CN217100312U - Two-wheeled double-gyroscope self-balancing electric vehicle - Google Patents
Two-wheeled double-gyroscope self-balancing electric vehicle Download PDFInfo
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- CN217100312U CN217100312U CN202220888456.6U CN202220888456U CN217100312U CN 217100312 U CN217100312 U CN 217100312U CN 202220888456 U CN202220888456 U CN 202220888456U CN 217100312 U CN217100312 U CN 217100312U
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Abstract
The utility model discloses a two-wheeled double-gyroscope self-balancing electric vehicle, relating to the technical field of balancing electric vehicles, comprising a main control board, a double-gyroscope mechanism, a motor driving unit and a sensor detecting unit; the dual-gyroscope mechanism comprises a first moment gyroscope rotor and a second moment gyroscope rotor; the motor driving unit comprises a gyro rotation motor and a gyro precession motor; the sensor detection unit comprises a vehicle body posture detection sensor and a gyro precession angle detection sensor, the vehicle body posture detection sensor is used for detecting the transverse swinging angle and the angular velocity of the electric vehicle, and the gyro precession angle detection sensor is used for detecting the precession angle and the precession angular velocity of the double-gyroscope mechanism; the main control board is respectively connected with the motor driving unit and the sensor detection unit and used for controlling the gyro precession motor to enable the precession angles of the first moment gyroscope rotor and the second moment gyroscope rotor to perform overturning motions to be opposite in direction and the same in size, self-balancing recovery of the electric vehicle under the condition of transverse disturbance unbalance can be achieved, and driving safety is guaranteed.
Description
Technical Field
The utility model belongs to the technical field of balanced electric motor car technique and specifically relates to a two-wheeled two-gyroscope self-balancing electric motor car.
Background
At present, the road congestion in a large city is serious, and the parking space is difficult to find. The electric vehicle keeps the structure of two wheels, has simple structure and small volume, can ensure that the electric vehicle rapidly passes through a crack in the vehicle under the condition of traffic jam, and ensures flexible braking. In addition, because the electric bicycle with two wheels occupies a small area, one electric bicycle occupies one twentieth of the space occupied by a common private car in terms of occupied space. The requirement on the parking position is not high, the parking is easy, excessive public resources cannot be occupied, the social public management cost is low, and meanwhile, the user experience degree is high, so that the two-wheeled electric vehicle is gradually developed.
The two-wheeled vehicle only consists of a front wheel and a rear wheel, and belongs to a system with strong coupling, under-drive, nonlinearity and lateral instability. In the driving process of the electric vehicle, if the electric vehicle is laterally collided by other obstacles (such as other electric vehicles, automobiles or stumps) and is about to turn over, self-balance cannot be recovered, and traffic accidents are easy to happen. The problem of balancing with respect to two-wheeled vehicles is therefore the problem that two-wheeled vehicles are the first to solve. Namely, the electric vehicle still has the capability of keeping or recovering the original running state under the condition of external disturbance or impact in the process of a static or running state.
SUMMERY OF THE UTILITY MODEL
The invention provides a two-wheeled and two-gyroscope self-balancing electric vehicle aiming at the problems and the technical requirements. The static balance and the motion balance of the electric vehicle and the self-balance recovery after disturbance are realized, and the driving safety is ensured.
The technical scheme of the utility model as follows:
a two-wheeled double-gyroscope self-balancing electric vehicle comprises an electric vehicle body and a power management unit, and is characterized by further comprising a main control board, a double-gyroscope mechanism, a motor driving unit and a sensor detection unit; the power management unit is used for supplying power to the electric vehicle and each unit; the double-gyroscope mechanism is positioned below the pedal of the electric vehicle and is longitudinally arranged relative to the electric vehicle body, the gravity center of the double-gyroscope mechanism is positioned on the straight line of the axle center of the front wheel and the axle center of the rear wheel, the double-gyroscope mechanism comprises a first torque gyroscope rotor and a second torque gyroscope rotor, the first torque gyroscope rotor is close to the front wheel, and the second torque gyroscope rotor is close to the rear wheel; the motor driving unit comprises a gyro rotation motor and a gyro precession motor, and the gyro rotation motor is positioned in the first and second torque gyroscope rotors and is used for driving the gyroscopes to rotate; the sensor detection unit comprises a vehicle body posture detection sensor and a gyro precession angle detection sensor, the vehicle body posture detection sensor is positioned on the axis of the body of the electric vehicle and is used for detecting the transverse swinging angle and angular velocity of the electric vehicle, and the gyro precession angle detection sensor is used for detecting the precession angle and the precession angular velocity of the double-gyroscope mechanism; the main control board is respectively connected with the motor driving unit and the sensor detection unit and is used for controlling the gyro precession motor to enable the precession angles of the turning motions of the first moment gyroscope rotor and the second moment gyroscope rotor to be opposite in direction and the same in size.
The further technical scheme is that the double-gyroscope mechanism further comprises an inner frame, an outer frame, a synchronous belt deflection shaft, a first gyroscope deflection shaft and a second gyroscope deflection shaft, wherein the deflection shafts are transversely arranged relative to the electric vehicle body; the synchronous belt deflection shaft is positioned in the middle of the outer frame, the first moment gyroscope rotor and the second moment gyroscope rotor are respectively positioned in the inner frame and symmetrically distributed on two sides of the synchronous belt deflection shaft, the first moment gyroscope deflection shaft penetrates through the center of the first moment gyroscope rotor, two ends of the first moment gyroscope deflection shaft are respectively connected to the outer frame, the second moment gyroscope deflection shaft penetrates through the center of the second moment gyroscope rotor, and two ends of the second moment gyroscope deflection shaft are respectively connected to the outer frame; one end of a first synchronous belt is sleeved at one end of a first gyroscope deflection shaft, the other end of the first synchronous belt is sleeved at the first end of the synchronous belt deflection shaft, one end of a second synchronous belt is sleeved at one end of a second gyroscope deflection shaft, and the other end of the second synchronous belt is sleeved at the second end of the synchronous belt deflection shaft;
the gyro precession angle detection sensor is positioned on a first or a second gyro deflection shaft; the gyro precession motor is positioned on the synchronous belt deflection shaft and used for driving the first gyroscope deflection shaft and the second gyroscope deflection shaft by driving the synchronous belt deflection shaft.
The motor driving unit further comprises a front wheel steering engine, wherein the front wheel steering engine is connected with an electric vehicle handlebar steering shaft through a synchronous belt and is used for controlling the steering angle and the steering angular speed of an electric vehicle handlebar; the sensor detection unit further comprises a steering angle detection sensor positioned on the electric vehicle handlebar, and the steering angle detection sensor is used for detecting the steering angle and the steering angular velocity of the electric vehicle handlebar.
The motor driving unit further comprises a rear wheel forward driving motor, and a transmission shaft of the rear wheel forward driving motor is coaxial with the axis of the rear wheel and is used for controlling the forward speed and starting and stopping of the rear wheel; the sensor detection unit further comprises a forward speed detection sensor positioned at the rear of the electric vehicle, and the forward speed detection sensor is used for detecting the forward speed of the electric vehicle body.
The further technical scheme is that the motor driving unit further comprises an electronic speedometer, and the electronic speedometer is respectively connected with the main control board and the gyro rotation motor and is used for controlling the gyro rotation motor to rotate to a specific speed.
The motor driving unit further comprises a side supporting leg retracting and releasing steering engine used for controlling the retraction and the lower part of the side supporting leg.
The further technical scheme is that the system further comprises an upper computer, and the upper computer is in wireless connection with the main control board and used for realizing human-computer interaction.
The further technical proposal is that the gyro rotation motor is a brushless direct current motor.
The utility model has the beneficial technical effects that:
by arranging the double-gyroscope mechanism in the electric vehicle body, when the electric vehicle is transversely impacted to incline, the vehicle body posture detection sensor can detect that the transverse swinging angle and the angular speed of the vehicle body exceed the normal range, vehicle body posture information is transmitted to the main control board, and the main control board sends an instruction to the gyro precession motor according to the gyro effect principle, so that the precession angular speeds of the first and second moment gyroscope rotors are changed, and further a correction gyro moment is generated to offset external force, the vehicle body returns to a balance position, the vehicle body and drivers are prevented from being secondarily injured, and the safety of the drivers is guaranteed;
further, the double-gyroscope mechanism is matched with the vehicle body posture detection sensor and the temple leg folding and unfolding steering engine, and the self-starting of the self-balancing electric vehicle is realized through the upper computer; the double-gyroscope mechanism is matched with the steering angle detection sensor, the vehicle body posture detection sensor and the temple leg folding and unfolding steering engine, self-parking of the self-balancing electric vehicle is further achieved through the upper computer, and the advantages of the two-wheeled electric vehicle are exerted under a complex traffic environment.
Drawings
Fig. 1 is a schematic structural diagram of a two-wheeled dual-gyroscope self-balancing electric vehicle provided by the application.
Fig. 2 is a schematic structural diagram of a dual gyroscope mechanism provided in the present application.
Fig. 3 is an electrical schematic diagram of the two-wheeled dual-gyroscope self-balancing electric vehicle provided by the present application.
Detailed Description
The following describes the embodiments of the present invention with reference to the accompanying drawings.
As shown in fig. 1, the present embodiment provides a two-wheeled dual-gyroscope self-balancing electric vehicle, which includes an electric vehicle body, a dual-gyroscope mechanism 1, a main control board 2, a power management unit 3, a motor driving unit, and a sensor detection unit. Optionally, the system further comprises an upper computer wirelessly connected with the main control board 2.
The double-gyroscope mechanism 1 is located below a pedal of the electric vehicle and is longitudinally arranged relative to the electric vehicle body, and the gravity center of the double-gyroscope mechanism 1 is located on the straight line of the axle center of the front wheel and the axle center of the rear wheel. Specifically, as shown in fig. 2, the dual gyro mechanism 1 includes a first torque gyro rotor 11, a second torque gyro rotor 12, an outer frame 13, an inner frame 14, a first timing belt 15, a second timing belt 16, a timing belt deflection shaft 17, a first gyro deflection shaft 18, and a second gyro deflection shaft 19. Wherein: the first torque gyro rotor 11 is close to the front wheel and the second torque gyro rotor 12 is close to the rear wheel. The deflection shafts 17-19 are transversely arranged relative to the electric vehicle body, the synchronous belt deflection shaft 17 is positioned in the middle of the outer frame 13, and the first moment gyroscope rotor 11 and the second moment gyroscope rotor 12 are respectively positioned in the inner frame 14 and symmetrically distributed on two sides of the synchronous belt deflection shaft 17. The first gyro deflection shaft 18 penetrates the center of the first torque gyro rotor 11 and has both ends connected to the outer frame 13, respectively, and the second gyro deflection shaft 19 penetrates the center of the second torque gyro rotor 12 and has both ends connected to the outer frame 13, respectively. One end of the first synchronous belt 15 is sleeved at one end of the first gyroscope deflection shaft 18, the other end of the first synchronous belt is sleeved at the first end of the synchronous belt deflection shaft 17, one end of the second synchronous belt 16 is sleeved at one end of the second gyroscope deflection shaft 19, the other end of the second synchronous belt is sleeved at the second end of the synchronous belt deflection shaft 17, and the first synchronous belt 15 and the second synchronous belt 16 are distributed in central symmetry along the central point of the synchronous belt deflection shaft 17.
The main control board 2 is located below the saddle of the electric vehicle, and is connected with the drivers of the motors in the motor driving unit and the sensors in the sensor detection unit respectively, and is used for driving the motors and collecting sensor data. Optionally, as shown in fig. 3, the main control board 2 includes a microprocessor, a storage area operation indicator lamp, a dual power supply system module, and a communication interface. Since the main control board 2 adopted in this embodiment is an existing module, the internal circuit structure thereof is not described in detail herein.
Referring to fig. 1 to 3, the motor driving unit includes a gyro rotation motor 41, a gyro precession motor 42, a front wheel steering engine 43, a rear wheel forward driving motor 44, an electronic speedometer, and a temple leg retracting engine 45. Wherein: the gyro rotation motor 41 is located inside the first and second torque gyro rotors 11 and 12, and is used for providing rotation speed and driving the gyro to rotate. Optionally, the gyro rotation motor 41 used in this embodiment is a brushless dc motor. The gyro precession motor 42 is located on the synchronous belt deflection shaft 17, and is configured to drive the synchronous belt deflection shaft 17 to rotate, and further drive the first and second gyro deflection shafts 18 and 19 to rotate through the first and second synchronous belts 15 and 16, so as to control the precession angle and the precession angular velocity of the first and second moment gyro rotors 11 and 12. The front wheel steering engine 43 is connected with the electric vehicle handlebar steering shaft through a synchronous belt and is used for controlling the steering angle and the steering angular speed of the electric vehicle handlebar. The rear wheel forward driving motor 44 has a transmission shaft coaxial with the rear wheel axis for controlling the forward speed and start/stop of the rear wheel. Alternatively, the rear-wheel forward driving motor 44 used in the present embodiment is a hub motor. The electronic speed regulator is respectively connected with the main control board 2 and the gyro rotation motor 41 and is used for controlling the gyro rotation motor 41 to rotate to a specific speed. And the side supporting leg folding and unfolding steering engine 45 is used for controlling the folding and the folding of the side supporting legs and the lower part of the side supporting legs, and is prepared for realizing the self-starting and the self-stopping of the self-balancing electric vehicle.
As shown in fig. 1 to 3 in conjunction, the sensor detection unit includes a vehicle body posture detection sensor 51, a gyro precession angle detection sensor 52, a steering angle detection sensor 53, and a forward speed detection sensor 54. The body posture detecting sensor 51 is located on the axis of the electric vehicle body and is used for detecting the transverse swing angle and angular velocity of the electric vehicle. The gyro precession angle detection sensor 52 is located on the first or second gyro deflection axis 18 or 19, and detects the precession angle and the precession angular velocity of the dual gyro mechanism. The steering angle detection sensor 53 is located on the electric vehicle handlebar, and is used to detect the steering angle and the steering angular velocity of the electric vehicle handlebar. The forward speed detection sensor 54 is located behind the electric vehicle and detects the forward speed of the electric vehicle body.
The power management unit 3 is used for supplying power to the electric vehicle and each unit.
The upper computer is used for controlling the issuing of the instruction and the receiving of the data, and man-machine interaction is achieved. Optionally, the upper computer of this embodiment is a PC or a mobile phone.
The principle that the self-balancing of the two-wheeled and double-gyroscope self-balancing electric vehicle is realized is based on the gyroscopic effect, when the first and second torque gyroscope rotors 11 and 12 are in a high-speed rotation state, the outer frame 13 of the double-gyroscope mechanism 1 is acted by external force, the inner frame 14 can move along with the outer frame 13 in the action direction of the external force, at the moment, the gyroscope rotors and the inner frame 14 rotate around the corresponding gyroscope deflection shafts connected with the inner frame 14 and the outer frame 13, so that gyroscopic moment is generated to resist the external force, and the synchronism of the precession angle of the overturning movement of the first torque gyroscope rotor 11 and the second torque gyroscope rotor 12 is ensured through designing the first and second synchronous belts 15 and 16. Therefore, when the electric vehicle is inclined by a transverse impact force, the main control board 2 collects the inclination angle of the vehicle body detected by the vehicle body posture detection sensor 51, and controls the gyro precession motor 42 to drive the double gyroscopes to precess around the deflection shafts of the double gyroscopes, so that the precession angles of the turning motions of the first and second moment gyroscope rotors 11 and 12 are opposite in direction and same in size, and a gyro moment is generated to maintain the balance of the electric vehicle.
It should be noted that, in the present embodiment, the existing main control board 2 based on the gyroscopic effect balance control is integrated in the field to build the two-wheeled and two-gyroscope self-balancing electric vehicle.
Optionally, the two-wheeled dual-gyroscope self-balancing electric vehicle provided by this embodiment can also realize the self-starting and self-stopping functions by issuing a starting instruction or a stopping instruction through the upper computer. When the electric vehicle needs to be automatically started, the main control board 2 controls the double-gyroscope mechanism 1 to rotate to enable the electric vehicle to stand, and when the inclination angle of the vehicle body is in a balance range, the side supporting legs are controlled to retract the steering engine 45 and retract the side supporting legs, so that the automatic starting is completed. When the electric vehicle needs to be parked automatically, the main control board 2 controls the front wheel steering engine 43 to steer the temple leg at a preset angle, and when the steering angle is within an unbalanced range, the double-gyroscope mechanism 1 is controlled to stop rotating and the temple leg folding and unfolding engine 45 is controlled to put down the temple leg, so that the automatic parking is completed. The two-wheeled electric vehicle can exert the advantages thereof under the complex traffic environment by the functions.
What has been described above is only a preferred embodiment of the present application, and the present invention is not limited to the above embodiments. It is to be understood that other modifications and variations directly derivable or suggested by those skilled in the art without departing from the spirit and scope of the present invention are to be considered as included within the scope of the present invention.
Claims (8)
1. A two-wheeled double-gyroscope self-balancing electric vehicle comprises an electric vehicle body and a power management unit, and is characterized by further comprising a main control board, a double-gyroscope mechanism, a motor driving unit and a sensor detection unit; the power management unit is used for supplying power to the electric vehicle and each unit; the double-gyroscope mechanism is positioned below a pedal of the electric vehicle and is longitudinally arranged relative to the electric vehicle body, the gravity center of the double-gyroscope mechanism is positioned on the straight line of the axle center of the front wheel and the axle center of the rear wheel, the double-gyroscope mechanism comprises a first moment gyroscope rotor and a second moment gyroscope rotor, the first moment gyroscope rotor is close to the front wheel, and the second moment gyroscope rotor is close to the rear wheel; the motor driving unit comprises a gyro rotation motor and a gyro precession motor, and the gyro rotation motor is positioned in the first moment gyroscope rotor and the second moment gyroscope rotor and is used for driving the gyroscope to rotate; the sensor detection unit comprises a vehicle body posture detection sensor and a gyro precession angle detection sensor, the vehicle body posture detection sensor is positioned on the axis of the body of the electric vehicle and is used for detecting the transverse swinging angle and angular velocity of the electric vehicle, and the gyro precession angle detection sensor is used for detecting the precession angle and the precession angular velocity of the double-gyroscope mechanism; the main control board is respectively connected with the motor driving unit and the sensor detection unit and is used for controlling the gyroscope precession motor to enable the precession angles of the turning motions of the first and second torque gyroscope rotors to be opposite in direction and identical in size.
2. The two-wheeled, dual-gyroscope, self-balancing electric vehicle of claim 1, wherein the dual-gyroscope mechanism further comprises an inner frame, an outer frame, a synchronous belt deflection shaft, a first gyroscope deflection shaft, and a second gyroscope deflection shaft, wherein the deflection shafts are disposed laterally with respect to the electric vehicle body; the synchronous belt deflection shaft is positioned in the middle of the outer frame, the first moment gyroscope rotor and the second moment gyroscope rotor are respectively positioned in the inner frame and symmetrically distributed on two sides of the synchronous belt deflection shaft, the first gyroscope deflection shaft penetrates through the center of the first moment gyroscope rotor, two ends of the first gyroscope deflection shaft are respectively connected to the outer frame, the second gyroscope deflection shaft penetrates through the center of the second moment gyroscope rotor, and two ends of the second gyroscope deflection shaft are respectively connected to the outer frame; one end of a first synchronous belt is sleeved at one end of the first gyroscope deflection shaft, the other end of the first synchronous belt is sleeved at the first end of the synchronous belt deflection shaft, one end of a second synchronous belt is sleeved at one end of the second gyroscope deflection shaft, and the other end of the second synchronous belt is sleeved at the second end of the synchronous belt deflection shaft;
the gyro precession angle detection sensor is positioned on a first or a second gyro deflection shaft; the gyro precession motor is positioned on the synchronous belt deflection shaft and is used for driving the first and second gyroscope deflection shafts by driving the synchronous belt deflection shaft.
3. The two-wheeled dual-gyroscope self-balancing electric vehicle as claimed in claim 1, wherein the motor driving unit further comprises a front wheel steering engine, the front wheel steering engine is connected with a steering shaft of the electric vehicle through a synchronous belt and is used for controlling a steering angle and a steering angular velocity of the electric vehicle handlebar; the sensor detection unit further comprises a steering angle detection sensor positioned on the electric vehicle handlebar, and the steering angle detection sensor is used for detecting the steering angle and the steering angular velocity of the electric vehicle handlebar.
4. The two-wheeled dual-gyroscope self-balancing electric vehicle as claimed in claim 1, wherein the motor driving unit further comprises a rear wheel forward driving motor, and a transmission shaft of the rear wheel forward driving motor is coaxial with a rear wheel axis and is used for controlling the forward speed and starting and stopping of the rear wheel; the sensor detection unit further comprises a forward speed detection sensor positioned at the rear of the electric vehicle, and the forward speed detection sensor is used for detecting the forward speed of the electric vehicle body.
5. The two-wheeled two-gyroscope self-balancing electric vehicle of claim 1, wherein the motor driving unit further comprises an electronic speedometer, and the electronic speedometer is respectively connected with the main control board and the gyroscope rotation motor and is used for controlling the gyroscope rotation motor to rotate to a specific speed.
6. The two-wheeled two-gyroscope self-balancing electric vehicle of claim 1, wherein the motor drive unit further comprises a side supporting leg retracting and extending steering engine for controlling the retraction and downward movement of the side supporting leg.
7. The two-wheeled dual-gyroscope self-balancing electric vehicle as claimed in any one of claims 1 to 6, further comprising an upper computer, wherein the upper computer is wirelessly connected with the main control board and is used for realizing human-computer interaction.
8. The two-wheeled dual-gyroscope self-balancing electric vehicle of claim 1 or 5, wherein the gyroscope spinning motor is a brushless DC motor.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202220888456.6U CN217100312U (en) | 2022-04-15 | 2022-04-15 | Two-wheeled double-gyroscope self-balancing electric vehicle |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202220888456.6U CN217100312U (en) | 2022-04-15 | 2022-04-15 | Two-wheeled double-gyroscope self-balancing electric vehicle |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115489654A (en) * | 2022-09-27 | 2022-12-20 | 广西汽车集团有限公司 | Dynamic self-balancing auxiliary system of bicycle |
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2022
- 2022-04-15 CN CN202220888456.6U patent/CN217100312U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115489654A (en) * | 2022-09-27 | 2022-12-20 | 广西汽车集团有限公司 | Dynamic self-balancing auxiliary system of bicycle |
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