CN209409742U - A kind of vehicle of balance Control Scheme - Google Patents

Abstract

The utility model provides a kind of vehicle of balance Control Scheme, including chassis, compartment, wheel and balancing device, balancing device includes balance driver, balance drive beam, upper rocker arm and two lower shake-changing arms being arranged symmetrically, balance driver is set on chassis, balance drive beam is articulated on chassis along the direction for being horizontally and perpendicularly to vehicle body longitudinal axis, balance drive beam is connect with balance driver, lower shake-changing arm along level and be parallel to the vehicle body longitudinal axis direction be arranged, one end of lower shake-changing arm and chassis are hinged, the other end of lower shake-changing arm is connect with wheel, it upper rocker arm and balance drive Liangping row and is articulated on chassis, the both ends of upper rocker arm are connect with lower shake-changing arm close to one end of wheel respectively, the both ends of balance drive beam are connect with upper rocker arm close to the both ends of lower shake-changing arm respectively.The utility model has higher stability and safety, simplifies design, is easy to implement completely automatic lateral stability and balance controls, simplify the operation of driver.

Description

A kind of vehicle of balance Control Scheme

Technical field

The utility model relates to a kind of vehicles, relate more specifically to a kind of vehicle of balance Control Scheme.

Background technique

With being continuously increased for city automobile ownership, the vehicle travelled on road is also more and more, and traffic situation is increasingly Sternness, pollution condition are also on the rise, and on the one hand traffic congestion has become the chronic illness of many urban transportations, on the other hand, intensive people Mouth, limited living space and increasing car ownership are but also parking is more and more difficult.Traditional private savings automobile is logical Often with there are four even more passenger-seats, cockpit generally includes main driving position and co-driver arranged side by side, the width of vehicle Degree is wider, and size is larger.However, according to statistics, in current traffic trip situation, especially in the daily commuting in city, a big portion It is divided into the trip of personal short distance, usually only one or two occupant in an automobile, for four or four or more vehicles, In the presence of the great trip wasting of resources.For this most traffic trip demand, the bulk requirement of the vehicles Smaller, the micromation Automobile Design of single seat or two-seater is sufficient for the demand of personal short distance traffic trip.Meanwhile the vapour of micromation Vehicle design can not only effectively slow down congestion, facilitate parking, it is shared realize parking stall, and can save space, reduce discharge, It contributes share for energy conservation and environmental protection.

For only there are two the micromation automobiles at seat, when its seat uses lap siding rather than the layout of block form, this When narrow due to vehicle body lateral dimension, be more advantageous to and save space, convenient for driving and parking.It is to be noted, however, that for Four or four or more automobiles, since lateral dimension is wider, when negotiation of bends or Uneven road, wider wheel spacing made It is able to maintain relatively stable when automobile turning, is not easy to overturn.For the micromation automobile of lap siding layout, due to its transverse width Relatively narrow, the lateral wheel spacing even only half of general-utility car, when turning, is easy to overturn due to the effect of centrifugal force.

In view of the above problems, using for reference the principle of two-wheeled motor vehicle in the prior art, actively changed in turning by driver For centre of body weight so that motorcycle tilts, this kind of heeling condition can overcome centrifugal force under the skilled manipulation of driver well, To make motorcycle remain balance.Similar to the equilibrium principle of two-wheeled motor vehicle, in recent years more in the prior art three The design of wheel or four-wheel motor cycle uses body sway technology also to improve the stability of vehicle driving.However, this kind of vehicle Balancing device is typically directly connected with car body, is susceptible to direct impact of each wheel from ground, while in order to realize Inclination control, driving device is also more complicated and disperses, and the car body design for resulting in such vehicle is complicated, lateral stability Also bad, safety is not high, especially negotiation of bends when, also easily overturn.In addition, this kind of vehicle usually also needs mobile driving The center of gravity of member or the stabilization that vehicle is kept by complicated operation, it is difficult to reach the comfort and stabilization when orthodox car drives Property.

Utility model content

The purpose of the utility model is to provide a kind of vehicles of balance Control Scheme, to solve Miniature in the prior art The stability of vehicle is bad and is not easy the problem of manipulating.

In order to solve the above-mentioned technical problem, the technical solution of the utility model is to provide a kind of vehicle of balance Control Scheme , which includes chassis, compartment, wheel and balancing device, and the chassis is installed below the compartment, the balancing device It is set on the chassis, wheel described in two of them is connect with the balancing device, and the balancing device includes that a balance is driven Dynamic device, a balance drive beam, two lower shake-changing arms and upper rocker arm being arranged symmetrically, the balance driver are set to the chassis On, the balance drive beam is articulated on the chassis along the direction for being horizontally and perpendicularly to vehicle body longitudinal axis, the balance Driving beam is connect with the balance driver, and the lower shake-changing arm is along level and is parallel to the direction of the vehicle body longitudinal axis and sets It sets, one end of the lower shake-changing arm and the chassis are hinged, and the other end of the lower shake-changing arm is connect with the wheel, the upper rocker arm With balance drive Liangping row and be articulated on the chassis, the both ends of the upper rocker arm are connect with the lower shake-changing arm respectively, The end of the balance drive beam is connect with the upper rocker arm.

One embodiment according to the present utility model, the upper rocker arm totally two and about the symmetrical cloth of vehicle body longitudinal axis It sets, one end of two upper rocker arms is articulated with same hinge joint on the chassis or closely located two differences are hinged Point, two other ends of the upper rocker arm far from the hinge joint are connect with the lower shake-changing arm respectively, two upper rocker arms with The both ends of the balance drive beam are separately connected, and the middle part and the chassis of the balance drive beam are hinged.

One embodiment according to the present utility model, the upper rocker arm totally one and about the symmetrical cloth of vehicle body longitudinal axis It sets, the midpoint of the upper rocker arm is articulated on the chassis, and the both ends of the balance drive beam are connect with the upper rocker arm respectively, The middle part and the chassis of the balance drive beam are hinged.

One embodiment according to the present utility model, both ends of the upper rocker arm far from hinge joint pass through respectively damper with The lower shake-changing arm connection, the both ends of the balance drive beam pass through drive link respectively and connect with the upper rocker arm.

One embodiment according to the present utility model, the both ends of the separate hinge joint of the upper rocker arm pass through driving respectively and connect Bar is connect with the lower shake-changing arm, and the both ends of the balance drive beam pass through damper respectively and connect with the upper rocker arm.

One embodiment according to the present utility model, the upper rocker arm totally one and about the symmetrical cloth of vehicle body longitudinal axis It sets, the midpoint of the upper rocker arm is articulated on the chassis, and one end and the chassis of the balance drive beam are hinged, described flat The other end of weighing apparatus driving beam is connect with the upper rocker arm.

The both ends of one embodiment according to the present utility model, the separate hinge joint of the upper rocker arm pass through damper respectively It is connect with the lower shake-changing arm, the other end of the balance drive beam is connect by drive link with the upper rocker arm；Or it is described The separate hinge joint both ends of upper rocker arm pass through drive link respectively and connect with the lower shake-changing arm, the other end of the balance drive beam It is connect by damper with the upper rocker arm.

The utility model additionally provides a kind of vehicle of balance Control Scheme, the vehicle include chassis, compartment, wheel and Balancing device, the chassis are installed below the compartment, and the balancing device is set on the chassis, described in two of them Wheel is connect with the balancing device, and the balancing device is arranged symmetrically including a balance driver, a balance drive beam, two Lower shake-changing arm and two groups of sliding rails being arranged symmetrically, the balance driver be set on the chassis, the balance drive beam It is arranged along the direction for being horizontally and perpendicularly to vehicle body longitudinal axis, is articulated on the chassis in the middle part of the balance drive beam, institute It states balance drive beam to connect with the balance driver, the lower shake-changing arm is along level and is parallel to the vehicle body longitudinal axis Direction setting, one end of the lower shake-changing arm and the chassis are hinged, and the other end of the lower shake-changing arm is connect with the wheel, described Sliding rail is set to along the vertical direction on the chassis, and the slide being slidably matched with the sliding rail is provided on the sliding rail；It is described Slide is connected by damper with the corresponding lower shake-changing arm, and the slide passes through drive link and the corresponding balance simultaneously One end of driving beam connects；Or the slide is connected by drive link with the corresponding lower shake-changing arm, the slide is simultaneously It is connected by damper with one end of the corresponding balance drive beam.

One embodiment according to the present utility model, the balance driver are rotating driver, the rotating driver It is fixed on the chassis, the output revolving shaft of the rotating driver is connect with the balance drive beam；Or the balance is driven Dynamic device is straight line balance driver, and one end of the straight line balance driver is connect with the chassis, the other end and the balance Driving beam connection.

One embodiment according to the present utility model, the vehicle further include a drive system, and the drive system includes Driving motor, differential mechanism, transmission shaft, forward pass driving wheel, rear driving wheel and transmission belt, wherein the driving motor and the differential Device is all set in the bottom on the chassis, and the driving motor is connect with the differential mechanism；One end of two transmission shafts point It is not connect with the differential mechanism, the other end of two transmission shafts is connect with the forward pass driving wheel respectively；Driving wheel after described It is set on the wheel, passes through transmission band connection between driving wheel and the forward pass driving wheel after described.

One embodiment according to the present utility model, the vehicle further include steering wheel and transfer, and the wheel is total Three, wherein the first wheel is located on the vehicle body longitudinal axis and is located at described vehicle one end, two the second wheels are about institute It states vehicle body longitudinal axis and is arranged symmetrically and is located at the opposite other end of the vehicle, the active stabilizing device is respectively with described the The connection of two wheels, the steering wheel are disposed in proximity to one end of first wheel or one end close to second wheel.

One embodiment according to the present utility model, the vehicle further include control device, and the control device includes: speed Spend pedal and brake pedal；Entire car controller, the entire car controller is connect with the speed pedal and brake pedal and root According to the travel speed for stepping on degree and calculating and controlling the vehicle of the speed pedal；Wheel speed sensor, the wheel Speed probe is installed on by the wheel with the rotary speed data of wheel described in real-time measurement；Steering wheel angle sensor, it is described Steering wheel angle sensor is installed on steering wheel or on deflecting wheel support bracket with steering wheel described in real-time measurement or deflecting wheel support bracket Rotational angle data；Car body dip measuring device, the practical cross of vehicle described in the car body dip measuring device real-time measurement To tilt angle；And balance controller, the balance controller according to the rotary speed data of the vehicle and the steering wheel or The rotational angle data of deflecting wheel support bracket calculate the expectation tilt angle of the vehicle, and the balance controller is according to the reality Lateral inclination angle number controls the active stabilizing device output torque or fortune according to the difference with the expectation tilt angle data Dynamic state.

The vehicle of balance Control Scheme provided by the utility model, by balancing device make compartment and wheel can synchronize incline Tiltedly, so that entire vehicle has higher stability and safety compared with existing tiltable tricycle waits vehicles；Simultaneously Simplify the design of active balancing device；Effectively slow down impact of the wheel to car body of bounce；By balancing device convenient for real Existing completely automatic lateral stability and balance control, and simplify the operation of driver, driver need to only control driving direction and speed Degree, convenient for driving.

Detailed description of the invention

Fig. 1 is the side schematic view of the vehicle of the balance Control Scheme of one embodiment according to the present utility model；

Fig. 2 is according to the stereoscopic schematic diagram of the vehicle of the balance Control Scheme of Fig. 1, wherein compartment is not shown；

Fig. 3 is the stereoscopic schematic diagram of the balancing device of the vehicle of balance Control Scheme according to fig. 2；

Fig. 4 is the perspective view of the explosion according to the balancing device of the vehicle of the balance Control Scheme of Fig. 3；

Fig. 5 is the solid of the balancing device of the vehicle of the balance Control Scheme of another embodiment according to the present utility model Schematic diagram；

Fig. 6 is the solid of the balancing device of the vehicle of the balance Control Scheme of another embodiment according to the present utility model Schematic diagram；

Fig. 7 is the solid of the balancing device of the vehicle of the balance Control Scheme of another embodiment according to the present utility model Schematic diagram；

Fig. 8 is the perspective view of the explosion according to the balancing device of the vehicle of the balance Control Scheme of Fig. 7；

Fig. 9 is the solid of the balancing device of the vehicle of the balance Control Scheme of another embodiment according to the present utility model Schematic diagram；

Figure 10 is the vertical of the balancing device of the vehicle of the balance Control Scheme of another embodiment according to the present utility model Body schematic diagram；

Figure 11 is the vertical of the balancing device of the vehicle of the balance Control Scheme of another embodiment according to the present utility model Body schematic diagram；

Figure 12 is the vertical of the balancing device of the vehicle of the balance Control Scheme of another embodiment according to the present utility model Body schematic diagram；

Figure 13 is the vertical of the balancing device of the vehicle of the balance Control Scheme of another embodiment according to the present utility model Body schematic diagram；

Figure 14 is the side schematic view of the vehicle of the balance Control Scheme of one embodiment according to the present utility model；

Figure 15 is the side of the drive system of the vehicle of the balance Control Scheme of one embodiment according to the present utility model Schematic diagram；

Figure 16 is the control principle schematic diagram of the vehicle of the balance Control Scheme of one embodiment according to the present utility model；

Figure 17 is the status diagram according to the vehicle of the balance Control Scheme of the utility model one embodiment, wherein Vehicle status is static or along flat road surface straight-line travelling；

Figure 18 is the status diagram according to the vehicle of the balance Control Scheme of Figure 17, wherein vehicle status is to turn It is curved.

Specific embodiment

Below in conjunction with specific embodiment, the utility model is described further.It should be understood that following embodiment is only used for The range that bright the utility model rather than limits the present invention.

It should be noted that it can directly set when component/part is referred to as on " setting exists " another component/part It sets on another component/part or there may also be component/parts placed in the middle.When component/part is referred to as " connection/connection Connect " to another component/part, it, which can be, is directly connected to/is attached to another component/part or may be simultaneously present residence Middle component/part.Term as used herein " connection/connection " may include electrical and/or mechanical-physical connection/connection, Middle mechanical-physical connection/connection includes the connections/connecting mode such as being fixedly connected with, being hinged.Term as used herein " including/packet Containing " refer to feature, step or the presence of component/part, but one or more other features, step or component/zero is not precluded The presence or addition of part.Term as used herein "and/or" includes the arbitrary and institute of one or more related listed items Some combinations.

Unless otherwise defined, all technical and scientific terms used herein and the technical field for belonging to the application The normally understood meaning of technical staff is identical.Term used herein is intended merely to the purpose of description specific embodiment, and It is not intended to limitation the application.

In addition, term " first ", " second " etc. are used for description purposes only pair similar with distinguishing in the description of the present application As between the two and sequencing being not present, indication or suggestion relative importance can not be interpreted as.In addition, the application's In description, unless otherwise indicated, the meaning of " plurality " is two or more.

Fig. 1 be according to the side schematic view of the vehicle of the balance Control Scheme of the utility model one embodiment, can by Fig. 1 Know, the vehicle of balance Control Scheme provided by the utility model, including compartment 1, chassis 2, wheel 3, balancing device 4,5 and of seat Transfer 6, wherein chassis 2 is located at 1 lower section of compartment, is provided with front and rear row longitudinal arrangement or single seat 5 in compartment 1, Balancing device 4 is set on chassis 2, and balancing device 4 is connect with two front-wheels 32,33 (Fig. 2) of vehicle, and transfer 6 is fixed It is connect on chassis 2 and with the rear-wheel of vehicle 31, transfer 6 includes steering wheel and linkage unit, and steering wheel is set to compartment 1 Interior, steering wheel is connect by linkage unit with rear-wheel 31；In actual design, compartment 1 and chassis 2 are fixed together, and often Integrated design.

Specifically, in the embodiment in figure 1, there are three wheel 3 has altogether, including what is be arranged symmetrically about vehicle body longitudinal axis Two front-wheels 32,33 and a rear-wheel 31 being located on vehicle body longitudinal axis.It will be apparent to a skilled person that wheel 3 may also be configured to four, that is, include two front-wheels 32,33 and two rear-wheels 31 being arranged symmetrically about vehicle body longitudinal axis.Two A rear-wheel 31 is also mountable on similar balancing device, and details are not described herein.Further, in the embodiment in figure 1, seat 5 are set as front and rear row longitudinal arrangement in compartment 1.It will be apparent to a skilled person that the quantity of seat 5 can be with root According to needing to be set as one or more, details are not described herein.

Fig. 2 is according to the stereoscopic schematic diagram of the vehicle of the balance Control Scheme of Fig. 1, and as shown in Figure 2, the chassis 2 of vehicle is Irregular shape, chassis 2 include front end 22 and rear end 21, and the front end 22 on chassis 2 and the concrete shape of rear end 21 can be according to vehicles The quantity of wheel, the quantity of seat and compartment shape etc. carry out variation appropriate, only non-limiting as example herein.In Fig. 2 Embodiment in, the front end 22 on chassis 2 is for installing balancing device 4 and steering wheel 61, and the middle part on chassis 2 is for installing seat 5 With the linkage unit 62 in transfer 6, rear end 21 is for installing rear-wheel 31.

Further, in the embodiment of fig. 2, transfer 6 includes steering wheel 61, linkage unit 62, rack-and-pinion case 63, push rod 64 and deflecting wheel support bracket 65 are turned to, wherein steering wheel 61 is connect with linkage unit 62, and linkage unit 62 is set to bottom The rear portion of vehicle body is extended on disk 2 and from the front of vehicle body, linkage unit 62 is connect at the rear portion of vehicle body with rack-and-pinion case 63, Rack-and-pinion case 63 is connect with the one end for turning to push rod 64, and the other end for turning to push rod 64 is connect with deflecting wheel support bracket 65, is turned to Wheel support 65 is connect by the second damper 36 with rear-wheel 31, so that driver can pass through steering wheel 61 and linkage groups Part 62, rack-and-pinion case 63, steering push rod 64 and being linked for deflecting wheel support bracket 65 drive rear-wheel 31 to rotate, to complete vehicle Steering operation.It is logical to belong to those skilled in the art for the specific connection type and shape etc. of all parts in transfer 6 It is easy to accomplish to cross conventional technical means, details are not described herein.

Fig. 3 is according to the stereoscopic schematic diagram of the balancing device 4 of the vehicle of the balance Control Scheme of Fig. 2, and Fig. 4 is according to Fig. 3 Balance Control Scheme vehicle balancing device 4 perspective view of the explosion, by Fig. 3, Fig. 4 combination Fig. 2 it is found that balancing device 4 wraps Include balance driver 41 (Fig. 2), balance drive beam 52, upper rocker arm 42 and lower shake-changing arm 44, wherein balance driver 41 is set to bottom On disk 2, the output revolving shaft of balance driver 41 is parallel to the setting of vehicle body longitudinal axis direction, balance drive beam 52 along horizontal and Direction setting basically perpendicular to vehicle body longitudinal axis, balance drive beam 52 are connected to the output of balance driver 41 at C point In shaft, the both ends of balance drive beam 52 are connect with one end of two upper rocker arms 42 by drive link 53 respectively, two drivings Connecting rod 53 along it is roughly vertical and perpendicular to the direction of vehicle body longitudinal axis be arranged, two upper rocker arms 42 are along approximate horizontal and vertical Directly it is arranged in the direction of vehicle body longitudinal axis, the other end of two upper rocker arms 42 is articulated with jointly at the A point on chassis 2；Under two Rocker arm 44 is arranged symmetrically about vehicle body longitudinal axis direction, each lower shake-changing arm 44 is each along approximate horizontal and to be parallel to vehicle body vertical It is arranged to the direction of axis, one end of lower shake-changing arm 44 is connect with wheel 32/33, and the other end of lower shake-changing arm 44 and chassis 2 pass through branch Seat B is hinged, and lower shake-changing arm 44 is connect close to one end and the free end of upper rocker arm 42 of wheel by damper 43, the free end for by One end of nearly drive link 53, can pass through universal hinging head or globular hinge between damper 43 and lower shake-changing arm 44 and upper rocker arm 42 Head connection.In actual design, the tie point of lower shake-changing arm 44 and damper 43 can be any in addition to hinge joint B on lower shake-changing arm 44 Position, the tie point of upper rocker arm 42 and drive link 53 can also any position on upper rocker arm 42 in addition to hinge joint A, specific position Setting can determine according to the design parameter demand of total system.It is worth noting that, in the embodiment of Fig. 2 and Fig. 3, being shaken on two Arm 42 is articulated with A point jointly, can rotate rotating around A point, and a balance drive beam 52 is hinged separately to C point and can surround C Point rotation, two upper rocker arms, 42, two drive links 53 and a balance drive beam 52 substantially hinged formed can surround A point, C The parallelogram of point movement, the plane where the parallelogram are approximately perpendicular to vehicle body longitudinal axis.In the reality of Fig. 2, Fig. 3 It applies in example, lower shake-changing arm 44 can be rotated around hinge joint B relative to chassis 2, and rotation shaft of wheel is mounted on lower shake-changing arm 44 by pedestal 49 End.Lower shake-changing arm 44 will be swung upward or downward when rotating with motor car wheel 32,33, when two wheels 32,33 are towards opposite up and down Direction swing when, car body will tilt.Two lower shake-changing arms 44 in left and right are connect with two upper rocker arms 42 by damper 43, upper rocker arm It is connected between 42 and balance driving beam 52 by drive link 53, balance drive beam 52 is under the action of balance driver 41 by band Dynamic two lower shake-changing arms 44 are rotated towards direction opposite up and down.Balance driver 41 can be rotating driver, such as decelerating through motor The rotating driver commonly used in the art such as device or hydraulic motor.It is worth noting that, in actual design, two upper rocker arms 42 It can also be hingedly connected to different location on chassis 2, for example, to be hingedly connected to A point neighbouring position closer for two upper rocker arms 42 Two hinge joints, system still can work normally.

Fig. 5 is according to the vertical of the active stabilizing device of the vehicle of the balance Control Scheme of one embodiment of the utility model Body schematic diagram, the embodiment of Fig. 5 in the embodiment of Fig. 2, Fig. 3 most of component and structure it is all the same, the difference is that Another form of balance driver is used in the embodiment of Fig. 5.As shown in Figure 5, one end of balance driver 57 is fixed on On the front end 22 on chassis 2, the other end of balance driver 57 is fixed on one end on balance drive beam 52 close to drive link 53, The linear movement direction of balance driver 57 and 52 shape of balance drive beam are at a certain angle, so that balance drive beam 52 can It is rotated with surrounding hinge joint C under the action of balance driver 57, so that when wheel 32/33 is by impact endurance test shock When, it drives balance drive beam 52 to rotate by balance driver 57, is further driven to drive link 53 and upper rocker arm 42 rotates, and So that the vibration from wheel 32/33 is absorbed by the damper 43 connecting with upper rocker arm 42, to keep the balance of vehicle；In reality When border is designed, which is designed to linear actuator, and motion mode is Linear telescopic movement, such as liquid Cylinder pressure, motor-driven lead screw isoline driving device.Although it will be apparent to a skilled person that in the implementation of Fig. 5 In example, balance driver is linear actuator, and in the embodiment of Fig. 2-Fig. 3, balance driver is rotating driver, but In all embodiments of the utility model, linear actuator or rotating driver be may be used interchangeably, only mounting means Difference, details are not described herein.

Fig. 6 is the solid according to the balancing device of the vehicle of the balance Control Scheme of another embodiment of the utility model Schematic diagram, the embodiment of Fig. 6 in the embodiment of Fig. 2, Fig. 3 most of component and structure it is all the same, wherein identical or phase As component be all made of increase by 100 appended drawing reference indicated, wherein difference is only described herein, wherein in the reality of Fig. 6 It applies in example, drive link 143 and damper 153 are relative to the drive link 53 and the exchange of damper 43 in Fig. 2, Fig. 3 embodiment Position, it may be assumed that the both ends of balance drive beam 152 are connect with one end of two upper rocker arms 142 by damper 153 respectively, and two Damper 153 along it is roughly vertical and perpendicular to the direction of vehicle body longitudinal axis be arranged, lower shake-changing arm 144 close to wheel one end with The free end of upper rocker arm 142 is connected by drive link 143, which is close to one end of damper 153.In the embodiment In, the motion mode of other component is identical as described in Fig. 2, Fig. 3 embodiment, and details are not described herein.In the embodiment of Fig. 6 In, lower shake-changing arm 144 can be rotated around hinge joint B relative to chassis 102, and rotation shaft of wheel is mounted on lower shake-changing arm 144 by pedestal 149 End.Lower shake-changing arm 144 will be swung upward or downward when rotating with motor car wheel, when two wheels are swung towards direction opposite up and down When, car body will tilt.Two lower shake-changing arms 144 in left and right are connect with two upper rocker arms 142 by drive link 143, drive link 143 It can be connect by universal hinging head or globular hinge head between lower shake-changing arm 144 and upper rocker arm 142, upper rocker arm 142 and balance are driven It is connected between dynamic beam 152 by damper 153, balance drive beam 152 will drive under two under the action of balance driver and shake Arm 144 is rotated towards direction opposite up and down.

Fig. 7 is the solid according to the balancing device of the vehicle of the balance Control Scheme of another embodiment of the utility model Schematic diagram, Fig. 8 are according to the perspective view of the explosion of the balancing device of the vehicle of the balance Control Scheme of Fig. 7, the embodiment of Fig. 7, Fig. 8 With in the embodiment of Fig. 2, Fig. 3 most of component and structure it is all the same, wherein same or similar component is all made of increase 200 appended drawing reference is indicated, and only describes wherein difference herein, wherein in the example of figure 7,242 shape of upper rocker arm As entirety, it may be assumed that upper rocker arm 242 is no longer split as two, but is formed as one and is arranged symmetrically about hinge joint A, at this point, 242, two drive links 253 of upper rocker arm and a balance drive beam 252 are formed as can be around the flat of hinge joint A, C variation Row quadrangle.In this embodiment, the motion mode of other component is identical as described in Fig. 2, Fig. 3 embodiment, herein no longer It repeats.

Fig. 9 is the solid according to the balancing device of the vehicle of the balance Control Scheme of another embodiment of the utility model Schematic diagram, the embodiment of Fig. 9 in the embodiment of Fig. 2, Fig. 3 most of component and structure it is all the same, wherein identical or phase As component be all made of increase by 300 appended drawing reference indicated, wherein difference is only described herein, wherein in the reality of Fig. 9 It applies in example, drive link 343 is only arranged one, and upper rocker arm 342 is no longer split as two, but is formed as one and about hinged Point A is arranged symmetrically；Balance drive beam 352 is not arranged symmetrically further referring to vehicle body longitudinal axis, but is only arranged at vehicle body longitudinal axis It is put down at this point, the output revolving shaft of one end of balance drive beam 352 and balance driver (not shown) is connected to C point the side of line The other end for the driving beam 352 that weighs is connect with one end of upper rocker arm 342 by drive link 353, and two dampers 343 are along substantially It is arranged vertically and perpendicular to the direction of vehicle body longitudinal axis, lower shake-changing arm 344 is close to one end of wheel and the both ends point of upper rocker arm 342 Not Tong Guo damper 343 connect.In this embodiment, the motion mode of other component with phase described in Fig. 2, Fig. 3 embodiment Together, details are not described herein.

Figure 10 is according to the vertical of the balancing device of the vehicle of the balance Control Scheme of another embodiment of the utility model Body schematic diagram, the most of component and structure in the embodiment of Figure 10 and the embodiment of Fig. 6 are all the same, wherein identical or phase As component be all made of increase by 300 appended drawing reference indicated, wherein difference is only described herein, wherein Figure 10's In embodiment, upper rocker arm 442 is formed as whole, it may be assumed that upper rocker arm 442 is no longer split as two, but be formed as one and about Hinge joint A is arranged symmetrically, at this point, 442, two dampers 453 of upper rocker arm and a balance drive beam 452 are formed as to enclose Around the parallelogram of hinge joint A, C rotational transform shape.In this embodiment, the motion mode of other component with Fig. 2, figure Identical described in 3 embodiments, details are not described herein.

Figure 11 is according to the vertical of the balancing device of the vehicle of the balance Control Scheme of another embodiment of the utility model Body schematic diagram, the most of component and structure in the embodiment of Figure 11 and the embodiment of Fig. 9 are all the same, wherein identical or phase As component be all made of increase by 200 appended drawing reference indicated, wherein difference is only described herein, wherein Figure 11's In embodiment, upper rocker arm 542 is no longer split as two, but is formed as one and is arranged symmetrically about hinge joint A, balance drive Beam 552 is only arranged at the side of vehicle body longitudinal axis, at this point, the output of one end of balance drive beam 552 and balance driver turns Axis connection is connect with one end of upper rocker arm 542 by damper 553 in C point, the other end of balance drive beam 552, two drivings Connecting rod 543 along it is roughly vertical and perpendicular to the direction of vehicle body longitudinal axis be arranged, lower shake-changing arm 544 close to wheel one end with it is upper The both ends of Rocker arm 5 42 pass through drive link 543 respectively and connect.In this embodiment, the motion mode of other component is real with Fig. 9 Apply identical described in example, details are not described herein.

Figure 12 is according to the vertical of the balancing device of the vehicle of the balance Control Scheme of another embodiment of the utility model Body schematic diagram, the embodiment of Figure 12 in the embodiment of Fig. 2, Fig. 3 most of component and structure it is all the same, wherein it is identical or The appended drawing reference that the similar component of person is all made of increase by 600 indicates, and only describes wherein difference herein, wherein scheming In 12 embodiment, upper rocker arm is eliminated, the function of upper rocker arm realizes that sliding rail support 642 is fixed on bottom by sliding rail support 642 Disk front end 622, the two sides of sliding rail support 642 are respectively arranged with sliding rail 654, two sliding rails 654 be symmetrical arranged along the vertical direction and Perpendicular to vehicle body longitudinal axis, slide 655 is provided on sliding rail 654, slide 655 and sliding rail 654 cooperate and can be along cunnings Rail 654 moves up and down；The both ends of balance drive beam 652 are connect with one end of drive link 653 respectively, drive link 653 it is another One end is connect with slide 655；Lower shake-changing arm 644 is connect by damper 643 with slide 655 close to one end of wheel, damper 643 It can be connect by universal hinging head or globular hinge head between slide 655 and lower shake-changing arm 644.In this embodiment, other portions The motion mode of part is identical as described in Fig. 2, Fig. 3 embodiment, and details are not described herein.

Figure 13 is according to the vertical of the balancing device of the vehicle of the balance Control Scheme of another embodiment of the utility model Body schematic diagram, the most of component and structure in the embodiment of Figure 13 and the embodiment of Figure 12 are all the same, wherein identical or phase As component be all made of increase by 100 appended drawing reference indicated, wherein difference is only described herein, wherein Figure 13's In embodiment, drive link 743 and damper 753 are relative to the drive link 653 and the exchange of damper 643 in Figure 12 embodiment Position, it may be assumed that the both ends of balance drive beam 752 are connect with one end of damper 753 respectively, the other end and cunning of damper 753 Seat 755 connects；Lower shake-changing arm 744 is connected between one end and slide 755 of wheel by drive link 743, drive link 743 It can be connect by universal hinging head or globular hinge head between slide 755 and lower shake-changing arm 744.In this embodiment, other portions The motion mode of part is identical as described in Fig. 2, Fig. 3 embodiment, and details are not described herein.

Figure 14 is according to the side schematic view of the vehicle of the balance Control Scheme of one embodiment of the utility model, by scheming 14 it is found that the vehicle of balance Control Scheme provided by the utility model can also carry out front and back conversion, and specifically, vehicle includes three A wheel, wherein deflecting roller 31 is located at the front of vehicle, and rear-wheel 32/33 is arranged symmetrically about vehicle body longitudinal axis, transfer In steering wheel 61 connect by turning to linkage unit with deflecting roller 31, the direction of seat 5 also relative to the embodiment in Fig. 1 into Change is gone, balancing device can realize that connection type is retouched with above-mentioned using any of the above-described mode as described in the examples State identical, details are not described herein.

Figure 15 be according to the stereoscopic schematic diagram of the drive system of the vehicle of the balance Control Scheme of any of the above-described embodiment, by Figure 15 it is found that the drive system of the vehicle of balance Control Scheme provided by the utility model include driving motor 81, differential mechanism 82, Transmission shaft 83, forward pass driving wheel 84, rear driving wheel 85 and transmission belt 86, wherein driving motor 81 and differential mechanism 82 are all set in bottom The bottom of disk 2, driving motor 81 are connect with differential mechanism 82；Two transmission shafts 83 are longitudinal approximately along vehicle body is horizontally and perpendicularly to The direction of axis is arranged, and one end of two transmission shafts 83 is connect with differential mechanism 82 respectively, the other end difference of two transmission shafts 83 It is connect by connector with forward pass driving wheel 84；Driving wheel 85 is set in the rotation axis of wheel 32/33 afterwards, and rear driving wheel 85 is with before It is connected between driving wheel 84 by transmission belt 86, so that the power of driving motor 81 can pass respectively after differential mechanism 82 Two transmission shafts 83 are passed, transmission shaft 83 drives forward pass driving wheel 84 to rotate, and forward pass driving wheel 84 is driven after driving by transmission belt 86 85 rotation of wheel, rear driving wheel 85 are rotated synchronously with wheel 32/33.Those skilled in the art are it is to be appreciated that forward pass driving wheel 84 It can according to need with rear driving wheel 85 and be set as different size, to meet the output such as power, revolving speed by different ratio Needs, transmission belt 86 is also possible to chain form, and details are not described herein.

Figure 16 is the control principle schematic diagram of the vehicle of the balance Control Scheme of one embodiment according to the present utility model, The control device of active stabilization vehicle provided by the utility model include entire car controller, balance controller, computing unit and Car body dip measuring device, wherein the speed pedal and brake pedal of vehicle are connect with entire car controller, and entire car controller can root According to the travel speed for stepping on degree and calculating and controlling vehicle of speed pedal；Vehicle wheel rotational speed biography is installed between wheel and axletree The speed data is simultaneously sent to computing unit by sensor, wheel speed sensor real-time measurement wheel velocity, computing unit according to The speed data received calculates the real time running speed of vehicle；Steering wheel angle is installed on steering wheel or on deflecting wheel support bracket The steering angle of sensor, steering wheel angle sensor real-time measurement steering wheel or deflecting wheel support bracket and by the steering angle data It is sent to computing unit, computing unit is calculated according to the steering angle signal or data and real time running speed data received The expectation tilt angle data are sent to balance controller simultaneously by the expectation tilt angle of car body, computing unit；Actually setting Timing, computing unit can be directly integrated in balance controller, and the expectation tilt angle of car body is calculated by balance controller；Vehicle Body dip measuring device is installed on the car body and measures the inclination angular speed and acceleration information of car body, car body dip measuring device The actual lateral inclination angle of car body calculated according to the inclination angular speed and acceleration information of measurement simultaneously and by the lateral inclination Angle-data is sent to balance controller；In actual design, the car body dip measuring device of integrated form can also directly measure vehicle The actual lateral inclination angle of body；Balance controller according to the expectation tilt angle and actual lateral inclination angle received it Between difference judge the equilibrium state of car body；Balance controller is connect with balancing device simultaneously, and balance controller is according to best horizontal To the size and motion state of the difference balancing control output torque between tilt angle and practical lateral inclination angle, from And car body is controlled relative to the lateral inclination angle between level ground, it is ensured that the stress equalization and safety and stability of overall vehicle. Computer, digital signal processor, list can be used in computing unit, car body dip measuring device, entire car controller, balance controller Piece machine or one section of program in same hardware are realized, to ensure calculating speed, to control the transverse direction of vehicle in real time Balance, driving status and safety and stability.

Figure 17 is the forward sight according to the vehicle of the balance Control Scheme of Fig. 2 under static or normal straight driving status Figure, Figure 18 are the front view according to the vehicle of the balance Control Scheme of Fig. 2 under turn condition, by Figure 17 combination Figure 18 it is found that When cornering, car body 1 can controlled inclination under the action of balancing device, when vehicle turning when, if the centrifugal force Fa of car body and The resultant force F of gravity G passes through two wheels 32,33 and ground supports point P always₁、P₂The midpoint P of line₀When, vehicle will be such as level Straight-line travelling on ground is equally stable.

It should be noted that the angle between resultant force F and gravity G is it is expected tilt angle, when the practical transverse direction of vehicle Gap is excessive between tilt angle and expectation tilt angle and when being more than maximum safe deviation setting value, and balance controller can also be sent out Send instruction to entire car controller to reduce car speed, to guarantee that stablizing for vehicle is safe.Those skilled in the art should manage Solution, the occurrence of maximum safe deviation setting value can pass through vehicle between practical lateral inclination angle and expectation tilt angle Combined design parameters according to calculate and test determine, details are not described herein.

It is further noted that hub motor in the prior art, wheel can be used in the drive system in the utility model Side motor or main drive motor or fuel engines and box of tricks etc., for example, before respectively driving two using hub motor Wheel, or two front-wheels are driven using fuel engines or motor and box of tricks, details are not described herein.

In addition, it will be apparent to a skilled person that being mounted on down and shaking in all embodiments of the utility model Two wheels of arm can also be connect with transfer, to control the driving direction of vehicle as deflecting roller；And this is practical new Deflecting roller described in type embodiment can also be directly fixed on vehicle chassis by damper, by connecting with power device Advance as drive wheel vehicle, details are not described herein.

The vehicle of balance Control Scheme provided by the utility model, by balancing device make car body and wheel can synchronize incline Tiltedly, so that entire vehicle has higher stability and safety compared with existing tiltable tricycle waits vehicles；Simultaneously Since single wheel will be by chassis by absorber, to effectively slow down bounce by the impact from uneven road surface Impact of the wheel to car body；By control device balancing control, control device is real-time according to the output valve of each sensor The lateral inclination angle for calculating and automatically controlling car body, when vehicle bend travels or meets with pavement roughness situation, so that Vehicle realizes that completely automatic lateral stability and balance control, and keeps vehicle stabilization, simplifies the operation of driver, driver is only Driving direction and speed need to be controlled, convenient for driving.

Above-described, the only preferred embodiment of the utility model is not intended to limit the scope of the utility model, this Above-described embodiment of utility model can also make a variety of changes, for example, balance driver can be linear actuator, such as liquid Cylinder pressure pushes or motor lead screw pushes；Damper may include spring and damper；Hub motor can be directly used in drive system, Or using the wheel motor being fixed together with lower shake-changing arm, direct drive of wheel rotation；The handle of motorcycle can be used in steering wheel Formula transfer, speed pedal can also be hand throttle, and brake pedal can also be parking brake.I.e. all foundation present utility model application Claims and description made by simple, equivalent changes and modifications, fall within the right of the utility model patent Claimed range.The not detailed description of the utility model is routine techniques content.

Claims (16)

1. a kind of vehicle of balance Control Scheme, the vehicle includes chassis, compartment, wheel and balancing device, the chassis peace Below the compartment, the balancing device is set on the chassis, wheel described in two of them and the balancing device Connection, which is characterized in that the balancing device includes:

One balance driver, the balance driver are set on the chassis；

One balance drive beam, the balance drive beam are articulated with the bottom along the direction for being horizontally and perpendicularly to vehicle body longitudinal axis On disk, the balance drive beam is connect with the balance driver；

Two lower shake-changing arms being arranged symmetrically, the lower shake-changing arm is along level and is parallel to the direction of the vehicle body longitudinal axis and sets It sets, one end of the lower shake-changing arm and the chassis are hinged, and the other end of the lower shake-changing arm is connect with the wheel；And

Upper rocker arm, the upper rocker arm and balance drive Liangping row and is articulated on the chassis, the both ends of the upper rocker arm It is connect respectively with the lower shake-changing arm, the end of the balance drive beam is connect with the upper rocker arm.

2. the vehicle of balance Control Scheme according to claim 1, which is characterized in that the upper rocker arm totally two and about Vehicle body longitudinal axis is arranged symmetrically, and one end of two upper rocker arms is articulated with same hinge joint or distance on the chassis Similar two different hinge joints, two other ends of the upper rocker arm far from the hinge joint connect with the lower shake-changing arm respectively It connects, the both ends of two upper rocker arms and the balance drive beam are separately connected, the middle part and the bottom of the balance drive beam Disk is hinged.

3. the vehicle of balance Control Scheme according to claim 1, which is characterized in that the upper rocker arm totally one and about Vehicle body longitudinal axis is arranged symmetrically, and the midpoint of the upper rocker arm is articulated on the chassis, the both ends point of the balance drive beam It is not connect with the upper rocker arm, the middle part and the chassis of the balance drive beam are hinged.

4. the vehicle of balance Control Scheme according to claim 2, which is characterized in that the upper rocker arm is far from hinge joint Both ends pass through damper respectively and connect with the lower shake-changing arm, the both ends of the balance drive beam pass through respectively drive link with it is described Upper rocker arm connection.

5. the vehicle of balance Control Scheme according to claim 2, which is characterized in that the separate hinge joint of the upper rocker arm Both ends pass through drive link respectively and connect with the lower shake-changing arm, the both ends of the balance drive beam pass through damper and institute respectively State upper rocker arm connection.

6. the vehicle of balance Control Scheme according to claim 1, which is characterized in that the upper rocker arm totally one and about Vehicle body longitudinal axis is arranged symmetrically, and the midpoint of the upper rocker arm is articulated on the chassis, one end of the balance drive beam with The chassis is hinged, and the other end of the balance drive beam is connect with the upper rocker arm.

7. the vehicle of balance Control Scheme according to claim 6, which is characterized in that the separate hinge joint of the upper rocker arm Both ends pass through damper respectively and connect with the lower shake-changing arm, the other end of the balance drive beam by drive link with it is described Upper rocker arm connection；Or the separate hinge joint both ends of the upper rocker arm pass through drive link respectively and connect with the lower shake-changing arm, institute The other end for stating balance drive beam is connect by damper with the upper rocker arm.

8. the vehicle of balance Control Scheme described in any one of -7 according to claim 1, which is characterized in that the balance drive Device is rotating driver, and the rotating driver is fixed on the chassis, the output revolving shaft of the rotating driver with it is described The connection of balance drive beam；Or the balance driver be straight line balance driver, one end of the straight line balance driver with The chassis connection, the other end are connect with the balance drive beam.

9. the vehicle of balance Control Scheme described in any one of -7 according to claim 1, which is characterized in that the vehicle also wraps A drive system is included, the drive system includes driving motor, differential mechanism, transmission shaft, forward pass driving wheel, rear driving wheel and transmission Band, wherein the driving motor and the differential mechanism are all set in the bottom on the chassis, the driving motor and the differential Device connection；One end of two transmission shafts is connect with the differential mechanism respectively, the other end of two transmission shafts respectively with The forward pass driving wheel connection；Driving wheel is set on the wheel after described, between the rear driving wheel and the forward pass driving wheel By being driven band connection.

10. the vehicle of balance Control Scheme described in any one of -7 according to claim 1, which is characterized in that the vehicle is also Including steering wheel and transfer, the wheel totally three, wherein the first wheel is located on the vehicle body longitudinal axis and is located at Described vehicle one end, two the second wheels are arranged symmetrically about the vehicle body longitudinal axis and are located at opposite another of the vehicle End, the balancing device are connect with second wheel respectively, and the steering wheel is disposed in proximity to one end of first wheel Or close to one end of second wheel.

11. the vehicle of balance Control Scheme described in any one of -7 according to claim 1, which is characterized in that the vehicle is also Including control device, the control device includes:

Speed pedal and brake pedal；

Entire car controller, the entire car controller connect with the speed pedal and brake pedal and according to the speed pedals The travel speed for stepping on degree and calculating and controlling the vehicle；

Wheel speed sensor, the wheel speed sensor are installed on by the wheel with the revolving speed of wheel described in real-time measurement Data；

Steering wheel angle sensor, the steering wheel angle sensor are installed on steering wheel or on deflecting wheel support bracket to survey in real time Measure the rotational angle data of the steering wheel or deflecting wheel support bracket；

Car body dip measuring device, the practical lateral inclination angle of vehicle described in the car body dip measuring device real-time measurement； And

Balance controller, the balance controller is according to the rotary speed data of the vehicle and the steering wheel or deflecting wheel support bracket Rotational angle data calculate the expectation tilt angle of the vehicle, and the balance controller is according to the practical lateral inclination angle The difference of data and the expectation tilt angle data controls the balancing device output torque or motion state.

12. a kind of vehicle of balance Control Scheme, the vehicle includes chassis, compartment, wheel and balancing device, the chassis peace Below the compartment, the balancing device is set on the chassis, wheel described in two of them and the balancing device Connection, which is characterized in that the balancing device includes:

One balance driver, the balance driver are set on the chassis；

One balance drive beam, the balance drive beam are arranged along the direction for being horizontally and perpendicularly to vehicle body longitudinal axis, described flat It is articulated on the chassis in the middle part of weighing apparatus driving beam, the balance drive beam is connect with the balance driver；

Two lower shake-changing arms being arranged symmetrically, the lower shake-changing arm is along level and is parallel to the direction of the vehicle body longitudinal axis and sets It sets, one end of the lower shake-changing arm and the chassis are hinged, and the other end of the lower shake-changing arm is connect with the wheel；And

Two groups of sliding rails being arranged symmetrically, the sliding rail are set to along the vertical direction on the chassis, be provided on the sliding rail with The slide that the sliding rail is slidably matched；The slide is connected by damper with the corresponding lower shake-changing arm, and the slide is simultaneously It is connected by drive link with one end of the corresponding balance drive beam；Or the slide by drive link with it is corresponding The lower shake-changing arm connection, the slide pass through damper simultaneously and connect with one end of the corresponding balance drive beam.

13. the vehicle of balance Control Scheme according to claim 12, which is characterized in that the balance driver is rotation Driver, the rotating driver are fixed on the chassis, the output revolving shaft of the rotating driver and the balance drive Beam connection；Or the balance driver is straight line balance driver, one end and the chassis of the straight line balance driver Connection, the other end are connect with the balance drive beam.

14. the vehicle of balance Control Scheme according to claim 12, which is characterized in that the vehicle further includes a driving System, the drive system include driving motor, differential mechanism, transmission shaft, forward pass driving wheel, rear driving wheel and transmission belt, wherein institute It states driving motor and the differential mechanism is all set in the bottom on the chassis, the driving motor is connect with the differential mechanism；Two One end of a transmission shaft is connect with the differential mechanism respectively, the other end of two transmission shafts respectively with the driving front Wheel connection；Driving wheel is set on the wheel after described, passes through transmission belt between driving wheel and the forward pass driving wheel after described Connection.

15. the vehicle of balance Control Scheme according to claim 12, which is characterized in that the vehicle further includes steering wheel With transfer, the wheel totally three, wherein the first wheel be located on the vehicle body longitudinal axis and be located at the vehicle one End, two the second wheels are arranged symmetrically about the vehicle body longitudinal axis and are located at the opposite other end of the vehicle, described flat Weighing apparatus device is connect with second wheel respectively, and the steering wheel is disposed in proximity to one end of first wheel or close to institute State one end of the second wheel.

16. the vehicle of balance Control Scheme according to claim 12, which is characterized in that the vehicle further includes control dress It sets, the control device includes:

Speed pedal and brake pedal；

Entire car controller, the entire car controller connect with the speed pedal and brake pedal and according to the speed pedals The travel speed for stepping on degree and calculating and controlling the vehicle；

Wheel speed sensor, the wheel speed sensor are installed on by the wheel with the revolving speed of wheel described in real-time measurement Data；

Steering wheel angle sensor, the steering wheel angle sensor are installed on steering wheel or on deflecting wheel support bracket to survey in real time Measure the rotational angle data of the steering wheel or deflecting wheel support bracket；

Car body dip measuring device, the practical lateral inclination angle of vehicle described in the car body dip measuring device real-time measurement； And

Balance controller, the balance controller is according to the rotary speed data of the vehicle and the steering wheel or deflecting wheel support bracket Rotational angle data calculate the expectation tilt angle of the vehicle, and the balance controller is according to the practical lateral inclination angle The difference of data and the expectation tilt angle data controls the balancing device output torque or motion state.