body keep parking balance；When cancelling parking operation, the telescoping hydraulic cylinder stretches
Bar is successively withdrawn, and supporting block recycling is in the notch.
5. single self-balancing spherical shape electric car as claimed in claim 4, which is characterized in that further include:
Driver seat is arranged in first compartment, and is fixed at the floor center；
Control stick is Universal rocking rod, and is arranged on the floor in front of the driver seat；
Entire car controller is arranged at the driver seat rear, connect with the control stick, for receiving the control stick
Operation signal, and control vehicle operation；
Battery pack is fixed on the floor at the driver seat rear, for powering for vehicle.
6. single self-balancing spherical shape electric car as claimed in claim 5, which is characterized in that further include:
Entrance door is arranged on the car body at the driver seat rear, and upper end and the car body are hinged, can be around the vehicle
Body transverse rotation；
Exit door is arranged on the car body below the entrance door, and lower end and car body are hinged, can be around the cross-car
Rotation.
7. the single self-balancing spherical shape electric car as described in claim 1,2,4,5 or 6, which is characterized in that further include first
Group car light and second group of car light to be annular, and are symmetricly set on the cross-car two sides, are used for night illumination.
8. single self-balancing spherical shape electric car as claimed in claim 7, which is characterized in that the car body and first electricity
Buffer layer is respectively arranged between machine stator, the second electronics stator；The car body is high transparency, high-strength material.
9. single self-balancing spherical shape electric car as claimed in claim 6, which is characterized in that the exit door is located in car body
Portion side is provided with multi-stage stairs, gets on the bus and gets off convenient for driver when exit door opening.
10. the single self-balancing spherical shape electric car as described in claim 5,6 or 9, which is characterized in that further include:
Gyroscope is fixed at the driver seat rear portion, and close to the car body center；
Obliquity sensor is arranged against the gyroscope；
Acceleration transducer is arranged against the obliquity sensor；
Wherein, the gyroscope, obliquity sensor and acceleration transducer joint can obtain centre of gravity of vehicle offset in real time, with inspection
Body gesture is surveyed, and is sent to entire car controller.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201821896184.4U CN209096382U (en) | 2018-11-16 | 2018-11-16 | A kind of single self-balancing spherical shape electric car |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201821896184.4U CN209096382U (en) | 2018-11-16 | 2018-11-16 | A kind of single self-balancing spherical shape electric car |
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| CN209096382U true CN209096382U (en) | 2019-07-12 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109203849A (en) * | 2018-11-16 | 2019-01-15 | 吉林大学 | A kind of single self-balancing spherical shape electric car |
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2018
- 2018-11-16 CN CN201821896184.4U patent/CN209096382U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109203849A (en) * | 2018-11-16 | 2019-01-15 | 吉林大学 | A kind of single self-balancing spherical shape electric car |
| CN109203849B (en) * | 2018-11-16 | 2024-07-30 | 吉林大学 | Spherical electric automobile of single self-balancing |
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