CN212074308U - Outer tire driving device of monocycle device - Google Patents

Abstract

The utility model discloses an outer tire driving device of a wheelbarrow device, which comprises a tire, a first motor driving system and a second motor driving system, wherein the tire is used for being in contact with the ground and driven outside; the first motor driving system is arranged on a main support, the main support adopts an inner disc frame and an outer disc frame which are parallel, and a plurality of transverse supporting rods are arranged between the two discs; the first motor drives a first driven gear through a gear set, and the first driven gear is meshed with the rack. The utility model discloses the foreign tyre drive arrangement of wheel barrow device is owing to adopted the tire that sets up on the main support to and rotate through a motor drive system drive tire, realized an automatic balance control and tire drive scheme to the wheel barrow device, especially the rotatable control implementation system of drive tire who realizes in the narrower frame space of wheel barrow.

Description

Outer tire driving device of monocycle device

Technical Field

The utility model relates to a tire structure of self-balancing car device especially relates to a wheel barrow device foreign steamer child control drive arrangement improves.

Background

In the prior art, a single-wheel or two-wheel self-balancing vehicle already exists, but the self-balancing vehicle is realized by controlling the front and rear gravity centers of a human body of a user to realize automatic balancing of the human body, and a control driving system and a motion system driven and controlled by the control driving system are generally arranged in a vehicle body support. A device for actively realizing self-balancing of the vehicle body by automatic balancing control in the vehicle body has not yet been provided.

Although the prior art has the implementation scheme of the gyroscope, most of the gyroscope is used for self-balancing parameter detection or navigation application of large equipment, and at present, the implementation of the driving scheme of the self-balancing vehicle by directly controlling the flywheel is not realized.

The common driving mode of the single-wheel or two-wheel self-balancing vehicle or toy vehicle is usually driven by a motor hub, but for the wheelbarrow, the required tire driving scheme needs to be redesigned on the basis of the self-balancing structure due to the space limitation, so that the prior art structure cannot be used at will.

Accordingly, the prior art is yet to be improved and developed.

SUMMERY OF THE UTILITY MODEL

An object of the utility model is to provide a wheelbarrow device's outer child drive arrangement realizes the drive structure of tire in the less space of automobile body structure.

The technical scheme of the utility model as follows:

an outer tire driving device of a wheelbarrow device comprises a tire, a first motor driving system and a second motor driving system, wherein the tire is used for being in contact with the ground and driven at the outer side; wherein said first motor drive system is disposed on a main support, said main support being disposed within a hollow space within said tire; the first motor driving system comprises a first motor which is fixedly arranged on the main bracket; the main support is provided with an inner disc frame and an outer disc frame which are parallel, and a plurality of transverse support rods are arranged between the two discs; the first motor drives a first driven gear through a gear set, and the first driven gear is meshed with the rack.

The outer tire driving device of the monocycle device is characterized in that at least one pulley is arranged on the transverse supporting rod and used for supporting the inner side of the tire in an abutting mode.

The outer tire driving device of the monocycle device is characterized in that a tire support is further arranged on the inner side of the tire, the rack is arranged in the center of the inner side wall of the tire support, and the rack protrudes out of the inner side wall of the tire support.

The outer tire driving device of the wheelbarrow device is characterized in that at least one longitudinal reinforcing rib and a plurality of transverse reinforcing ribs which are integrated with the longitudinal reinforcing rib and transversely arranged are longitudinally arranged on the outer side of the tire support.

The outer tire driving device of the wheelbarrow device is characterized in that the longitudinal reinforcing ribs are provided with positioning and mounting notches at preset intervals and are used for being matched with the raised mounting strips on the inner side wall of the tire.

The outer tire driving device of the monocycle device is characterized in that the first motor is provided with a driving gear which coaxially drives the first motor, and the gear set is meshed with the first driven gear by adopting a two-stage speed change gear; the speed change gear is arranged in a speed change mode which is slowed down.

The utility model provides a foreign steamer child drive arrangement of wheel barrow device owing to adopted the tire that sets up on the main support to and rotate through a motor drive system drive tire, realized an automatic balance control and tire drive scheme to the wheel barrow device, especially the rotatable control implementation system of drive tire who realizes in the narrower frame space of wheel barrow.

Drawings

Fig. 1 is a schematic side-tipping view of the wheelbarrow apparatus of the present invention.

Fig. 2 is a schematic diagram of the wheelbarrow device of the present invention tilted at another angle.

Fig. 3 is a schematic view of the wheelbarrow device of the present invention when self-balancing stands.

Fig. 4 is a schematic sectional view of the wheelbarrow device after being cut along the center of the tire.

Fig. 5 is a schematic view of a central flywheel component of the wheelbarrow apparatus of the present invention.

Fig. 6 is a schematic perspective view of a central flywheel component of the wheelbarrow device of the present invention.

Fig. 7 is a schematic view of the outer tire of the wheelbarrow device of the present invention.

Fig. 8 is a schematic front view of the flywheel of the wheelbarrow device of the present invention.

Fig. 9 is a schematic cross-sectional view of the center of the flywheel of the wheelbarrow device after being cut.

Fig. 10 is a schematic sectional view of the wheelbarrow device of the present invention, which is sectioned along a vertical plane of a tire.

Fig. 11 is a schematic view of a control flow of the wheelbarrow device of the present invention.

Fig. 12 is a schematic view of a main stand of the wheelbarrow device of the present invention.

Fig. 13 is a schematic view of the main stand of the wheelbarrow device according to the present invention swinging in another lateral direction.

Fig. 14 is an exploded view of the main stand of the wheelbarrow of the present invention.

Fig. 15 is a schematic view of the wheel barrow tire assembly of the present invention.

Fig. 16 is a schematic view of a gear train of a first motor driving system of the unicycle device of the present invention.

Detailed Description

The following describes in detail preferred embodiments of the present invention.

The present invention provides a preferred embodiment of a wheelbarrow device, as shown in fig. 1, 2 and 3, which is a schematic view of a vehicle leaning and falling from left to right and self-balancing standing, and includes a tire 110 disposed along the outside of a main support for contacting and driving with the ground, and a rack 111 disposed on the inner circumference of the tire 110, but in other embodiments, other driving structure may be provided, such as disposing the rack on one or both sides of the tire, and not limited to the inner circumference of the tire. The tire 110 is usually made of plastic or rubber, and a tire support 112 may be disposed on the inner side of the tire, as shown in fig. 7, and the rack 111 is disposed on the inner circumference of the tire support 112.

A main support 113 is disposed in the hollow space inside the tire 110 for carrying a flywheel support 131 and a flywheel 132, the main support 113 is disposed opposite to the tire 110, that is, the main support 113 itself cannot swing left and right except the tire 110 is rotatably disposed opposite to the main support 113. For the convenience of control, the components on the main support 113 are arranged to be bound by the tread center line of the tire 110, and the tire 110 can rotate along the main support 113 from the outer periphery side while keeping the left-right symmetrical layout as far as possible; at the same time, the center of gravity of each component arranged on the main stand 113 is kept low and is lower than the rotation center of the whole wheel, and a balancing weight needs to be added if necessary, so that the wheel does not rotate reversely in the opposite direction of the rotation of the wheel during the driving process, and the rotation driving of the wheel can be finally converted into the advancing power of the whole wheel barrow.

The utility model discloses the nodical pivot of flywheel horizontal hunting is regarded as with the nodical of tire axis of rotation place horizontal plane and tire circumference, and the axis of rotation of flywheel and the axis of rotation of tire are coincidence when the flywheel does not swing, and the axis of rotation can form certain contained angle when the flywheel swings, but the flywheel centre of a circle coincides with the tire centre of a circle, from this could utilize the gyro effect more effectively, can explain in detail below the structure example and the control implementation method of wheel barrow device.

A first motor driving system 120 is further provided corresponding to the rack 111, as shown in fig. 4, 5 and 6, and 12 and 13, the first motor driving system 120 is provided on the main stand 113, preferably, at a lower center of gravity position of the main stand 113, and is provided with a gear set 121 for speed change and transmission, and a first driven gear 122 is provided on an outer side of the main stand 113, at an inner side of the tire 110, corresponding to a position where the rack 111 is engaged and driven, for engagement with the rack 111. The first driven gear 122 is disposed on the main bracket, and a driven gear 123 for transmission is coaxially fixed or integrally disposed, and is in transmission connection with the gear set 121. In a conceivable scheme, the gear set 121 and the driven gear 123 may be provided with a transmission mechanism adopting other manners, such as a pulley set, and the like, which will not be described herein again.

The first motor drive system 120 can drive the outer tire 110 through the first driven gear 122, so as to drive the whole forward direction of the wheelbarrow. As shown in fig. 14 and 15, the first motor driving system 120 is disposed on the main support 113, the main support 113 is configured by two circular disc 181 frames, and the first motor 182 is disposed on the main support 113, as shown in fig. 16, the first motor 182 coaxially drives a first driving gear 183, and is selectively disposed in a local space on the main support 113. A plurality of transverse support bars 184 are also provided between the two discs to form a frame structure. The first motor 182 is in transmission connection with the gear set 121, can perform multiple speed change processes, and finally transmits the speed change processes to the first driven gear 122 through the driven gear 123, so that the first driven gear 122 is engaged with the rack 111 for driving.

As shown in fig. 16, the gear set 121 realizes the process of slowing down the speed change by two speed changes in the first driving gear 183 of the first motor and the gear set 121, and finally realizes the drive of slowly driving the first driven gear 122.

At least one pulley 185 is further disposed on the lateral support bar 184, as shown in fig. 15, and is supported against the inner side of the tire to support the tire 110 at the inner side and ensure the rotation of the tire 110. The inner side of the tire 110 is provided with a tire support 112, and the rack 111 is arranged at the center of the inner side wall of the tire support in a protruding manner and is arranged in a protruding manner relative to the inner side wall of the tire support, so that the rack and the first driven gear can be conveniently meshed and driven. The pulley 185 may be mounted on the lateral support bar by means of bearings and its outer sidewall is supported against the sidewall plane inside the tire support.

As shown in fig. 15, at least one longitudinal rib 191 is longitudinally disposed on the outer side of the tire frame 112, and a plurality of transverse ribs 192 are transversely integrally disposed with the longitudinal rib 191, so that the bearing capacity of the tire frame can be enhanced. Positioning and mounting notches 193 are distributed on the longitudinal reinforcing ribs along a preset interval (can be arranged between the transverse reinforcing ribs according to requirements) and are used for being matched and connected with the raised mounting strips 194 on the inner side wall of the tire 110 in a positioning mode. Thus, the tire, by being made of rubber, may be configured to fit on the tire support 112 and, ultimately, the main support. For the convenience of assembly, the tire 110 may be assembled to the tire support 112, and then the two disks 181 and the plurality of lateral support rods 184 of the main support 113 are assembled from both sides between the tires.

In the preferred embodiment of the present invention, the flywheel bracket 131 and the flywheel 132 are further disposed on the main bracket 113, and the flywheel 132 is disposed concentrically with the tire 110 without swinging, and relatively the flywheel bracket 131 can rotate at the outside. The flywheel 132 may be provided with a weight as required to match the driving capacity of the overall unicycle device. The flywheel 132 may be provided with a spoke 133, as shown in fig. 8 and 9, for example, a continuous piece or spoke structure, and a second driven gear 134, which is arranged at the wheel axle position and is in driving connection with the second motor driving system 130, is coaxially and fixedly arranged with the flywheel 132, and a second motor 135, which is arranged on the flywheel bracket 131 and is connected to drive a second driving gear 136, so that the rotation driving of the flywheel 132 is realized through the meshing driving of the second driven gear 134.

The flywheel 132 is arranged in the cavity of the main bracket 113 of the wheelbarrow device, and axial stability can be generated through high-speed rotation of the flywheel 132 so as to ensure the independent standing function of the wheelbarrow. The working principle of the third motor driving system is used for explaining the self-balancing standing and turning functions of the monocycle device.

A third motor driving system 140 is further disposed on the flywheel bracket 131, as shown in fig. 5 and 6, for driving the flywheel and the flywheel bracket to swing left and right. The flywheel bracket 131 is provided with a rotating shaft 137 for swinging left and right, hinged to the main bracket 113, horizontally arranged in the advancing direction of the tire 110, and rotatably arranged on the main bracket 113, the rotating shaft is provided with two rotating shaft points connected with the main bracket, horizontally arranged in the advancing direction of the tire, and the connecting line passes through the center of the main bracket 113, namely the rotating center of the flywheel 132.

When the whole wheelbarrow device moves in the front-back moving direction, namely, turning motion is not involved, the flywheel 132 keeps the same vertical plane position as the tire 110, and the high-speed rotation of the flywheel 132 only plays a role in stable balance, so that the wheelbarrow device can keep a standing state in a self-balancing way and cannot incline left and right. When the wheelbarrow device needs to turn left and right, including the state of being inclined to the ground in the initial state as shown in fig. 1 and fig. 2, and needs to be turned to a standing state, the rotation direction of the rotating shaft needs to be balanced by the rotation of the flywheel 132 and is not consistent with the rotation direction of the tire, so that the whole wheelbarrow device can be driven to change the standing state.

The operation principle of the balance adjustment is that when the flywheel 132 keeps a high-speed rotation state, it can be known from the gyroscopic effect that the flywheel 132 has a stabilizing effect in the rotation axis direction, so that when the third motor driving system is used to adjust the left or right swing of the flywheel, it is equivalent to push the rotation axis axial direction of the flywheel 132 with a steady state, so that a reaction force is inevitably generated between the opposite structure, for example, between the flywheel bracket and the main bracket, and the main bracket 113 bears the main structure of the whole unicycle device, thereby generating an inclination angle between the whole device and the ground, which is required for the whole body of the unicycle device to be righted or turned.

In particular embodiments, the third motor drive system 140 requires a push-pull action between the flywheel bracket and the main bracket. As shown in fig. 5 and 6, in the preferred embodiment of the present invention, a steering gear device disposed on the flywheel bracket 131 is adopted, and specifically includes a steering gear motor 141, and a rotating handle 142 for controlling a desired angle of rotation is disposed on the steering gear motor 141 by driving control. In the implementation scheme of the prior art, the steering engine is provided with a control unit, the steering engine can be driven to swing leftwards or rightwards through a remote control signal, as long as the control of a steering angle can be realized within the maximum amplitude, and the steering engine is generally applied to an automatic steering control system of a ship.

The other end of the rotating handle 142 is hinged to one end of a connecting rod 144 through a first universal joint 143, as shown in fig. 5 and 6, the other end of the connecting rod 144 is hinged to the main bracket 113 through a second universal joint 145, and the hinged point of the connecting rod 144 and the main bracket 113 is deviated from the rotating shaft 137, so that the swinging drive between the main bracket and the flywheel bracket can be realized through the rotation control of the steering engine rotating handle 142.

The rotation handle 142 shown in fig. 6 is in a substantially balanced position, i.e. when the rotation plane of the flywheel coincides with the rotation plane of the tire, the wheelbarrow device is in a stable linear motion. At this time, the handle 142 is in a position substantially perpendicular to the connecting rod 144, which may be defined as an initial position.

As shown in fig. 13, when the rotating handle 142 swings downward (the swing amplitude can only be within the maximum amplitude according to the control requirement), the distance between the position of the rotating shaft of the rotating handle 142 (that is, the position of the steering engine motor 141, that is, on the flywheel bracket) and the second universal joint 145 of the connecting rod 144 is increased, at this time, due to the adoption of the first universal joint 143 and the second universal joint 145, the displacement stroke formed when the flywheel bracket 131 swings to one side can be eliminated, and finally, the actions of swinging the upper side of the flywheel and the flywheel bracket to the right, the lower side and the left side around the rotating shaft 137 are formed, and the swing amplitude is controllable by the driving of the steering engine motor 141.

As shown in fig. 12, when the flywheel and the flywheel motor need to swing to one side in opposite directions, the steering engine motor 141 is controlled to swing the rotating handle 142 in opposite directions, and the swing angle is controlled according to the swing amplitude, at this time, the distance between the rotating shaft of the rotating handle 142 and the second universal joint 145 connected to the connecting rod 144 is reduced, and the flywheel bracket 131 and the flywheel 132 can be guaranteed to swing in opposite directions because the first universal joint 143 and the second universal joint 145 eliminate the angle and displacement required for twisting.

In another preferred embodiment of the present invention, side covers 150 are further provided on both sides of the outside of the main support 113, as shown in fig. 1-3 and 10, the side covers 150 are symmetrically disposed on both sides of the main support with respect to the tire 110, and power receiving parts 151, specifically, a battery pack or a battery compartment, are provided on the side covers, and a pedal structure is further provided on the side covers for a person to step on in a unicycle device as a transportation vehicle.

In the preferred embodiment of the wheelbarrow device of the present invention, a supporting protrusion 160 is further disposed below the outer side of the side cover, as shown in fig. 1 and 2, to facilitate maintaining the side inclination angle of the wheelbarrow device, for example, the angle of tipping upside down when the wheelbarrow device is stationary cannot be too large, it is better that the angle between the plane of the tire tread central line and the ground is not less than 45 degrees, it is to be ensured that the outer tire 110 can always keep in contact with the ground, otherwise, the raising of the flywheel 132 is difficult. In addition, the supporting protrusions 160 also serve to cushion the wheelbarrow device from side contact during a fall, thereby reducing side impact damage to the wheelbarrow device. And when the tire 110 starts to rotate, the supporting protrusions 160 maintain frictional resistance with the ground so as to form reaction force with the rotation force of the outer tire, and the wheelbarrow device can automatically change from a rolling static state to a standing moving state on the ground by matching with the swinging and righting actions of the flywheel and the flywheel bracket.

In a preferred embodiment of the wheelbarrow apparatus, a remote control toy can be provided, for example, a start button (first button or set of buttons) is provided, which is self-righted by the high-speed rotation of the flywheel, but because the tire is in a completely static state, the momentum balance is hard to be ensured, therefore, the advancing and retreating (second button or set of buttons) of the tire can be synchronously controlled, and the tire rotation and the spiral stability of the flywheel play a balance role together. During the driving and moving process of the tire, a third or a group of keys can be arranged for controlling turning, and the actual working process is that the flywheel swings leftwards or rightwards under the control of a third motor driving system, and the rolling directions and angles of the tire and the main support are correspondingly regulated and controlled, so that the turning actions leftwards or rightwards are completed when the driving wheel rolls at the same time. Be relative drive between main support and the tire, for playing sufficient drive power when setting up each part on the main support, include flywheel support, flywheel, first motor-driven system, second motor-driven system and third motor-driven system to and side cap etc. holistic inside focus will be less than the rolling pivot center of tire, just so can guarantee tire and the frictional force on ground can drive whole wheel barrow and go forward, and not the relative tire of main support is reverse rotation.

In another preferred embodiment of the wheelbarrow device, the wheelbarrow device can be further arranged as a transportation means, and is different from a toy device in that the corresponding proportion of all the parts is enlarged, and the wheelbarrow device is made of firmer materials so as to form a certain bearing effect, for example, the wheelbarrow device can be used as a cargo carrying platform to realize an automatic carrying function and make full use of the strong passing ability of the wheelbarrow.

The utility model also provides a realization the control implementation method of wheel barrow device, as shown in fig. 11, carry out the operation to the sign indicating number after remote control unit starts to set up on remote control unit and the wheel barrow device of being controlled and show that the warning light and/or voice prompt "connection has succeeded", if to the sign indicating number success then the LED lamp is long bright, otherwise shows for breathing type stroboscopic. After the codes are successfully matched, the control of the wheelbarrow device can be realized through the remote control handle. Description of the components therein:

TX (remote control): ON-OFF switch 1 RX (wheelbarrow): 1 ON-OFF switch

Trigger VR 11 MOTORs 1 (Gyroscope MOTOR: balance, i.e. second MOTOR drive system)

Knob VR 21 MOTORs 2 (Main support MOTOR: driving, i.e. first MOTOR driving system)

LED blue indicator 1, steering engine 1 (direction control, i.e. third motor driving system)

The remote controller is powered by 3 AA batteries and 6 AAA batteries

Tact switch (Fine left and right)

The specific control comprises the following steps:

A. after the main body of the wheelbarrow device is started, the second motor driving system is controlled to start the rotation of the flywheel, namely the gyro works stably. And then the main control circuit board is used for carrying out posture detection and control on the first motor driving system of the main support, namely the main control circuit board PCB sends a control instruction to the first motor driving system, the first motor driving system feeds forward tilting data back to the posture detection PCB, and the forward tilting data are transmitted back to the motor of the first motor driving system for speed limiting.

B. The left-right swinging control of the flywheel and the flywheel bracket is realized by controlling the third motor driving system so as to realize the centering or turning control of the monocycle device; specifically, the swinging direction and the swinging angle of the steering engine can be controlled by a trigger or a knob on a remote controller.

C. The first motor driving system is controlled to realize the rotation driving of the tire, so that the movement of the wheelbarrow device is controlled; specifically, the forward direction of the wheelbarrow device can be controlled by remotely controlling the forward rotation or the backward rotation of the tire.

Step B and step C can be carried out to the exchange order, work as the wheel barrow device just adopts the mode of carrying out step B earlier from stopping when ground starts, regulates and control the self-balancing of whole wheel barrow device and stands, then rethread step C realizes advancing and retreating. And if the wheelbarrow device is in the moving process, after the forward and backward movement control process of the step C, the step B of swinging left and right is executed to realize the control of turning the wheelbarrow device. As shown in fig. 11, the control curve at each control position is pointed to the corresponding position by an arrow, which is a specific embodiment of the control implementation method of the present invention and is not a limitation to the protection scope of the present invention.

The utility model provides a wheel barrow device and control implementation method thereof, through a plurality of motor drive system control that set up on the main support have realized automatic balanced wheel barrow device and control implementation method, can realize a novel self-balancing toy to can use industry automatic transportation field, realize a vehicle of transportation of facilitate the operation.

It will be understood that modifications and variations can be made by persons skilled in the art in light of the above teachings and all such modifications and variations are considered to be within the scope of the invention as defined by the following claims.

Claims (6)

1. An outer tire driving device of a wheelbarrow device comprises a tire, a first motor driving system and a second motor driving system, wherein the tire is used for being in contact with the ground and driven at the outer side; wherein said first motor drive system is disposed on a main support, said main support being disposed within a hollow space within said tire; the first motor driving system comprises a first motor which is fixedly arranged on the main bracket; the main support is provided with an inner disc frame and an outer disc frame which are parallel, and a plurality of transverse support rods are arranged between the two discs; the first motor drives a first driven gear through a gear set, and the first driven gear is meshed with the rack.

2. Outer tire drive arrangement of a unicycle device according to claim 1, characterised in that at least one pulley is provided on the lateral support bar for supporting against the inside of the tire.

3. The outer tire driving device of the unicycle device as claimed in claim 2, wherein the inner side of the tire is further provided with a tire support, the rack is arranged at the center of the inner side wall of the tire support, and the rack is arranged to protrude from the inner side wall of the tire support.

4. The outer tire driving device for a wheelbarrow according to claim 3 wherein the tire support has at least one longitudinal reinforcing rib longitudinally disposed on the outside of the tire support and a plurality of transverse reinforcing ribs integrally and transversely disposed with the longitudinal reinforcing rib.

5. The outer tire driving device of the unicycle device as claimed in claim 4, wherein said longitudinal ribs are further provided with positioning and mounting notches along predetermined intervals for fitting with the raised mounting bars on the inner sidewall of the tire.

6. The wheelbarrow according to claim 1 wherein the first motor is arranged to drive a drive gear coaxially and the gear set is arranged to engage the first driven gear using a two speed gear; the speed change gear is arranged in a speed change mode which is slowed down.

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