CN213354720U

CN213354720U - Motorcycle with anti-toppling structure

Info

Publication number: CN213354720U
Application number: CN202022325309.1U
Authority: CN
Inventors: 李宝宝; 张奎
Original assignee: Chongqing Beidou Jiean New Energy Technology Co ltd
Current assignee: Chongqing Beidou Jiean New Energy Technology Co ltd
Priority date: 2020-10-19
Filing date: 2020-10-19
Publication date: 2021-06-04
Anticipated expiration: 2030-10-19

Abstract

The utility model discloses a motorcycle with prevent empting structure, including the frame, the bottom fixed mounting of frame has whole car gyroscope, and the one end of frame is rotated and is connected with the rear wheel, and the one end fixed mounting that the top of frame is close to the rear wheel has the cushion, and the top of frame and the below fixed mounting that is located the cushion have automobile body inclination sensor, and the top of frame and the one side fixed mounting that is located the cushion have whole car controller, and the top of frame and the below fixed mounting that is located whole car controller have automobile body speedtransmitter, and the one end fixed mounting that the rear wheel was kept away from to the frame has the locomotive, the utility model discloses the beneficial effect who reaches is: the utility model discloses a carry out real-time regulation and control to the whole car barycenter to both can promote the balance of two-wheel car and not fall the nature, do not reduce the recreational of controlling of two-wheel car simultaneously again, realize unmanned driving for two-wheeled motorcycle electric motor car and establish good basis, can also promote two-wheeled motorcycle's driving safety performance in addition, reduce and fall the traffic accident mortality.

Description

Motorcycle with anti-toppling structure

Technical Field

The utility model relates to a method for improving the non-falling property of a motorcycle, in particular to a motorcycle with an anti-falling structure, which belongs to the technical field of two-wheel vehicles.

Background

In the existing life, the existing two-wheeled motorcycle (including two-wheeled electric vehicle) can be driven only by the active balance of a driver, if the balance sense of the driver is poor, the potential safety hazard that the driver can not ride or ride and fall the vehicle can occur, meanwhile, the balance of the two-wheeled motorcycle is inferior to that of three-wheeled vehicles or four-wheeled vehicles and multi-wheeled vehicles above, and the two-wheeled motorcycle is always in a weak state in numerous traffic accidents.

At present, although some concepts that two wheels do not back are not applied to practical mass production, in the known scheme for improving the non-falling performance of the two-wheel vehicle, although the active balance performance of the two-wheel vehicle can be improved to a certain degree, the control entertainment such as steering and bending of the two-wheel vehicle is lost.

SUMMERY OF THE UTILITY MODEL

The to-be-solved technical problem of the utility model is to overcome prior art's defect, provide a motorcycle with prevent empting the structure.

In order to solve the technical problem, the utility model provides a following technical scheme:

the utility model relates to a motorcycle with an anti-toppling structure, which comprises a frame, wherein the bottom of the frame is fixedly provided with a whole motorcycle gyroscope, one end of the frame is rotatably connected with a rear wheel, one end of the top of the frame, which is close to the rear wheel, is fixedly provided with a cushion, a vehicle body inclination angle sensor is fixedly arranged at the top of the frame and below the cushion, a vehicle control unit is fixedly arranged at the top of the frame and at one side of the cushion, a vehicle body speed sensor is fixedly arranged at the top of the vehicle frame and below the vehicle controller, a headstock is fixedly arranged at one end of the frame far away from the rear wheels, the bottom of the headstock is rotatably connected with front wheels, a handlebar is fixedly arranged at the top of the head, a steering rudder moment stepping motor is fixedly arranged at the top of the head and below the handlebar, and one end of the bottom of the handlebar is fixedly provided with a torque sensor of a steering rudder perpendicular to the plane of the vehicle body.

As a preferred scheme of the utility model, the mass equivalent of whole car gyroscope when the maximum rotational speed is greater than whole car dry mass, the barycenter position of whole car gyroscope body is in whole car central symmetry plane and is located the plumb line below position of the whole car outfit mass barycenter position of not installing whole car gyroscope.

As an optimized scheme of the utility model, turn to steering torque step motor and be located the axle center department that turns to of the front suspension of whole car.

As an optimal scheme of the utility model, one side fixed mounting that turns to rudder moment step motor is kept away from at the top of locomotive has a rudder corner sensor.

As an optimized scheme of the utility model, the rear wheel constitutes front and rear wheel ground connection sideline joining region jointly with the front wheel.

As an optimized scheme of the utility model, the equal fixedly connected with anti-skidding rubber pad in the outside at handlebar hand both ends.

As a preferred scheme of the utility model, automobile body inclination angle sensor, automobile body speed sensor, turn to rudder moment stepper motor, turn to rudder corner sensor, turn to the perpendicular automobile body plane torque sensor of rudder all with vehicle control unit electric connection.

The utility model discloses the beneficial effect who reaches is: the utility model discloses a carry out real-time regulation and control to the whole car barycenter to both can promote the balance of two-wheel car and not fall the nature, do not reduce the recreational of controlling of two-wheel car simultaneously again, realize unmanned driving for two-wheeled motorcycle electric motor car and establish good basis, can also promote two-wheeled motorcycle's driving safety performance in addition, reduce and fall the traffic accident mortality.

Drawings

The accompanying drawings are included to provide a further understanding of the invention, and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention, and together with the description serve to explain the invention and not to limit the invention. In the drawings:

FIG. 1 is a schematic view of the overall structure of the present invention;

FIG. 2 is a front view of the present invention;

fig. 3 is a top view of the present invention.

In the figure: 1. a frame; 2. a vehicle gyroscope; 3. a rear wheel; 4. a cushion; 5. a vehicle body inclination angle sensor; 6. a vehicle control unit; 7. a vehicle body speed sensor; 8. a headstock; 9. a front wheel; 10. a handlebar; 11. a steering rudder moment stepper motor; 12. a steering rudder turning angle sensor; 13. a steering rudder vertical vehicle body plane moment sensor; 14. front and rear wheel ground wire attachment areas.

Detailed Description

The preferred embodiments of the present invention will be described in conjunction with the accompanying drawings, and it will be understood that they are presented herein only to illustrate and explain the present invention, and not to limit the present invention.

Examples

As shown in fig. 1-3, the utility model provides a motorcycle with an anti-toppling structure, which comprises a frame 1, wherein the bottom of the frame 1 is fixedly provided with a whole vehicle gyroscope 2, one end of the frame 1 is rotatably connected with a rear wheel 3, and one end of the top of the frame 1, which is close to the rear wheel 3, is fixedly provided with a cushion 4, so that the motorcycle is convenient for better driving; a vehicle body inclination angle sensor 5 is fixedly arranged at the top of the vehicle frame 1 and below the cushion 4, and the vehicle body inclination angle sensor 5 is convenient for better detecting the inclination angle of the whole vehicle; a vehicle body speed sensor 7 is fixedly arranged at the top of the frame 1 and below the vehicle body controller 6, and the vehicle speed sensor 7 is convenient for better detecting the speed of the whole vehicle; frame 1 keeps away from the one end fixed mounting of rear wheel 3 has locomotive 8, the bottom of locomotive 8 is rotated and is connected with front wheel 9, the top fixed mounting of locomotive 8 has handlebar hand 10, the top of locomotive 8 and the below fixed mounting that is located handlebar hand 10 have a steering wheel moment step motor 11, the one end fixed mounting of handlebar hand 10 bottom has the perpendicular automobile body plane moment sensor 13 of steering wheel, be convenient for better sensing the perpendicular automobile body plane moment of steering wheel through the perpendicular automobile body plane moment sensor 13 of steering wheel.

Further, the mass equivalent of the whole vehicle gyroscope 2 at the highest rotation speed is larger than the whole vehicle dry mass, the mass center position of the whole vehicle gyroscope 2 body is positioned in the whole vehicle central symmetry plane and is positioned below the plumb line of the whole vehicle equipped mass center position where the whole vehicle gyroscope 2 is not installed, the weight and the rotation speed of the whole vehicle gyroscope 2 are set according to the whole vehicle equipped mass and the mass center position where the whole vehicle gyroscope 2 is not installed, the mass equivalent of the whole vehicle gyroscope 2 at the highest rotation speed is larger than the whole vehicle dry mass, the mass center position of the whole vehicle gyroscope 2 body is positioned in the whole vehicle central symmetry plane and is positioned below the plumb line of the whole vehicle equipped mass center position where the whole vehicle gyroscope 2 is not installed, and the whole vehicle gyroscope 2 is convenient and better to use.

Furthermore, the steering rudder moment stepping motor 11 is positioned at the steering axis of the front suspension of the whole vehicle, so that the steering rudder moment stepping motor is convenient to better match with the whole vehicle for use.

Furthermore, a steering rudder corner sensor 12 is fixedly mounted on one side, far away from the steering rudder torque stepping motor 11, of the top of the vehicle head 8, and the steering rudder corner is conveniently and better detected through the steering rudder corner sensor 12.

Furthermore, the rear wheel 3 and the front wheel 9 jointly form a front and rear wheel grounding sideline connecting area 14, and a projection point of the integral equivalent mass center position of the whole vehicle when the whole vehicle travels in a straight line can be better ensured to fall into the front and rear wheel grounding sideline connecting area 14 through the front and rear wheel grounding sideline connecting area 14, so that the distance of the projection point of the integral equivalent mass center position of the whole vehicle when the whole vehicle tilts and bends during steering or turning is ensured to be close to the quotient of the centrifugal force and the integral equivalent mass center of the whole vehicle to the vertical height of the ground.

Furthermore, the outer sides of the two ends of the handlebar 10 are fixedly connected with anti-skid rubber pads, so that the anti-skid performance is better improved.

Further, the vehicle body inclination angle sensor 5, the vehicle body speed sensor 7, the steering rudder torque stepping motor 11, the steering rudder corner sensor 12 and the steering rudder vertical vehicle body plane torque sensor 13 are electrically connected with the vehicle control unit 6, and the vehicle control unit 6 is convenient for better real-time regulation and control of the mass center of the vehicle.

Specifically, when the gyroscope is used, firstly, the centroid whole vehicle gyroscope 2 is configured: according to the whole car of not installing whole car gyroscope 2 and reorganization quality and barycenter position, set up the weight of whole car gyroscope 2, rotational speed for the mass equivalent of whole car gyroscope 2 when the maximum rotational speed is greater than whole car dry mass, and make the barycenter position of whole car gyroscope 2 body be in whole car central symmetry plane and be located the plumb line below position of the whole car reorganization quality barycenter position of not installing whole car gyroscope 2, then the configuration turns to rudder moment step motor 11: the whole vehicle with the whole vehicle gyroscope 2 is added, although the mass center can be properly adjusted, the steering angle of the two-wheel motorcycle is larger, the mass ratio of a front suspension system is larger, if the control angle of a front suspension device cannot be controlled, the whole vehicle mass center can still generate larger change due to the angle deflection of the front suspension, the steering axle center of the front suspension is additionally provided with a steering rudder moment stepping motor 11, the front suspension rotating angle is adjusted according to the whole vehicle working condition and the mass center position in time, so that the torque generated by the front suspension mass center is reduced, the purpose of balancing the whole vehicle is achieved, and meanwhile, the control algorithm for real-time regulation and control of the whole vehicle mass center is the regulation and control algorithm for the rotating speed of the whole: 1. straight-going state interference algorithm: when a driver of the two-wheeled motorcycle does not steer in a straight-going mode and is under the bending operation intention, the finished motorcycle body inclination angle sensor 5, the steering rudder corner sensor 12 and the steering rudder vertical motorcycle body plane moment sensor 13 are all set within a straight-going state parameter range, at the moment, the finished motorcycle centroid plumb is projected within a range of a front-rear wheel grounding borderline connecting area 14, the rotating equivalent mass of the finished motorcycle gyroscope 2 and the finished motorcycle are kept at the same level or below, and the whole process is calculated and judged by the finished motorcycle controller 6; 2. and (3) a steering rudder steering vehicle body holding plumb algorithm: when a driver of the two-wheeled motorcycle intends to steer at a low speed, the steering rudder has a turning angle, the steering torque of the steering rudder exceeds a set straight-going parameter, and the body inclination angle sensor 5 still keeps a plumb, so as to achieve the operation intention of the driver and reduce the arm operation torque, at the moment, the steering torque stepping motor 11 stops working, the rotating speed of the gyroscope 2 of the whole motorcycle is adjusted in time according to the real-time steering angle of the steering rudder, thereby changing the position of the mass center of the whole motorcycle when the whole motorcycle steers, always keeping the equivalent mass center plumb projection point of the whole motorcycle system to fall within the range of the grounding sideline connecting area 14 of the front and rear wheels after steering, and the whole process is calculated and judged; 3. and (3) a steering rudder and vehicle body simultaneous bending and inclining algorithm: when a driver of the two-wheeled motorcycle intends to ride and steer at a high speed, the whole motorcycle is controlled to be in an inclined state, the aim of balancing and smoothly realizing bending and steering is achieved by means of the torque generated by the centrifugal force of the whole motorcycle and the deflection torque generated by the mass center of the whole motorcycle, in the state, the steering angle of the steering rudder is small (the angle is large and generates potential safety hazards at a high speed), the whole motorcycle is in the same plane, firstly, the torque sensor 13 of the steering rudder vertical to the plane of the motorcycle body senses the operation and steering intention of the driver, meanwhile, the speed sensor 7 of the whole motorcycle body sends a speed signal of the whole motorcycle, the steering rudder rotation angle sensor 12 is combined with the rotation angle parameter to jointly judge that the steering rudder does not rotate or rotates slightly, the steering of the whole motorcycle is realized by means of the balance of the bending centrifugal force of the whole motorcycle, at the moment, meanwhile, the vehicle body inclination angle sensor 5 gives the inclination angle of the whole vehicle body, the instant vehicle speed of the whole vehicle is combined, the centrifugal force of the whole vehicle is calculated, in the whole process, the rotating speed of the whole vehicle gyroscope 2 is gradually reduced according to set parameters along with the increase of the value of the steering rudder vertical vehicle body plane moment sensor 13, so that a driver keeps the interest of bending riding, the arm operating force is reduced, when the value of the steering rudder vertical vehicle body plane moment sensor 13 is kept stable and gradually reduced, the rotating speed of the whole vehicle gyroscope 2 is gradually increased according to a set relation curve from the stability, so that the mass center and the posture of the whole vehicle are timely adjusted after the bending operation steering is smoothly realized, and the whole process is a complex calculation process that the numerical values of the vehicle body inclination angle sensor 5, the vehicle body speed sensor 7, the steering rudder corner sensor 12 and the steering rudder vertical vehicle body plane moment sensor 13 are instantly fed back, the whole motorcycle controller 6 controls the steering control torque stepping motor 11 of the execution component for steering power assistance or resistance, adjusts the rotating speed of the whole motorcycle gyroscope 2 of the whole center of mass of the whole motorcycle, and finally realizes double control of the smoothness and the non-falling performance of the whole two-wheeled motorcycle during bending and high-speed riding; 4. the self-learning algorithm of the whole control system is as follows: the whole system can implant mature test data into the whole vehicle controller 6 in the early period, and can continuously self-learn to adapt to some operation habits of a driver in the riding process of the user, so that misoperation caused by personalized operation of the driver is identified, human-vehicle integration is finally realized, and the operation entertainment and the driving safety of the two-wheeled motorcycle are greatly improved.

Finally, it should be noted that: although the present invention has been described in detail with reference to the foregoing embodiments, it will be apparent to those skilled in the art that modifications may be made to the embodiments described in the foregoing embodiments, or equivalents may be substituted for elements thereof. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. A motorcycle with an anti-toppling structure comprises a frame (1) and is characterized in that a whole motorcycle gyroscope (2) is fixedly mounted at the bottom of the frame (1), a rear wheel (3) is rotatably connected to one end of the frame (1), a cushion (4) is fixedly mounted at one end, close to the rear wheel (3), of the top of the frame (1), a vehicle body inclination angle sensor (5) is fixedly mounted at the top of the frame (1) and below the cushion (4), a whole motorcycle controller (6) is fixedly mounted at one side, close to the cushion (4), of the top of the frame (1), a vehicle body speed sensor (7) is fixedly mounted at the top of the frame (1) and below the whole motorcycle controller (6), a motorcycle head (8) is fixedly mounted at one end, far away from the rear wheel (3), of the frame (1), and a front wheel (9) is rotatably connected to the bottom of the motorcycle head (8), the steering control device is characterized in that a handlebar (10) is fixedly mounted at the top of the handlebar (8), a steering control torque stepping motor (11) is fixedly mounted at the top of the handlebar (8) and below the handlebar (10), and a steering control vertical body plane torque sensor (13) is fixedly mounted at one end of the bottom of the handlebar (10).

2. A motorcycle with anti-toppling structure as claimed in claim 1, wherein the mass equivalent weight of the whole vehicle gyroscope (2) at the highest rotation speed is greater than the dry mass of the whole vehicle, and the mass center position of the whole vehicle gyroscope (2) body is located in the central symmetry plane of the whole vehicle and below the plumb line of the whole vehicle mass center position where the whole vehicle gyroscope (2) is not installed.

3. A motorcycle with an anti-toppling structure as claimed in claim 1, wherein said steering rudder moment stepping motor (11) is located at a steering axis of a front suspension of the entire vehicle.

4. A motorcycle with an anti-toppling structure as claimed in claim 1, wherein a steering rudder rotation angle sensor (12) is fixedly mounted on the side of the top of the motorcycle head (8) far away from the steering rudder moment stepping motor (11).

5. A motorcycle with an anti-toppling structure, according to claim 1, wherein the rear wheel (3) and the front wheel (9) together constitute a front-rear wheel ground contact boundary connecting region (14).

6. A motorcycle with an anti-tipping structure as claimed in claim 1, wherein anti-skid rubber pads are fixedly connected to the outer sides of both ends of the handlebar (10).

7. A motorcycle with an anti-toppling structure according to claim 4, characterized in that the vehicle body inclination angle sensor (5), the vehicle body speed sensor (7), the steering rudder moment stepping motor (11), the steering rudder turning angle sensor (12) and the steering rudder vertical vehicle body plane moment sensor (13) are electrically connected with the whole vehicle controller (6).