CN213921343U

CN213921343U - Intelligent tricycle

Info

Publication number: CN213921343U
Application number: CN202023024430.7U
Authority: CN
Inventors: 唐明喜; 陈奕川; 洪茂钦; 许文武
Original assignee: Shenzhen Xidesheng Bicycle Co Ltd
Current assignee: Shenzhen Xidesheng Bicycle Co Ltd
Priority date: 2020-12-16
Filing date: 2020-12-16
Publication date: 2021-08-10
Anticipated expiration: 2030-12-16

Abstract

The utility model discloses an intelligent tricycle, including the frame with set up in two footboards of frame both sides, install the cross axle on the frame, the first head end of two footboards is rotatory respectively installs on the cross axle is overhead, establishes the antiport structure between the first head end of two footboards for make relative antiport between two footboards, the second end of two footboards has the hub connection respectively to have the runner, when the runner rotates the direction towards the dead ahead of frame, parallel and with the axle center setting between the runner. The utility model discloses intelligent tricycle can make the turning radius shorten when turning to because three wheel often with the ground laminating, grab the land fertility stronger, reduce the risk of turning on one's side, improve turning speed, be fit for the drift motion.

Description

Intelligent tricycle

Technical Field

The utility model relates to an intelligent tricycle technical field especially relates to an intelligent tricycle.

Background

The intelligent tricycle popular in the market is popular among people due to the fact that the intelligent tricycle is easy to operate when going straight, but the turning radius of the intelligent tricycle is large, when the intelligent tricycle is high in speed, the overall ground grabbing effect is poor, and the risk of overturning and side turning is large.

SUMMERY OF THE UTILITY MODEL

The to-be-solved technical problem of the utility model lies in, to prior art not enough, provide an intelligent tricycle.

In order to solve the technical problem, the utility model adopts the following technical scheme.

The utility model provides an intelligent tricycle, includes the frame and sets up in two footboards of frame both sides, installs the cross axle on the frame, and the first head of two footboards is rotatory respectively and is installed on the cross axle spindle, establishes the antiport structure between the first head of two footboards for make relative antiport between two footboards, the second head of two footboards has the runner to connect respectively, when the runner direction of rotation was towards the dead ahead of frame, parallel and with the axle center setting between the runner.

Preferably, the reverse rotation structure is arranged on the frame and comprises a cross shaft, the cross shaft is respectively and rotationally connected with two sector gears which are oppositely arranged, and the first end ends of the two pedals are respectively and fixedly connected with the outer end faces of the two sector gears; a rotatable vertical shaft is arranged in a penetrating manner in the direction vertical to the transverse shaft, a connecting gear is rotatably sleeved on the vertical shaft, and the connecting gear is respectively meshed with the two sector gears; the outer end of the vertical shaft is connected to the frame through an elastic piece.

Preferably, driving motors are arranged in the two parallel rotating wheels, a controller with a gyroscope and a lithium battery are arranged in the frame, and the driving motors are connected with the controller.

Preferably, the rear end of the frame is provided with an independent wheel, the two rotating wheels are positioned in front of the frame, the independent wheel is arranged on the wheel frame, the independent wheel is connected with the wheel frame through a wheel shaft, the wheel frame is rotatably connected with the frame through a rotating shaft, and the extension line of the axis of the rotating shaft is positioned between the wheel shaft and the landing point of the independent wheel.

Preferably, a connecting gear on the vertical shaft is connected with a servo motor, and the servo motor is connected with a controller.

Preferably, the front end of the frame is provided with a head pipe, a vertical pipe is arranged in the head pipe, the upper end of the vertical pipe is provided with a vertical rod, the upper end of the vertical rod is provided with a handle, the lower end of the vertical pipe is connected with a front fork, the front fork is provided with an independent wheel, an angle sensor is arranged between the vertical pipe and the frame, and the angle sensor is connected with a controller; the angle sensor comprises a first gear fixedly connected with the vertical pipe and a second gear arranged in the shell and meshed with the first gear, a magnet is arranged on the second gear, an induction chip is arranged on the inner wall of the shell corresponding to the magnet, and the induction chip is connected with the controller.

Technical effects

1. The utility model discloses intelligent tricycle when the left turn (the right turn principle is unanimous with it), the people can make body weight center incline to the left, can drive the automobile body at this moment and incline to the left, left and right footboard can present under the effect of reverse rotation structure that left footboard upwarps, right footboard is down swung, can control the relative angle of two footboards, and then the inclination of control automobile body, make the turning radius of intelligent tricycle shorten, and because three wheel often with ground laminating, grip ground power is stronger, reduce the risk of turning on one's side, improve the turn speed, be fit for the drift motion;

2. the utility model discloses the controller is passed to with the turned angle information of preceding independent wheel to intelligent tricycle's angle sensor, and the controller is according to the pivoted angle, and driving motor on the two parallel runners of control carries out differential compensation adjustment, reduces the speed difference between the two parallel runners, reduces turning radius for intelligent tricycle can smooth steady turn successfully.

3. The utility model discloses two leading intelligent tricycles of runner, under the mode of autopilot, can effectually shorten turning radius, make to grab the land fertility stronger, reduce the risk of turning on one's side, improve turning speed, be fit for the drift motion.

Drawings

Fig. 1 is a schematic front view of the overall structure of a first embodiment of the intelligent tricycle of the present invention;

fig. 2 is a schematic top view of the overall structure of the first embodiment of the intelligent tricycle;

fig. 3 is a schematic front view of the overall structure of a second embodiment of the intelligent tricycle;

fig. 4 is a schematic top view of the overall structure of a second embodiment of the intelligent tricycle;

fig. 5 is the angle sensor schematic diagram of the second embodiment of the intelligent tricycle of the present invention.

Detailed Description

The present invention will be described in more detail with reference to the accompanying drawings and examples.

As shown in fig. 1, fig. 2, fig. 3 and fig. 4, an intelligent tricycle comprises a frame 1 and two pedals 2 arranged on two sides of the frame, a cross shaft 3 is mounted on the frame 1, first ends of the two pedals 2 are respectively rotatably mounted on the shaft head of the cross shaft 3, a reverse rotation structure 4 is arranged between the first ends of the two pedals 2 to enable the two pedals 2 to relatively reversely rotate, second ends of the two pedals 2 are respectively connected with a rotating wheel 5 in a shaft mode, and when the rotating direction of the rotating wheel 5 faces to the front of the frame 1, the rotating wheels 5 are arranged in parallel and coaxially. Establish reverse rotation structure 4 between two footboards 2, during the turn, 2 upwarps at one side footboard, under reverse rotation structure 4 effects, 2 downswings of opposite side footboard, 2 coordinated motions of both sides footboard, can control the relative angle of two footboards 2, and then the inclination of control automobile body for the turning radius of intelligent tricycle shortens, and because three wheel is laminated with ground often, it is stronger to grab the land fertility, reduce the risk of turning on one's side, improve turning speed, be fit for the drift motion.

In the above scheme, the reverse rotation structure 4 is arranged on the frame 1, the reverse rotation structure 4 comprises a transverse shaft 3, the transverse shaft 3 is respectively and rotatably connected with two sector gears 41 which are oppositely arranged, and the first ends of the two pedals 2 are respectively and fixedly connected with the outer end faces of the two sector gears 41; a rotatable vertical shaft 42 penetrates in the direction vertical to the horizontal shaft 3, a connecting gear 43 is rotatably sleeved on the vertical shaft 42, and the connecting gear 43 is respectively meshed with the two sector gears 41; the outer end of the vertical shaft 42 is connected to the frame 1 through the elastic element 44 rubber fixing block, and when encountering bumpy road surface, the shock of the vertical shaft 42 can be reduced.

Specifically, driving motors are arranged in the two parallel rotating wheels 5, a controller 20 with a gyroscope and a lithium battery 22 are arranged in the frame 1, and the driving motors are connected with the controller 20.

As shown in fig. 1 and 2, according to the first embodiment of the present invention, an independent wheel 6 is provided at the rear end of a frame 1, two wheels 5 are located in front of the frame 1, the independent wheel 6 is provided on a wheel carrier 7, the independent wheel 6 is connected to the wheel carrier 7 via a wheel shaft 8, the wheel carrier 8 is rotatably connected to the frame 1 via a rotating shaft 9, an axis extension 91 of the rotating shaft 9 is located between the wheel shaft 8 and a landing point 61 of the independent wheel 6, when a vehicle body inclines, a lateral force F1 for turning a tire in a reverse direction is applied to the landing point of the tire, a reaction force F2 of the ground is applied to the rear of the axis extension 91 of the rotating shaft 9, and a horizontal component F3 of F2 enables the independent wheel 6 to have a self-steering function.

Specifically, the servo motor 21 is connected to the connecting gear 43 on the vertical shaft 42, and the servo motor 21 is connected to the controller 20. In the automatic driving mode, the controller 20 controls the rotation of the connecting gear 43 through the servo motor 21, and the rotation of the connecting gear 43 drives the rotation of the bevel gear 41, so as to adjust the coordinated rotation of the two pedals 2.

In the embodiment, differential compensation during advancing and turning is realized by arranging the driving motors in the two parallel rotating wheels 5. According to the vehicle speed and the turning radius, the controller 20 controls the servo motor 21 to drive the connecting gear 43 to rotate so as to realize the vehicle body inclination and reduce the turning radius. On the inclined road surface, the inclination angle of the vehicle body can be obtained through gyroscope signals, and the servo motor 21 is controlled to drive the connecting gear 43 to rotate so as to keep the vehicle body in a horizontal state. In addition, in the present embodiment, when the vehicle turns in the automatic driving mode, the controller 20 controls the rotation of the connecting gear 43 through the servo motor 21, the rotation of the connecting gear 43 drives the rotation of the bevel gear 41, and further the rotation angles of the two pedals 2 are adjusted, so that the vehicle body is tilted, and the turning radius can be reduced.

As shown in fig. 3, 4 and 5, according to the second embodiment of the present invention, a head pipe 10 is provided at the front end of the frame 1, a vertical pipe 11 is provided in the head pipe 10, a vertical rod 12 is provided at the upper end of the vertical pipe 11, a handle 13 is provided at the upper end of the vertical rod 12, a front fork 23 is connected to the lower end of the vertical pipe 11, an independent wheel 6 is provided on the front fork 23, an angle sensor 14 is provided between the vertical pipe 11 and the frame 1, the angle sensor 14 is connected to the controller 20, and the angle sensor 14 is used for detecting the turning angle of the independent wheel 6.

In the above scheme, the angle sensor 14 includes a first gear 15 fixedly connected to the vertical pipe 11, and a second gear 17 disposed in the housing 16 and engaged with the first gear 15, a magnet 18 is disposed on the second gear 17, an induction chip 19 is disposed on an inner wall of the housing 16 corresponding to the magnet 18, and the induction chip 19 is connected to the controller 20.

In the embodiment, differential compensation during advancing and turning is realized by arranging the driving motors in the two parallel rotating wheels 5.

The above is only the embodiment of the present invention, and is not intended to limit the present invention, and all modifications, equivalent replacements or improvements made within the technical scope of the present invention should be included within the protection scope of the present invention.

Claims

1. The utility model provides an intelligent tricycle, includes the frame and sets up in two footboards of frame both sides, its characterized in that installs the cross axle on the frame, and the first head of two footboards is rotatory respectively and is installed on the cross axle stub, establishes the antiport structure between the first head of two footboards for make relative antiport between two footboards, the second end of two footboards has the hub connection respectively to have the runner, when runner rotation direction was towards the dead ahead of frame, parallel and set up with the axle center between the runner.

2. The intelligent tricycle of claim 1, wherein the counter-rotating structure is arranged on the frame and comprises a cross shaft, the cross shaft is respectively connected with two sector gears which are oppositely arranged in a rotating manner, and the first ends of the two pedals are respectively fixedly connected with the outer end faces of the two sector gears; a rotatable vertical shaft is arranged in a penetrating manner in the direction vertical to the transverse shaft, a connecting gear is rotatably sleeved on the vertical shaft, and the connecting gear is respectively meshed with the two sector gears; the outer end of the vertical shaft is connected to the frame through an elastic piece.

3. The intelligent tricycle of claim 2, wherein the two parallel wheels are internally provided with a driving motor, the frame is internally provided with a controller with a gyroscope and a lithium battery, and the driving motor is connected with the controller.

4. The intelligent tricycle of claim 3, wherein the rear end of the frame is provided with an independent wheel, the two rotating wheels are positioned in front of the frame, the independent wheel is arranged on the wheel frame, the independent wheel is connected with the wheel frame through a wheel shaft, the wheel frame is rotatably connected with the frame through a rotating shaft, and an extension line of the axis of the rotating shaft is positioned between the wheel shaft and the landing point of the independent wheel.

5. The intelligent tricycle of claim 4, wherein a servo motor is connected to the connecting gear on the vertical shaft, and the servo motor is connected with the controller.

6. The intelligent tricycle according to claim 3, wherein a head pipe is arranged at the front end of the frame, a vertical pipe is arranged in the head pipe, a vertical rod is arranged at the upper end of the vertical pipe, a handle is arranged at the upper end of the vertical rod, the lower end of the vertical pipe is connected with a front fork, an independent wheel is arranged on the front fork, an angle sensor is arranged between the vertical pipe and the frame, and the angle sensor is connected with the controller; the angle sensor comprises a first gear fixedly connected with the vertical pipe and a second gear arranged in the shell and meshed with the first gear, a magnet is arranged on the second gear, an induction chip is arranged on the inner wall of the shell corresponding to the magnet, and the induction chip is connected with the controller.