WO2016179760A1 - 一种具有随动变形结构的两轮平衡车 - Google Patents

一种具有随动变形结构的两轮平衡车 Download PDF

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Publication number
WO2016179760A1
WO2016179760A1 PCT/CN2015/078602 CN2015078602W WO2016179760A1 WO 2016179760 A1 WO2016179760 A1 WO 2016179760A1 CN 2015078602 W CN2015078602 W CN 2015078602W WO 2016179760 A1 WO2016179760 A1 WO 2016179760A1
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Prior art keywords
hinge
balance vehicle
hingedly
deformation structure
main body
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PCT/CN2015/078602
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English (en)
French (fr)
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铁兵
宋宇宁
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铁兵
宋宇宁
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Priority to PCT/CN2015/078602 priority Critical patent/WO2016179760A1/zh
Publication of WO2016179760A1 publication Critical patent/WO2016179760A1/zh

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62K—CYCLES; CYCLE FRAMES; CYCLE STEERING DEVICES; RIDER-OPERATED TERMINAL CONTROLS SPECIALLY ADAPTED FOR CYCLES; CYCLE AXLE SUSPENSIONS; CYCLE SIDE-CARS, FORECARS, OR THE LIKE
    • B62K3/00—Bicycles
    • B62K3/02—Frames
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62K—CYCLES; CYCLE FRAMES; CYCLE STEERING DEVICES; RIDER-OPERATED TERMINAL CONTROLS SPECIALLY ADAPTED FOR CYCLES; CYCLE AXLE SUSPENSIONS; CYCLE SIDE-CARS, FORECARS, OR THE LIKE
    • B62K11/00—Motorcycles, engine-assisted cycles or motor scooters with one or two wheels
    • B62K11/02—Frames

Definitions

  • the invention relates to a two-wheel balance car technology, in particular to a two-wheel balance car with a follower deformation structure.
  • the electric balance car is an electric drive and self-balancing personal transport vehicle, which is a kind of urban transportation. In addition to personal use, it is generally used for official purposes in large spaces such as airports, convention and exhibition centers, high-end communities and sports venues.
  • the electric balance car uses the battery pack as the power source to achieve zero carbon emission, and adopts the power conversion technology, which can automatically charge the battery pack during the downhill driving process, so that the electric energy and kinetic energy can be recycled and the noise is very small. Therefore, whether it is flexible and convenient to use, or friendly to the environment, it is a kind of transportation with good promotion prospects.
  • the electric balance car adopts the standing driving mode, and controls the body movement through the center of gravity and the joystick.
  • the balance car appears in people's field of vision, the state of use has always been a fixed structure pattern that is perpendicular to the ground and parallel to two wheels. That is, the two wheels are fixed to the two sides in parallel by the support structure, and between the two wheels is a connecting member (also called a pedal) for the driver to stand on and manipulate the vertical operating lever to drive the balance car.
  • a connecting member also called a pedal
  • the current design does not have body damping and ground-adaptive devices, and the flexibility of the balance car to the ground and the flexibility of handling are limited.
  • the driver stands in the car, has a high center of gravity, and encounters uneven road surface.
  • it is necessary to take active prevention or even deceleration, which has high requirements for the driver's control technology, and to a certain extent. Limit the use of the effect to the crowd.
  • the invention provides a two-wheel balance car with a follower deformation structure, through the bracket structure
  • the improvement, in the process of riding, the balance car's adaptability to the road surface and the flexibility of control are improved, achieving the purpose of safety and flexibility.
  • the present invention provides a two-wheel balance car having a follower deformation structure, which has a main body support frame and two wheels mounted on the outer side of the main body support frame, wherein
  • the main body support frame includes four hinge members which are hinged to each other and are substantially quadrangular on a vertical plane facing the moving direction of the balance vehicle, wherein two ends of the upper hinge members of the four hinge members are respectively hinged to the two sides The upper end of the piece is hinged, and the two ends of the lower hinge are respectively hinged with the lower ends of the two side hinges;
  • the main body support frame further includes a vertically disposed central hinge, the upper end and the lower end of the central hinge are respectively hinged at the center of the upper hinge and the lower hinge, and the two wheels are symmetrically disposed on the lower hinge and the second The connecting ends of the side hinges.
  • the quadrilateral may be substantially rectangular.
  • the quadrilateral may be substantially trapezoidal.
  • the two wheels mounted on the outer side of the main body support frame are inclined upward in the upper portion.
  • the upper hinge member is positioned higher than the wheel, and the upper portions of the two side hinge members are bent inwardly into an arc shape compatible with the wheel.
  • the main body support frame is further provided with a balance vehicle operating lever, and the balance vehicle operating lever and the central hinge are in linkage mechanism.
  • the balancer lever is coaxial with the center hinge.
  • the balancer lever is fixedly coupled to the center hinge.
  • the balancer lever is integrally formed with the center hinge.
  • the two-wheel balance car with the follower deformation structure of the present invention further includes a pedal disposed between the two wheels.
  • the pedals are two and are respectively fixed to the lower hinge.
  • the present invention provides a two-wheel balance car having a follower deformation structure, the follower deformation structure being constituted by a main body support frame composed of a plurality of hinge members connected by means of mutual articulation between the hinge members
  • the frame is substantially quadrangular on a vertical plane facing the direction of movement of the balance car, and It can be deformed according to the change of one side state, the left and right hinge parts are the support structure of the two wheels of the balance car, and the central hinge part in the middle is the lateral force receiving structure.
  • the relative change between the wheels on both sides causes the entire support frame to deform during the swing, and the positional relationship between the hinges will change accordingly.
  • the invention is referred to as a "following deformation structure", and the structure can be changed between a left-right two-wheel non-parallel left-right symmetrical state and an asymmetrical state in a state in which the balance car turns and bumps the road surface.
  • the present invention not only ensures the safety of the balance car when using the reasonable and ingenious design of the support structure, but also maintains the adaptability of the balance car road surface, and adjusts the center of gravity during the turn to make the balance car more safe and flexible.
  • This two-wheeled balance car is more conducive to being safely controlled by the user.
  • FIG. 1 is a schematic view showing the normal state of a follower deformation structure of a two-wheel balance vehicle according to a specific embodiment of the present invention.
  • FIG. 2 is a schematic view showing a turning process of a follower deformation structure of a two-wheel balance vehicle according to an embodiment of the present invention.
  • FIG. 3 is a schematic view showing a deformation of a bumpy road surface of a follower deformation structure of a two-wheel balance vehicle according to an embodiment of the present invention.
  • the invention provides a two-wheel balance car.
  • the design of the follow-up deformation structure enables the balance car to be safer and more flexible under various riding conditions, thereby providing better riding safety for the user. And passability.
  • the two-wheel balance vehicle provided in this embodiment has a main body support frame and two wheels mounted on the outer side of the main body support frame, and the main body support frame includes two hinges that can be hinged to each other.
  • the four hinges of the substantially quadrangular shape on the vertical plane of the direction of movement of the balance vehicle include the upper hinge 2, the lower hinge 4, the left hinge 3 and the right hinge 5.
  • the main body support frame further includes a vertically disposed central hinge, the upper and lower ends of which are hinged to the center of the upper and lower hinges by central hinge shafts 1a and 1c, respectively.
  • the embodiment provides a two-wheel balance car with a follower deformation structure, and the follow-up deformation structure is constituted by a main body support frame composed of a plurality of hinge members connected, and the main body support frame is oriented by mutual joint between the hinge members.
  • the vertical plane of the direction of the balance car is quadrangular and can be deformed according to the change of one side state.
  • the left and right hinge parts are the support structure of the two wheels of the balance car, and the central hinge part in the middle is the lateral force receiving structure. In the state of use (during cycling) encountering a turn or bumpy road surface, the relative change between the wheels on both sides causes the entire support frame to deform during the swing, and the positional relationship between the hinges will change accordingly.
  • the reasonable and ingenious design of the support structure not only ensures the safety of the balance car during use, but also maintains the adaptability of the balance car road surface, and adjusts the center of gravity during the turn to make the balance car more safe and flexible.
  • This two-wheeled balance car is more conducive to being safely controlled by the user.
  • the quadrilateral formed by the hinges of the above four hinges may be irregular quadrangles, rectangles, diamonds or trapezoids, etc.
  • the four hinges are arranged in a trapezoidal shape, and the upper hinges 2 are used as the upper side of the trapezoid and the lower hinges 4 As the lower side of the trapezoid, the left side hinge 3 and the right side hinge 5 respectively serve as a trapezoidal waist.
  • the main body support frame further includes a balance vehicle operating lever 6, and the balance vehicle operating lever 6 can be coupled with the central hinge member, and the swinging of the balance vehicle operating lever 6 can drive the central hinge to swing.
  • the balance lever 6 can be linked with the central hinge.
  • the balance lever 6 and the central hinge can be fixedly connected by bolting, welding, etc., so that the balance lever 6 can swing. Drive the center hinge to swing.
  • the balancer lever 6 may be sleeved on the outside of the center hinge or may be sleeved inside the center hinge. The sleeve is fixed by bolts, pins or clamping members.
  • the balancer lever 6 is coupled to the center hinge by a pivot so that the balance lever 6 can be folded relative to the center hinge.
  • the balancer lever 6 is integral with the center hinge.
  • the balance lever 6 and the center hinge may be coaxially disposed, and the center hinge extends upward from the upper hinge to form the balance lever 6.
  • the two wheels 7a and 7b are symmetrically disposed at the connecting end of the lower hinge 4 and the two side hinges, that is, fixed to the hinge shafts 1d and 1f, and the four hinges and the central hinge are hinged to each other to form a follower deformation structure. .
  • the two-wheel balance car is in normal use state, the road surface is relatively flat and there is no big curve, and the four hinge shafts are hingedly supported by each other, and basically form a trapezoid on the vertical plane facing the moving direction of the balance car, on either side.
  • the quadrilateral shape of the follower deformation structure is changed, and the wheels 7a and 7b disposed on both sides are respectively adapted to the hinges on both sides to form an upper portion inclined inward, and the balance lever 6 is vertical and lower.
  • the hinge shaft 1c is hingedly fixed to the center of the lower hinge 4, and the position of the balance lever 6 corresponding to the upper hinge is hingedly fixed to the center of the upper hinge by the hinge shaft 1a, thereby balancing the lower portion of the steering lever 6. It is fixed to the vertical central axis of the main body support frame as a center hinge.
  • the lower ends of the hinge members 3 and 5 of the support frame are respectively hinged to the two ends of the lower hinge member 4, and are connected to the wheels on both sides, and the upper hinge member 2 is positioned higher than the wheel.
  • the upper portions of the side hinges 3 and 5 may be curved inwardly and the arc is adapted to the upper portion of the wheel to provide a better match between the wheel and the side hinge.
  • Each of the hinge members of the balance vehicle main body support frame can rotate under a certain limit around the respective hinge axes, and during the riding, when the curve is curved, the balance car joystick 6 and the center hinge member are controlled (the two can be integrated,
  • the upper hinge member 2 and the right hinge member 5 are moved to the left and right, and the left hinge 1 and the right hinge 5 are moved to the left and right.
  • the left and right wheels 7a, 7b move left and right.
  • the quadrilateral shape of the main body support frame is deformed to change the position of the center of gravity of the balance vehicle as a whole, and the normal state is restored after the completion of the turn. In this way, the left and right wheels are non-parallel left and right symmetrical in the state of turning the balance car. Transform between the asymmetrical state and make the turn more stable.
  • the left side wheel 7a When encountering a bumpy road surface, for example, the left side wheel 7a is lifted upward, and the left side hinge member 3 is moved upward. Due to the function of the hinge shaft, the support frame (following deformation structure) of the entire balance car is deformed, and the balance can be maintained.
  • the basic vertical state of the vehicle joystick 6 minimizes the influence of the balance car on the bumpy road surface.
  • the support frame structure After the road condition returns to normal, the support frame structure returns to the normal state as long as the stable vertical position of the balance vehicle operating lever 6 is maintained. Therefore, the follow-up deformation structure can change between the left and right circular and non-parallel left and right symmetrical states and the asymmetric state in the state in which the balance car is used on the bumpy road surface, thereby ensuring the safety of the form.
  • the balance vehicle provided in this embodiment is further provided with a pedal which may be disposed inside the two wheels 7a, 7b or may be disposed outside the two wheels 7a, 7b.
  • a pedal which may be disposed inside the two wheels 7a, 7b or may be disposed outside the two wheels 7a, 7b.
  • the number of the pedals is two, and is fixedly connected to the lower hinge 4, respectively.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Motorcycle And Bicycle Frame (AREA)

Abstract

本发明提供了一种具有随动变形结构的两轮平衡车，具有主体支撑架和安装于主体支撑架外侧的二个车轮，主体支撑架包括能相互铰接而在朝向平衡车运动方向的竖直面上基本呈四边形的四个铰接件，其中，四个铰接件中的上铰接件的两端分别与二个侧铰接件的上端相铰接，下铰接件的两端则分别与二个侧铰接件的下端相铰接；主体支撑架还包括竖直设置的中心铰接件，中心铰接件的上端和下端分别铰接于上铰接件和下铰接件的中心。不仅保证了平衡车使用时的安全性，而且保持了平衡车路面适应性增强，以及转弯时调整重心使平衡车更加安全灵活的特点，使这种两轮平衡车无论在复杂弯道及颠簸路面均能更利于被使用者安全驾驭。

Description

一种具有随动变形结构的两轮平衡车 技术领域
本发明涉及两轮平衡车技术，尤其涉及一种具有随动变形结构的两轮平衡车。
背景技术
电动平衡车是一种电力驱动、具有自我平衡能力的个人用运输载具，是都市用交通工具的一种。除个人使用外，一般还在机场、会议展览中心、高档社区和运动场馆等大型空间供公务使用。
电动平衡车采用电池组作为动力来源，实现了碳的零排放，并采用了动力转换技术，能够在下坡行驶的过程中自动为电池组进行充电，使电能与动能可以循环利用并且噪音非常小，因此，无论是使用的灵活便利、还是对环境的友好，都是一种具有很好推广前景的交通工具。
电动平衡车采用站立式驾驶方式，通过身体重心和操控杆控制车体运行，整体上小巧灵活，所以用于机场、大型活动场所的巡视非常受欢迎。
平衡车从出现在人们的视野中起，使用状态就一直是保持着与地面垂直且两轮平行的固定结构样式。即，两轮通过支撑结构相向平行地固定在两侧，两轮之间是连接件(也称踏板)，供驾驶者站在上面并操控竖直在中间的操作杆，驱动平衡车运动。
虽然因有众多优点而受到欢迎，目前的设计没有车身减震及地面适应装置，平衡车对地面的适应性及操纵的灵活性还是受到限制。驾驶者站立在车上，重心较高，遇不平路面，为保持驾驶过程的平衡和安全，必须采取主动防范甚至减速，这样对于驾驶者的掌控技术就有很高的要求，也在一定程度上限制了使用效果使用人群。
发明内容
本发明提供了一种具有随动变形结构的两轮平衡车，通过对支架结构 的改进，在骑行过程中，平衡车对路面的适应性以及操控的灵活性都得到提升，达到安全灵活的目的。
本发明提供一种具有随动变形结构的两轮平衡车，其具有主体支撑架和安装于该主体支撑架外侧的二个车轮，其中，
所述主体支撑架包括能相互铰接而在朝向平衡车运动方向的竖直面上基本呈四边形的四个铰接件，其中，四个铰接件中的上铰接件的两端分别与二个侧铰接件的上端相铰接，下铰接件的两端则分别与所述二个侧铰接件的下端相铰接；
所述主体支撑架还包括竖直设置的中心铰接件，所述中心铰接件的上端和下端分别铰接于上铰接件和下铰接件的中心，所述二个车轮对称设置于下铰接件与二个侧铰接件的连接端。
本发明的具有随动变形结构的两轮平衡车，所述四边形可以是基本为矩形。
本发明的具有随动变形结构的两轮平衡车，所述四边形可以是基本为梯形。
本发明的具有随动变形结构的两轮平衡车，所述安装于主体支撑架外侧的二个车轮为上部向内倾斜状。
本发明的具有随动变形结构的两轮平衡车，所述上铰接件的位置高于车轮，且所述二个侧铰接件的上部向内弯曲成能与车轮相适应的弧形。
本发明的具有随动变形结构的两轮平衡车，所述主体支撑架上还设有平衡车操纵杆，所述平衡车操纵杆与所述中心铰接件呈联动机构。
一个实施方案中，所述平衡车操纵杆与中心铰接件同轴。
一个实施方案中，所述平衡车操纵杆与所述中心铰接件固定连接。
一个实施方案中，所述平衡车操纵杆与所述中心铰接件一体形成。
本发明的具有随动变形结构的两轮平衡车，还包括踏板，所述踏板设置在二个车轮之间。
具体地，所述踏板为二个，分别与下铰接件固定。
本发明提供了一种具有随动变形结构的两轮平衡车，所述的随动变形结构通过由多个铰接件连接组成的主体支撑架构成，借助铰接件之间的相互铰接，所述支撑架在朝向平衡车运动方向的竖直面上基本呈四边形，且 可随某一侧状态改变而发生变形，左右两个铰接部件为平衡车两轮的支撑结构，而中间的中心铰接部件为横向受力结构。在使用状态下(骑行过程中)遇到转弯或路面颠簸不平，两侧车轮之间的相对变化导致整个支撑架在摆动中变形，此时各铰接件之间的位置关系会随之变化而驱动支撑架变形来完成整体重心和受力结构的改变，以重新对平衡车形成稳定支撑，即，整个结构能由支撑架中任何一侧或中心铰接件的摆动运动而被带动发生变形，所以，本发明称其为“随动变形结构”，该结构能在平衡车转弯及颠簸路面使用状态下左右两轮呈非平行左右对称状态和非对称状态之间变换。
所以，本发明通过对支撑结构的合理且巧妙设计，不仅保证了平衡车使用时的安全性，而且保持了平衡车路面适应性增强，以及转弯时调整重心使平衡车更加安全灵活的特点，使这种两轮平衡车更利于被使用者安全驾驭。
附图说明
图1是本发明具体实施例两轮平衡车的随动变形结构的常态示意图。
图2是本发明具体实施例两轮平衡车的随动变形结构的转弯过程示意图。
图3是本发明具体实施例两轮平衡车的随动变形结构的颠簸路面变形示意图。
具体实施方式
为使本发明的目的、技术方案和优点更加清楚明白，下面结合实施方式和附图，对本发明做进一步详细说明。在此，本发明的示意性实施方式及其说明用于解释本发明，但并不作为对本发明的限定。
图中标号：1a至1f——铰接轴，2——上铰接件，3——左侧铰接件，4——下铰接件，5——右侧铰接件，6——平衡车操纵杆，7a、7b——平衡车车轮。
本发明提供了一种两轮平衡车，通过随动变形结构的设计，使平衡车在各种骑行状态下都能更加安全，灵活，为使用者提供更好的骑行安全性 和通过性。参考图1，图2，图3所示，本实施例提供的两轮平衡车，具有主体支撑架和安装于该主体支撑架外侧的二个车轮，该主体支撑架包括能相互铰接而在朝向平衡车运动方向的竖直面上基本呈四边形的四个铰接件，包括上铰接件2、下铰接件4、左侧铰接件3和右侧铰接件5。其中，上铰接件2的两端分别与左侧铰接件3和右侧铰接件5的上端通过铰接轴1b和1e相铰接，下铰接件4的两端则分别通过铰接轴1d和1f与二个侧铰接件3和5的下端相铰接；主体支撑架还包括竖直设置的中心铰接件，其上端和下端分别通过中心铰接轴1a和1c铰接于上铰接件和下铰接件的中心处。
本实施例提供了一种具有随动变形结构的两轮平衡车，随动变形结构通过由多个铰接件连接组成的主体支撑架构成，借助铰接件之间的相互铰接，主体支撑架在朝向平衡车运动方向的竖直面上呈四边形，且可随某一侧状态改变而发生变形，左右两个铰接部件为平衡车两轮的支撑结构，而中间的中心铰接部件为横向受力结构。在使用状态下(骑行过程中)遇到转弯或路面颠簸不平，两侧车轮之间的相对变化导致整个支撑架在摆动中变形，此时各铰接件之间的位置关系会随之变化而驱动支撑架变形来完成整体重心和受力结构的改变，以重新对平衡车形成稳定支撑，即，整个结构能由支撑架中任何一侧或中心铰接件的摆动运动而被带动发生变形，所以，本实施例称其为“随动变形结构”，该结构能在平衡车转弯及颠簸路面使用状态下左右两轮呈非平行左右对称状态和非对称状态之间变换。
所以，本实施例通过对支撑结构的合理且巧妙设计，不仅保证了平衡车使用时的安全性，而且保持了平衡车路面适应性增强，以及转弯时调整重心使平衡车更加安全灵活的特点，使这种两轮平衡车更利于被使用者安全驾驭。
上述四个铰接件两两铰接所形成的四边形可以为不规则四边形、矩形、菱形或梯形等，本实施例将四个铰接件设置为梯形，上铰接件2作为梯形的上边，下铰接件4作为梯形的下边，左侧铰接件3和右侧铰接件5分别作为梯形的腰。
本实施例中，主体支撑架还包括平衡车操纵杆6，平衡车操纵杆6能与中心铰接件呈联动机构，平衡车操纵杆6摆动能够带动中心铰接件摆动。
平衡车操纵杆6能与中心铰接件呈联动机构的方式有很多种，例如：平衡车操纵杆6与中心铰接件可以通过螺栓连接、焊接等方式实现固定连接，使得平衡车操纵杆6摆动能够带动中心铰接件摆动。或者，平衡车操纵杆6可以套设在中心铰接件的外部，也可以套设在中心铰接件的内部。在套接部位通过螺栓、销或卡紧件固定。或者，平衡车操纵杆6与中心铰接件通过转轴连接，使得平衡车操纵杆6能够相对于中心铰接件折叠。再或者，平衡车操纵杆6与中心铰接件为一体结构。
进一步的，平衡车操纵杆6与中心铰接件可以为同轴设置，该中心铰接件自上铰接件向上延伸形成平衡车操纵杆6。二个车轮7a和7b对称设置于下铰接件4与二个侧铰接件的连接端，即固定于铰接轴1d和1f上，四个铰接件和中心铰接件的相互铰接即形成随动变形结构。
参见图1，该两轮平衡车在正常使用状态，路面比较平坦且无大弯道，四个铰接轴相互铰接支撑，在朝向平衡车运动方向的竖直面上基本成一个梯形，当任何一边状态发生变化即带动所述随动变形结构的四边形形状改变，设置在两边的车轮7a和7b分别与两侧铰接件相适应而成上部向内倾斜状，平衡车操纵杆6成竖直，下端通过铰接轴1c铰接固定于下铰接件4中心处，该平衡车操纵杆6与上铰接件相对应位置则通过铰接轴1a铰接固定于上铰接件的中心处，从而平衡车操纵杆6的下部作为中心铰接件而固定于主体支撑架的竖直中心轴。
结合参考图2和图3，支撑架的两侧铰接件3和5，其下端分别与下铰接件4的两端铰接，同时与两侧的车轮连接，上铰接件2的位置高于车轮，侧铰接件3和5的上部可以为向内弯曲的弧形，且该弧形与车轮上部相适应，使车轮能与侧铰接架之间更好匹配。
上述平衡车主体支撑架的各铰接件均可围绕各自的铰接轴进行一定限度下的旋转，骑行中，遇弯道时，控制平衡车操纵杆6及中心铰接件(二者可以是一体，也可以是同时铰接于上铰接件2而成联动机构)围绕铰接轴1c做摆动运动时，带动上铰接部件2左右运动，并使左侧铰接件3和右侧铰接件5左右运动，并带动左右轮7a、7b左右运动。参考图2，主体支撑架的四边形发生变形而使平衡车整体改变重心的位置，完成转弯后即恢复常态。如此通过在平衡车转弯状态下左右两轮呈非平行左右对称状态 和非对称状态之间变换，使转弯更加平稳。
遇到颠簸路面时，例如左侧车轮7a被向上垫起，带动左侧铰接件3向上运动，由于铰接轴的作用，使整个平衡车的支撑架(随动变形结构)变形，仍可保持平衡车操纵杆6的基本垂直状态，将平衡车受到颠簸路面的影响减到最小，参考图3，路况恢复正常后，只要保持平衡车操作杆6的稳定垂直，支撑架结构即回到常态。所以，这种随动变形结构能在平衡车于颠簸路面使用状态下左右两轮呈非平行左右对称状态和非对称状态之间变换，从而保证了形式的安全性。
另外，本实施例提供的平衡车中还设置有踏板，踏板可以设置在两个车轮7a、7b的内侧，也可以设置在两个车轮7a、7b的外侧。以设置在内侧为例，踏板的数量为两个，分别与下铰接件4固定连接。
最后应说明的是：以上各实施例仅用以说明本发明的技术方案，而非对其限制；尽管参照前述各实施例对本发明进行了详细的说明，本领域的普通技术人员应当理解：其依然可以对前述各实施例所记载的技术方案进行修改，或者对其中部分或者全部技术特征进行等同替换；而这些修改或者替换，并不使相应技术方案的本质脱离本发明各实施例技术方案的范围。

Claims (11)

  1. 一种具有随动变形结构的两轮平衡车，其具有主体支撑架和安装于该主体支撑架外侧的二个车轮，其特征在于，
    所述主体支撑架包括能相互铰接而在朝向平衡车运动方向的竖直面上基本呈四边形的四个铰接件，其中，四个铰接件中的上铰接件的两端分别与二个侧铰接件的上端相铰接，下铰接件的两端则分别与所述二个侧铰接件的下端相铰接；
    所述主体支撑架还包括竖直设置的中心铰接件，所述中心铰接件的上端和下端分别铰接于上铰接件和下铰接件的中心，所述二个车轮对称设置于下铰接件与二个侧铰接件的连接端。
  2. 根据权利要求1所述的具有随动变形结构的两轮平衡车，其特征在于，所述四边形基本为矩形。
  3. 根据权利要求1所述的具有随动变形结构的两轮平衡车，其特征在于，所述四边形基本为梯形。
  4. 根据权利要求3所述的具有随动变形结构的两轮平衡车，其特征在于，所述安装于主体支撑架外侧的二个车轮为上部向内倾斜状。
  5. 根据权利要求1-4任一项所述的具有随动变形结构的两轮平衡车，其特征在于，所述上铰接件的位置高于车轮，且所述二个侧铰接件的上部向内弯曲成能与车轮相适应的弧形。
  6. 根据权利要求1-5任一项所述的具有随动变形结构的两轮平衡车，其特征在于，所述主体支撑架上还设有平衡车操纵杆，所述平衡车操纵杆能与所述中心铰接件呈联动机构。
  7. 根据权利要求6所述的具有随动变形结构的两轮平衡车，其特征在于，所述平衡车操纵杆与中心铰接件同轴。
  8. 根据权利要求6所述的具有随动变形结构的两轮平衡车，其特征在于，所述平衡车操纵杆与所述中心铰接件固定连接。
  9. 根据权利要求6所述的具有随动变形结构的两轮平衡车，其特征在于，所述平衡车操纵杆与所述中心铰接件一体形成。
  10. 根据权利要求1-9任一项所述的具有随动变形结构的两轮平衡车，其特征在于，还包括踏板，所述踏板设置在二个车轮之间。
  11. 根据权利要求10所述的具有随动变形结构的两轮平衡车，其特征在于，所述踏板为二个，分别与下铰接件固定。
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