WO2017127979A1 - 一种平衡车 - Google Patents

一种平衡车 Download PDF

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Publication number
WO2017127979A1
WO2017127979A1 PCT/CN2016/071989 CN2016071989W WO2017127979A1 WO 2017127979 A1 WO2017127979 A1 WO 2017127979A1 CN 2016071989 W CN2016071989 W CN 2016071989W WO 2017127979 A1 WO2017127979 A1 WO 2017127979A1
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WO
WIPO (PCT)
Prior art keywords
connecting shaft
wheel
disposed
pedal
pedaling
Prior art date
Application number
PCT/CN2016/071989
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English (en)
French (fr)
Inventor
刘海波
Original Assignee
刘海波
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Publication date
Application filed by 刘海波 filed Critical 刘海波
Priority to PCT/CN2016/071989 priority Critical patent/WO2017127979A1/zh
Publication of WO2017127979A1 publication Critical patent/WO2017127979A1/zh

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Classifications

    • 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
    • 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
    • B62K11/007—Automatic balancing machines with single main ground engaging wheel or coaxial wheels supporting a rider
    • 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
    • B62K23/00—Rider-operated controls specially adapted for cycles, i.e. means for initiating control operations, e.g. levers, grips
    • B62K23/08—Rider-operated controls specially adapted for cycles, i.e. means for initiating control operations, e.g. levers, grips foot actuated

Definitions

  • the present invention relates to electric vehicle technology, and more particularly to a balance vehicle.
  • a balance car also called a body car, a thinking car or a camera car.
  • body car also called a body car, a thinking car or a camera car.
  • Its operation principle is mainly based on a basic principle called “Dynamic Stabilization", which uses the gyroscope and acceleration sensor inside the vehicle body to detect changes in the attitude of the car body and utilize servo control.
  • the system precisely drives the motor to make the appropriate adjustments to maintain the balance of the system.
  • the Chinese utility model patent No. 201320128469.4 discloses a two-wheeled electric vehicle which is composed of the following components: a first wheel and a second wheel, which are each other Basically arranged in parallel to the left and right, there is no common axle, which can be rotated independently; the footboard is composed of the first stepping board and the second stepping board, the first stepping board is matched with the first wheel, and the second stepping board is matched with the first stepping board
  • the second wheel is matched, and the first step board and the second step board are rotatably connected to each other, and each of them can be tilted independently toward the front or the back, and the upper surfaces of the first step board and the second step board
  • the first wheel and the second wheel are located on the left and right sides of the footboard; the first motor and the second motor, the first motor drives the first wheel, and the second motor
  • the structure of the two-wheel self-balancing electric vehicle disclosed in the above patent is in the form of a twist-like vehicle, that is, two wheels are respectively connected with a shaft, two different shafts are connected in the middle, and a fixed pedal position is arranged on the shaft.
  • a twist-like vehicle that is, two wheels are respectively connected with a shaft, two different shafts are connected in the middle, and a fixed pedal position is arranged on the shaft.
  • the technical problem to be solved by the present invention is to provide a balance car that is convenient to control and easy to promote.
  • the present invention provides a balance vehicle including a first wheel, a second wheel, a connecting shaft, a first foot mechanism, a second foot mechanism, an angular motion detecting mechanism, and a control mechanism, the first wheel and The second wheel is independently and rotatably disposed on the connecting shaft, and the first stepping mechanism and the second stepping mechanism are respectively rotatably disposed on the connecting shaft, and the first pedaling mechanism is The first wheel is coupled, the second pedal mechanism is coupled to the second wheel, and the angular motion detecting mechanism is respectively disposed on the first pedal mechanism and the second pedal mechanism, the control mechanism and the corner Motion detection mechanism communication connection.
  • the balance car of the present invention is designed with a first wheel, a second wheel and a connecting shaft, and is designed to set the first wheel and the second wheel on a common connecting shaft so that the balance car having the above structure does not
  • the need for a large body can effectively achieve the balance control requirements of the balance car work, providing a basis for reducing the volume of the balance car; meanwhile, the design of a connecting shaft enables the balance car to operate more stably during operation. Performance
  • the first wheel and the second wheel of the balance car of the present invention are disposed on a common connecting shaft, which can effectively reduce unnecessary components on the one hand, and can be rotated forward and backward on the connecting shaft on the other hand.
  • the first foot mechanism and the second foot mechanism, the first foot mechanism and the second foot mechanism are connected with an angular motion detecting mechanism that controls the rotation speed and direction of the first wheel and the second wheel, and the angular motion detecting mechanism and the control
  • the mechanism communication connection so that when the first pedal mechanism and the second pedal mechanism are respectively rotated, the angular motion detecting mechanism disposed thereon changes the posture, thereby changing the first wheel and the first controlled by the angular motion detecting mechanism
  • the rotation speed and direction of the two wheels when the two wheels rotate forward, the balance car travels forward (the first pedal mechanism and the second pedal mechanism lean forward, then the wheels rotate forward), and the balance wheels go when both wheels are reversed Retreat (the first pedal mechanism and the second pedal mechanism are tilted backwards, then the wheels are reversed), and
  • FIG. 1 is a front elevational view of a balance vehicle according to a first embodiment of the present invention
  • FIG. 2 is a perspective structural view of a balance vehicle according to Embodiment 1 of the present invention.
  • FIG. 3 is a front view of a balance car according to a second embodiment of the present invention.
  • FIG. 4 is a perspective structural view of a balance car according to a second embodiment of the present invention.
  • FIG. 5 is a front elevational view of a balance car according to a third embodiment of the present invention.
  • FIG. 6 is a perspective structural view of a balance vehicle according to a third embodiment of the present invention.
  • FIG. 7 is a front view of a balance car according to a fourth embodiment of the present invention.
  • FIG. 8 is a perspective structural view of a balance car according to a fourth embodiment of the present invention.
  • FIG. 9 is a front elevational view showing the length of the first stepping mechanism and the second pedaling mechanism of the balance vehicle according to the fourth embodiment of the present invention when the length is greater than the length of the vehicle body;
  • FIG. 10 is a front view of a balance car according to a fifth embodiment of the present invention.
  • FIG. 11 is a perspective structural view of a balance vehicle according to Embodiment 5 of the present invention.
  • FIG. 12 is a front elevational view of a balance vehicle according to a sixth embodiment of the present invention.
  • the most critical idea of the present invention is to provide the first wheel and the second wheel on a common connecting shaft, simplifying the structure of the balance car, and providing a structural basis for reducing the volume of the balance car.
  • the present invention discloses a balance vehicle including a first wheel 11, a second wheel 12, a connecting shaft 2, a first pedal mechanism 31, a second pedal mechanism 32, and an angle. a motion detecting mechanism 4 and a control mechanism S, wherein the first wheel 11 and the second wheel 12 are independently and rotatably disposed on the connecting shaft 2, respectively
  • the first stepping mechanism 31 and the second stepping mechanism 32 are respectively rotatably disposed on the connecting shaft 2, and the first footrest mechanism 31 is coupled to the first wheel 11, the second pedaling mechanism 32 is coupled to the second wheel 12, and the angular motion detecting mechanism 4 is disposed on the first pedal mechanism 31 and the second pedal mechanism 32, respectively, and the control mechanism 5 is communicably connected to the angular motion detecting mechanism 4.
  • the above-mentioned "setting" in which the first pedal mechanism and the second pedal mechanism are rotatably disposed on the connecting shaft, respectively, includes a first pedal mechanism and a second pedal
  • the stepping mechanism is respectively fixed to an intermediate member, and the intermediate member is fixed to the connecting shaft.
  • the balance car design of the present invention includes a first wheel, a second wheel, and a connecting shaft, and is designed to dispose the first wheel and the second wheel on a common connecting shaft so that the balance car having the above structure does not
  • the need for a large body can effectively achieve the balance control requirements of the balance car work, providing a basis for reducing the volume of the balance car; at the same time, the design of a connecting shaft enables the balance car to have more stable driving performance during work. ;
  • the first wheel and the second wheel of the balance car of the present invention are disposed on a common connecting shaft, which can effectively reduce unnecessary components on the one hand, and can be rotated back and forth, left and right on the connecting shaft on the other hand.
  • the first foot mechanism and the second foot mechanism, the first foot mechanism and the second foot mechanism are connected with an angular motion detecting mechanism that controls the rotation speed and direction of the first wheel and the second wheel, and the angular motion detecting mechanism and the control
  • the mechanism communication connection so that when the first pedal mechanism and the second pedal mechanism are respectively rotated, the angular motion detecting mechanism disposed thereon changes the posture, thereby changing the first wheel and the first controlled by the angular motion detecting mechanism
  • the rotation speed and direction of the two wheels, both wheels are turning forward and the balance car is moving forward (the first pedal mechanism and the second pedal mechanism are tilted forward, then the wheels are rotating forward), and the balance is reversed when the two wheels are reversed Back (first foot When the mechanism and the second pedal mechanism are tilted backward,
  • the two wheels rotate one turn and one reverse ⁇ balance car to make a simple and flexible control of the first wheel and the second wheel.
  • the operator has high control skill to control the forward, backward and steering of the balance car conveniently and flexibly, and it is not easy to cause safety problems caused by inconvenient control; it has convenient control, easy promotion and high safety. advantage;
  • first pedal mechanism 31 and the second pedal mechanism 32 are respectively disposed between the first wheel 11 and the second wheel 12.
  • the first pedal mechanism and the second pedal mechanism may be disposed between the first wheel and the second wheel, and more preferably, the first pedal mechanism is disposed adjacent to the first wheel, the second leg The stepping mechanism is placed close to the second wheel.
  • a driving mechanism is further included, and the driving mechanism is electrically connected to the control mechanism S.
  • the angular motion detecting mechanism is electrically connected to the control mechanism
  • the driving mechanism is electrically connected to the control mechanism, so that the control mechanism controls the operation of the driving mechanism, and the control mechanism controls the two wheels through the angular motion detecting mechanism.
  • the speed and direction of the car to achieve the electric control of the balance car.
  • the limiting member 6 is further disposed on the connecting shaft 2, and the limiting member 6 is respectively disposed corresponding to the first pedaling mechanism 31 and the second pedaling mechanism 32.
  • the first pedal mechanism 31 and the second pedal mechanism 32 are respectively covered in whole or in part.
  • the setting of the limiting member can limit the rotation amplitude of the first pedal mechanism and the second pedal mechanism, further ensuring the safety of the balance vehicle.
  • the limiting member 6 includes a limiting portion 61 and an elastic portion 62.
  • the limiting portion 61 is disposed on the connecting shaft 2, and the first pedaling mechanism 31 and the second pedaling mechanism 32 are provided. Passing the elastic portion 62 and the limiting portion respectively
  • the first pedal mechanism 31 and the second pedal mechanism 32 are respectively coupled to the connecting shaft.
  • the first pedaling mechanism and the second pedaling mechanism may be directly connected to the connecting shaft, or may not be directly connected to the connecting shaft, but through the elastic portion and Set in A limiting portion on the connecting shaft is coupled to rotatably mount the first stepping mechanism and the second stepping mechanism on the connecting shaft.
  • the elastic portion has a certain deformation limit, thereby functioning as a limit, and has the advantages of compact structure, good limit effect and easy control.
  • the connecting shaft 2 includes a first connecting shaft 21 and a second connecting shaft 22, and the first wheel 11 and the first pedal mechanism 31 are respectively disposed on the first connecting shaft 21, wherein the The two wheels 12 and the second stepping mechanism 32 are respectively disposed on the second connecting shaft 22, and the first connecting shaft 21 and the second connecting shaft 22 are connected by the limiting portion 61.
  • the connecting shaft including the first connecting shaft and the second connecting shaft may be disposed, and the first connecting shaft and the second connecting shaft are connected through the limiting portion, and the first wheel and the second wheel are ensured on the one hand. They are arranged on a common connecting shaft, and on the other hand, the limiting action of the first pedal mechanism and the second pedal mechanism is achieved. It is a specific limit method with good limit effect and easy control.
  • the vehicle body 7 is further disposed on the connecting shaft 2, and the first pedaling mechanism 31 and the second pedaling mechanism 32 are respectively disposed on the vehicle body 7 and pass through
  • the vehicle body 7 is rotatably disposed on the connecting shaft 2.
  • the length of the first stepping mechanism 31 and the second stepping mechanism 32 in the radial direction of the connecting shaft 2, respectively, is greater than the length of the vehicle body 7 in the radial direction of the connecting shaft 2.
  • the vehicle body may be disposed on the connecting shaft, and the first footrest mechanism and the second pedaling mechanism may not be directly connected to the connecting shaft, and the first pedaling mechanism and the second pedaling mechanism pass through the rotating shaft structure. It is placed on the body so that it can be rotated relative to the connecting shaft.
  • the body of the balance car of the present invention only needs to be provided with a small volume, so that the balance car can achieve the purpose of easy balance control, so that the balance car has a small overall volume and can be applied to a narrow environment.
  • the length of the first stepping mechanism and the second stepping mechanism respectively in the radial direction of the connecting shaft is greater than the length of the vehicle body in the radial direction of the connecting shaft, that is, the first pedaling mechanism and the second pedaling mechanism can be set. It is wider than the vehicle body, so that the edge of the vehicle body can function to limit the rotation amplitude of the first pedal mechanism and the second pedal mechanism.
  • Embodiment 1 of the present invention is:
  • the balance vehicle of the present embodiment includes a first wheel 11, a second wheel 12, a connecting shaft 2, a first pedal mechanism 3 1 , a second pedal mechanism 32, an angular motion detecting mechanism 4, and a control mechanism 5,
  • the first wheel 11 and the second wheel 12 are independently and rotatably disposed on the connecting shaft 2, and the first pedal mechanism 31 and the second pedal mechanism 32 are rotatably disposed on the connection, respectively.
  • On the shaft 2, the first pedal mechanism 31 and the first wheel 11 is matched, the second pedal mechanism 32 is coupled to the second wheel 12, and the angular motion detecting mechanism 4 is respectively disposed on the first pedal mechanism 31 and the second pedal mechanism 32, and the control mechanism 5 It is electrically connected to the angular motion detecting mechanism 4.
  • the first pedal mechanism 31 and the second pedal mechanism 32 are sequentially disposed between the first wheel 11 and the second wheel 12, respectively.
  • the drive mechanism is communicatively coupled to the control mechanism 5.
  • the first foot mechanism and the second foot mechanism can make a simple foot pedal structure
  • the angular motion detecting mechanism can be a gyroscope
  • the control mechanism can be a simple control circuit.
  • Two angular motion detecting mechanisms may be provided corresponding to the first pedal mechanism and the second pedal mechanism, respectively, and the rotational motions of the first pedal mechanism and the second pedal mechanism are respectively inductively controlled. It is also possible to provide two or more control mechanisms for controlling the angular motion detecting mechanism.
  • the first pedal mechanism 31 and the second pedal mechanism 32 of the balance vehicle of the present embodiment are directly connected to the connecting shaft 2, and the gyroscope and the control circuit are fixedly connected at the bottom of the pedal.
  • the second embodiment of the present invention is:
  • the balance car of the embodiment is the same as the balance car of the first embodiment, and the difference is that:
  • the limiting member 6 is disposed on the connecting shaft 2, and the limiting member 6 is respectively disposed corresponding to the first pedaling mechanism 31 and the second pedaling mechanism 32 and is respectively respectively A pedal mechanism 31 and a second pedal mechanism 32 are all or partially covered.
  • the limiting member 6 includes a limiting portion 61 and an elastic portion 62.
  • the limiting portion 61 is disposed on the connecting shaft 2, and the first pedaling mechanism 31 and the second pedaling mechanism 32 respectively pass through the
  • the elastic portion 62 is coupled to the stopper portion 61 so as to be rotatably provided on the connecting shaft 2.
  • the first footrest mechanism 31 and the second footrest mechanism 32 are connected to the connecting shaft 2, respectively.
  • the limiting portion 61 is connected to the connecting shaft 2, and the limiting portion 61 is provided with a first pedal mechanism 31 and a second pedal mechanism 32, and the first pedal mechanism 31 and the second pedal
  • the mechanism 32 is also directly connected to the connecting shaft 2, and the first pedal mechanism 31 and the second pedal mechanism 32 are connected to the limiting portion 61 via the elastic portion 62.
  • the limiting portion 61 may be a simple limiting plate structure, or may be other mechanical structures that can function as a limiting position.
  • the elastic portion 62 may be a spring or other elastically functional component.
  • a third embodiment of the present invention is:
  • the balance car of this embodiment is the same as the balance car of the second embodiment, with the difference that -
  • the limiting portion 61 is connected to the connecting shaft 2, and the first pedaling mechanism 31 and the second pedaling mechanism 32 are disposed on the limiting portion 61.
  • the first pedal mechanism 31 and the second pedal mechanism 32 are not directly connected to the connecting shaft 2, and the first pedal mechanism 31 and the second pedal mechanism 32 and the limiting portion 61 pass through the elastic portion 62 (for example, an elastic connecting column).
  • the upper spring can be further sleeved on the elastic connecting column.
  • the fourth embodiment of the present invention is:
  • the balance car of the present embodiment is the same as the balance car of the first embodiment, and the difference is that:
  • a vehicle body 7 is provided, the vehicle body 7 is disposed on the connecting shaft 2, and the first pedaling mechanism 31 and the second pedaling mechanism 32 are respectively disposed on the vehicle body 7 and pass through the vehicle.
  • the body 7 is rotatably disposed on the connecting shaft 2.
  • the length of the first footrest mechanism 31 and the second footrest mechanism 32, respectively, in the radial direction of the connecting shaft 2 is greater than the length of the vehicle body 7 in the radial direction of the connecting shaft 2.
  • the object P the vehicle body 7 is disposed on the connecting shaft 2, and the vehicle body 7 is disposed on the first wheel 11 and the second wheel.
  • first pedal mechanism 31 and the second pedal mechanism 32 are not directly connected to the connecting shaft 2, and the first pedal mechanism 31 and the second pedal mechanism 32 are disposed on the vehicle body 7 via the rotating shaft structure.
  • the first pedal mechanism 31 and the second pedal mechanism 32 can be disposed wider than the vehicle body 7, so that the edge of the vehicle body 7 can function as a limit.
  • Embodiment 5 of the present invention is:
  • the balance car of the embodiment is the same as the balance car of the first embodiment, and the difference is that:
  • the limiting member 6 is further disposed on the connecting shaft 2, and the limiting member 6 is respectively disposed corresponding to the first pedaling mechanism 31 and the second pedaling mechanism 32 and is respectively respectively A pedal mechanism 31 and a second pedal mechanism 32 are all or partially covered.
  • the limiting member 6 is a simple limiting plate structure, that is, a limiting plate connected to the connecting shaft 2 is disposed under the first pedaling mechanism 31 and the second pedaling mechanism 32. To the role of the limit.
  • Embodiment 6 of the present invention is:
  • the balance car of the embodiment is the same as the balance car of the second embodiment, and the difference is that:
  • the connecting shaft 2 includes a first connecting shaft 21 and a second connecting shaft 22, and the first wheel 11 and the first stepping mechanism 31 are respectively disposed on the first connecting shaft 21, and the second wheel 12
  • the second stepping mechanism 32 is disposed on the second connecting shaft 22, and the first connecting shaft 21 and the second connecting shaft 22 are connected by the limiting portion 61.
  • the connecting shaft 2 is cut off, and the cut-off connecting walk 2 forms a first connecting shaft 21 and a second connecting shaft 22, and is connected by the connected limiting portion 61, the first footrest mechanism 31 and The second stepping mechanism 32 and the limiting portion 61 are connected by an elastic portion 62.
  • the balance car provided by the invention has the advantages of convenient control, easy promotion, high safety and small volume.

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

Abstract

一种平衡车，包括第一车轮（11）、第二车轮（12）、连接轴（2）、第一脚踏机构（31）、第二脚踏机构（32）、角运动检测机构（4）和控制机构（5），所述第一车轮（11）和第二车轮（12）分别独立且可旋转地设置于所述连接轴（2）上，所述第一脚踏机构（31）和第二脚踏机构（32）分别可旋转地设置于所述连接轴（2）上，所述第一脚踏机构（31）与第一车轮（11）配接，所述第二脚踏机构（32）与第二车轮（12）配接，所述角运动检测机构（4）分别设置于第一脚踏机构（31）和第二脚踏机构（32）上，所述控制机构（5）与所述角运动检测机构（4）通信连接。该平衡车具有控制方便、易推广、安全性高和体积小的优点。

Description

发明名称：一种平衡车
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[0002] 本发明涉及电动车技术， 特别涉及一种平衡车。
[0003] 背景技术
[0004] 平衡车， 又叫体感车、 思维车或摄位车等。 市场上主要有独轮和双轮两类。 其 运作原理主要是建立在一种被称为 "动态稳定" （Dynamic Stabilization) 的基本 原理上， 禾 ij用车体内部的陀螺仪和加速度传感器， 来检测车体姿态的变化， 并 利用伺服控制系统， 精确地驱动电机进行相应的调整， 以保持系统的平衡。
[0005] 近来有体积比较小的两轮平衡车出现， 例如专利号为 201320128469.4的中国实 用新型专利公开了一种两轮电动车， 由如下部件构成： 第一车轮与第二车轮， 它们是彼此基本平行地左右设置的， 没有共同的车轴， 能独立地转动；踏脚板是 由第一踏脚板与第二踏脚板所组成的， 第一踏脚板与第一车轮相配接， 第二踏 脚板与第二车轮相配接， 第一踏脚板与第二踏脚板之间是互相可转动地连接着 的， 它们各自能够独立地朝前或朝后倾斜， 第一踏脚板与第二踏脚板的上表面 分别供驾车者左右两脚站立， 第一车轮与第二车轮位于踏脚板的左右两侧； 第 一电动机与第二电动机， 第一电动机驱动第一车轮， 第二电动机驱动第二车轮 , 第一电动机与第二电动机至少被一套电子系统所控制， 电子控制系统控制车 轮的转动速度， 使踏脚板保持前后方向上的水平平衡， 供驾车者用来操控两轮 电动车的向前、 朝后与转向。
[0006] 上述专利公开的两轮自平衡电动车的结构均是类似扭扭车的形式， 即两个车轮 各自连接有轴， 两根不同的轴在中间连接， 轴上有固定的踏板位置， 通过旋转 整个踏板 （即整个轴） 的方式控制平衡车前进后退转弯， 需要同时控制两个旋 转踏板， 故这类的平衡车需要使用者有较好的手脚协调性才能控制好。 存在不 易控制， 容易发生因操作控制不便而引起的安全问题， 此外其亦适用范围窄的 问题。
[0007] [0008] 本发明所要解决的技术问题是： 提供一种控制方便和易推广的平衡车。
[0009] 为了解决上述技术问题， 本发明采用的技术方案为：
[0010] 本发明提供了一种平衡车， 包括第一车轮、 第二车轮、 连接轴、 第一脚踏机构 、 第二脚踏机构、 角运动检测机构和控制机构， 所述第一车轮和第二车轮分别 独立且可旋转地设置于所述连接轴上， 所述第一脚踏机构和第二脚踏机构分别 可旋转地设置于所述连接轴上， 所述第一脚踏机构与第一车轮配接， 所述第二 脚踏机构与第二车轮配接， 所述角运动检测机构分别设置于第一脚踏机构和第 二脚踏机构上， 所述控制机构与所述角运动检测机构通信连接。
[001 1] 本发明的有益效果在于：
[0012] (1) 本发明的平衡车设计有第一车轮、 第二车轮和连接轴， 并设计将第一车 轮和第二车轮设置在共同的连接轴上， 使得具有上述结构的平衡车不需要很大 的车体便可以有效实现平衡车工作吋的对平衡的控制要求， 为减小平衡车的体 积提供基础； 同吋， 一个连接轴的设计使平衡车在工作时具有更加稳定的行驶 性能；
[0013] (2) 本发明的平衡车的第一车轮和第二车轮设置在共同的连接轴上， 一方面 可有效减少不必要的部件， 另一方面， 在连接轴上设置可前后左右转动的第一 脚踏机构和第二脚踏机构， 第一脚踏机构和第二脚踏机构与控制第一车轮和第 二车轮转速及方向的角运动检测机构连接， 且角运动检测机构与控制机构通信 连接， 从而， 当第一脚踏机构和第二脚踏机构分别转动吋， 会使得设置在其上 的角运动检测机构改变姿态， 从而改变角运动检测机构所控制的第一车轮和第 二车轮的转速及方向， 两个车轮均正转时平衡车向前行进 （第一脚踏机构和第 二脚踏机构前倾， 则轮子正转） ， 两个车轮均反转时平衡车往后退 （第一脚踏 机构和第二脚踏机构后倾， 则轮子反转） ， 两个车轮一个正转一个反转吋平衡 车进行转弯， 进而实现第一车轮和第二车轮的简便地、 灵活地控制， 不需要操 作者具有很高的控制技巧便可以方便且灵活地控制平衡车的前进、 后退和转向 等操作， 且不易发生因控制不便而引起的安全性问题； 具有控制方便、 易推广 和安全性高的优点；
[0014] (3) 通过第一脚踏机构和第二脚踏机构控制平衡车进行工作， 相比现有技术 中的通过手扶控制杆的方式， 能解放操作者的双手， 具有操作方式简单的优点
[0015] 画綱
[0016] 图 1为本发明实施例一的平衡车的主视图；
[0017] 图 2为本发明实施例一的平衡车的立体结构图；
[0018] 图 3为本发明实施例二的平衡车的主视图；
[0019] 图 4为本发明实施例二的平衡车的立体结构图；
[0020] 图 5为本发明实施例三的平衡车的主视图；
[0021 ] 图 6为本发明实施例三的平衡车的立体结构图；
[0022] 图 7为本发明实施例四的平衡车的主视图；
[0023] 图 8为本发明实施例四的平衡车的立体结构图；
[0024] 图 9为本发明实施例四的平衡车的第一脚踏机构和第二脚踏机构的长度大于车 体长度时的主视图；
[0025] 图 10为本发明实施例五的平衡车的主视图；
[0026] 图 11为本发明实施例五的平衡车的立体结构图；
[0027] 图 12为本发明实施例六的平衡车的主视图。
[0028] 标号说明：
[0029] 第一车轮 -11; 第二车轮 -12; 连接轴 -2; 第一连接轴 -21; 第二连接轴 -22; 第 一脚踏机构 -31 ; 第二脚踏机构 -32; 角运动检测机构 -4; 控制机构 -5; 限位件 -6 ； 限位部 -61; 弹性部 -62; 车体 -7。
[0030] I体
[0031] 为详细说明本发明的技术内容、 所实现目的及效果， 以下结合实施方式并配合 附图予以说明。
[0032] 本发明最关键的构思在于： 将第一车轮和第二车轮设置在共同的连接轴上， 简 化平衡车的结构， 为减小平衡车的体积提供结构基础。
[0033] 请参照图 1至图 12， 本发明公开了一种平衡车， 包括第一车轮 11、 第二车轮 12 、 连接轴 2、 第一脚踏机构 31、 第二脚踏机构 32、 角运动检测机构 4和控制机构 S , 所述第一车轮 11和第二车轮 12分别独立且可旋转地设置于所述连接轴 2上， 所 述第一脚踏机构 31和第二脚踏机构 32分别可旋转地设置于所述连接轴 2上， 所述 第一脚踏机构 31与第一车轮 11配接， 所述第二脚踏机构 32与第二车轮 12配接， 所述角运动检測机构 4分别设置于第一脚踏机构 31和第二脚踏机构 32上， 所述控 制机构 5与所述角运动检测机构 4通信连接。
[0034] 值得注意的是：
[0035] (1) 上述"所述第一脚踏机构和第二脚踏机构分别可旋转地设置于所述连接轴 上"中的"设置"包含了第一脚踏机构和第二脚踏机构分别直接固定在连接轴上的 具体设置方式， 也包含了第一脚踏机构和第二脚踏机构分别间接固定在连接轴 上的具体设置方式， 例如， 第一脚踏机构和第二脚踏机构分别固定于一中间部 件， 再把改中间部件固定在连接轴上。
[0036] (2) 上述"所述第一脚踏机构与第一车轮配接， 所述第二脚踏机构与第二车轮 配接"中的"配接"包含了所有能实现将第一脚踏机构与第一车轮、 以及第二脚踏 机构与第二车轮连接， 并使第一脚踏机构与第一车轮、 以及第二脚踏机构与第 二车轮可以配合转动的所有配合连接的方式。
[0037] 从上述描述可知， 本发明的有益效果在于：
[0038] (1) 本发明的平衡车设计包括第一车轮、 第二车轮和连接轴， 并设计将第一 车轮和第二车轮设置在共同的连接轴上， 使得具有上述结构的平衡车不需要很 大的车体便可以有效实现平衡车工作时的对平衡的控制要求， 为减小平衡车的 体积提供基础； 同时， 一个连接轴的设计使平衡车在工作吋具有更加稳定的行 驶性能；
[0039] (2) 本发明的平衡车的第一车轮和第二车轮设置在共同的连接轴上， 一方面 可有效减少不必要的部件， 另一方面， 在连接轴上设置可前后左右转动的第一 脚踏机构和第二脚踏机构， 第一脚踏机构和第二脚踏机构与控制第一车轮和第 二车轮转速及方向的角运动检测机构连接， 且角运动检测机构与控制机构通信 连接， 从而， 当第一脚踏机构和第二脚踏机构分别转动吋， 会使得设置在其上 的角运动检测机构改变姿态， 从而改变角运动检测机构所控制的第一车轮和第 二车轮的转速及方向， 两个车轮均正转吋平衡车向前行进 （第一脚踏机构和第 二脚踏机构前倾， 则轮子正转） ， 两个车轮均反转时平衡车往后退 （第一脚踏 机构和第二脚踏机构后倾， 则轮子反转） ， 两个车轮一个正转一个反转吋平衡 车进行转弯， 进而实现第一车轮和第二车轮的简便地、 灵活地控制， 不需要操 作者具有很高的控制技巧便可以方便且灵活地控制平衡车的前进、 后退和转向 等操作， 且不易发生因控制不便而引起的安全性问题； 具有控制方便、 易推广 和安全性高的优点；
[0040] (3) 通过第一脚踏机构和第二脚踏机构控制平衡车进行工作， 相比现有技术 中的通过手扶控制杆的方式， 能解放操作者的双手， 具有操作方式简单的优点
[0041] 进一步的， 所述第一脚踏机构 31和第二脚踏机构 32分别设置于第一车轮 11和第 二车轮 12之间。
[0042] 由上述描述可知， 第一脚踏机构和第二脚踏机构可以设置于第一车轮和第二车 轮之间， 更优选的， 第一脚踏机构靠近第一车轮设置， 第二脚踏机构靠近第二 车轮设置。
[0043] 进一步的， 还包括驱动机构， 所述驱动机构与控制机构 S电连接。
[0044] 由上述描述可知， 角运动检测机构与控制机构电连接， 驱动机构与控制机构电 接连， 从而， 控制机构控制驱动机构的工作， 同吋， 控制机构通过角运动检测 机构控制两个车轮的转速及方向， 以实现平衡车的电控制。
[0045] 进一步的， 还包括限位件 6, 所述限位件 6设置于连接轴 2上， 所述限位件 6分别 与第一脚踏机构 31和第二脚踏机构 32对应设置并分别被第一脚踏机构 31和第二 脚踏机构 32全部或部分覆盖。
[0046] 由上述描述可知， 限位件的设置可以对第一脚踏机构和第二脚踏机构的旋转幅 度进行限制， 进一步保证平衡车的安全。
[0047] 进一步的， 所述限位件 6包括限位部 61和弹性部 62 , 所述限位部 61设置于连接 轴 2上， 所述第一脚踏机构 31和第二脚踏机构 32分别通过所述弹性部 62与限位部
61连接， 从而可旋转地设置于所述连接轴 2上。 所述第一脚踏机构 31和第二脚踏 机构 32分别与连接轴连接。
[0048] 由上述描述可知， 上述限位件的结构设计中， 第一脚踏机构和第二脚踏机构可 以与连接轴直接连接， 也可以不与连接轴直接连接， 而是通过弹性部与设置在 连接轴上的限位部连接， 从而将第一脚踏机构和第二脚踏机构可旋转地设置于 所述连接轴上。 弹性部具有一定的形变限度， 从而起到限位作用， 具有结构紧 凑、 限位效果好且便于控制的优点。
[0049] 进一步的， 所述连接轴 2包括第一连接轴 21和第二连接轴 22, 所述第一车轮 11 和第一脚踏机构 31分别设置于第一连接轴 21上， 所述第二车轮 12和第二脚踏机 构 32分别设置于第二连接轴 22上， 所述第一连接轴 21和第二连接轴 22通过限位 部 61连接。
[0050] 由上述描述可知， 可以设置包括第一连接轴和第二连接轴的连接轴， 同时第一 连接轴和第二连接轴通过限位部连接， 一方面保证第一车轮和第二车轮设置在 共同的连接轴上， 另一方面实现第一脚踏机构和第二脚踏机构的限位作用。 是 一种限位效果好且便于控制的具体限位方式。
[0051] 进一步的， 还包括车体 7, 所述车体 7设置于连接轴 2上， 所述第一脚踏机构 31 和第二脚踏机构 32分别设置于所述车体 7上且通过所述车体 7可旋转地设置于所 述连接轴 2上。 所述第一脚踏机构 31和第二脚踏机构 32分别沿连接轴 2径向的长 度大于所述车体 7沿连接轴 2径向的长度。
[0052] 由上述描述可知， 可以在连接轴上设置车体， 第一脚踏机构和第二脚踏机构与 连接轴可以不直接相连， 第一脚踏机构和第二脚踏机构通过转轴结构设置在车 体上， 从而可以相对连接轴实现可旋转。 本发明的平衡车的车体仅需要设置较 小的体积就可以使平衡车达到容易实现平衡控制的目的， 从而平衡车的整体体 积小， 可应用于较窄的环境中。 优选的， 第一脚踏机构和第二脚踏机构分别沿 连接轴径向的长度大于所述车体沿连接轴径向的长度， 即第一脚踏机构和第二 脚踏机构可设置得比车体更宽， 这样车体的边缘可起到限制第一脚踏机构和第 二脚踏机构的旋转幅度的作用。
[0053] 请参照图 1以及图 2, 本发明的实施例一为：
[0054] 本实施例的平衡车， 包括第一车轮 11、 第二车轮 12、 连接轴 2、 第一脚踏机构 3 1、 第二脚踏机构 32、 角运动检测机构 4和控制机构 5， 所述第一车轮 11和第二车 轮 12分别独立且可旋转地设置于所述连接轴 2上， 所述第一脚踏机构 31和第二脚 踏机构 32分别可旋转地设置于所述连接轴 2上， 所述第一脚踏机构 31与第一车轮 11配接， 所述第二脚踏机构 32与第二车轮 12配接， 所述角运动检测机构 4分别设 置于第一脚踏机构 31和第二脚踏机构 32上， 所述控制机构 5与所述角运动检测机 构 4电连接。 所述第一脚踏机构 31和第二脚踏机构 32分别依次设置于第一车轮 11 和第二车轮 12之间。 所述驱动机构与控制机构 5通信连接。
[0055] 第一脚踏机构和第二脚踏机构可以使简单的脚踏板结构， 角运动检测机构可以 为陀螺仪， 控制机构可以是简单的控制电路。 可以设置两个角运动检测机构 （ 陀螺仪） 分别对应设置于第一脚踏机构和第二脚踏机构上， 对第一脚踏机构和 第二脚踏机构的旋转运动分别进行感应控制。 亦可以设置两个或多个控制机构 对角运动检测机构进行控制。
[0056] 参见图 1-2 , 本实施例的平衡车的第一脚踏机构 31、 第二脚踏机构 32与连接轴 2 直接连接， 陀螺仪及控制电路在踏板底部固定连接。
[0057] 请参照图 3和图 4, 本发明的实施例二为：
[0058] 本实施例的平衡车与实施例一的平衡车相同， 不同之处在于：
[0059] 还包括限位件 6, 所述限位件 6设置于连接轴 2上， 所述限位件 6分别与第一脚踏 机构 31和第二脚踏机构 32对应设置并分别被第一脚踏机构 31和第二脚踏机构 32 全部或部分覆盖。
[0060] 所述限位件 6包括限位部 61和弹性部 62， 所述限位部 61设置于连接轴 2上， 所述 第一脚踏机构 31和第二脚踏机构 32分别通过所述弹性部 62与限位部 61连接， 从 而可旋转地设置于所述连接轴 2上。 所述第一脚踏机构 31和第二脚踏机构 32分别 与连接轴 2连接。
[0061] 参见图 3-4， 限位部 61与连接轴 2连接， 限位部 61上设置第一脚踏机构 31和第二 脚踏机构 32， 第一脚踏机构 31和第二脚踏机构 32与连接轴 2也直接连接， 同时第 一脚踏机构 31和第二脚踏机构 32与限位部 61通过弹性部 62连接。 限位部 61可以 是简单的限位板结构， 也可以是其他一些可以起到限位作用的机械结构， 弹性 部 62可以是弹簧， 也可以是其他具有弹性功能的部件。
[0062] 请参照图 5和 6 , 本发明的实施例三为：
[0063] 本实施例的平衡车与实施例二的平衡车相同， 不同之处在于-
[0064] 限位部 61与连接轴 2连接， 限位部 61上设置第一脚踏机构 31和第二脚踏机构 32 ， 第一脚踏机构 31和第二脚踏机构 32与连接轴 2没有直接连接， 第一脚踏机构 31 和第二脚踏机构 32与限位部 61通过弹性部 62 (例如弹性连接柱） 连接， 弹性连 接柱上可以进一步套设上弹簧。
[0065] 请参照图 7和 8 , 本发明的实施例四为：
[0066] 本实施例的平衡车与实施例一的平衡车相同， 不同之处在于：
[0067] 还包括车体 7 , 所述车体 7设置于连接轴 2上， 所述第一脚踏机构 31和第二脚踏 机构 32分别设置于所述车体 7上且通过所述车体 7可旋转地设置于所述连接轴 2上 。 所述第一脚踏机构 31和第二脚踏机构 32分别沿连接轴 2径向的长度大于所述车 体 7沿连接轴 2径向的长度。
[0068] 参见图 7-8 , 目 P: 于连接轴 2上设置车体 7, 车体 7设置于第一车轮 11和第二车轮
12之间， 第一脚踏机构 31和第二脚踏机构 32与连接轴 2不直接相连， 第一脚踏机 构 31和第二脚踏机构 32通过转轴结构设置在车体 7上。 第一脚踏机构 31和第二脚 踏机构 32可设置比车体 7更宽， 这样车体 7的边缘可起到限位的作用。
[0069] 请参照图 9和 10, 本发明的实施例五为：
[0070] 本实施例的平衡车与实施例一的平衡车相同， 不同之处在于：
[0071] 还包括限位件 6, 所述限位件 6设置于连接轴 2上， 所述限位件 6分别与第一脚踏 机构 31和第二脚踏机构 32对应设置并分别被第一脚踏机构 31和第二脚踏机构 32 全部或部分覆盖。
[0072] 参见图 9-10, 限位件 6为简单的限位板结构， 即在第一脚踏机构 31和第二脚踏 机构 32下设置与连接轴 2相连的限位板， 以起到限位的作用。
[0073] 请参照图 11 , 本发明的实施例六为：
[0074] 本实施例的平衡车与实施例二的平衡车相同， 不同之处在于：
[0075] 所述连接轴 2包括第一连接轴 21和第二连接轴 22, 所述第一车轮 11和第一脚踏 机构 31分别设置于第一连接轴 21上， 所述第二车轮 12和第二脚踏机构 32分别设 置于第二连接轴 22上， 所述第一连接轴 21和第二连接轴 22通过限位部 61连接。
[0076] 参见图 11， 连接轴 2是截断的， 截断后的连接走 2形成第一连接轴 21和第二连接 轴 22, 并通过相连的限位部 61相连， 第一脚踏机构 31和第二脚踏机构 32与限位 部 61之间通过弹性部 62相连。 [0077] 综上所述， 本发明提供的平衡车具有控制方便、 易推广、 安全性高和体积小的 优点。
[0078] 以上所述仅为本发明的实施例， 并非因此限制本发明的专利范围， 凡是利用本 发明说明书及附图内容所作的等同变换， 或直接或间接运用在相关的技术领域 ， 均同理包括在本发明的专利保护范围内。
技术问题
问题的解决方案
发明的有益效果

Claims

一种平衡车， 其特征在于， 包括第一车轮、 第二车轮、 连接轴、 第一 脚踏机构、 第二脚踏机构、 角运动检测机构和控制机构， 所述第一车 轮和第二车轮分别独立且可旋转地设置于所述连接轴上， 所述第一脚 踏机构和第二脚踏机构分别可旋转地设置于所述连接轴上， 所述第一 脚踏机构与第一车轮配接， 所述第二脚踏机构与第二车轮配接， 所述 角运动检测机构分别设置于第一脚踏机构和第二脚踏机构上， 所述控 制机构与所述角运动捡测机构通信连接。
根据权利要求 1所述的平衡车， 其特征在于， 所述第一脚踏机构和第 二脚踏机构分别设置于第一车轮和第二车轮之间。
根据权利要求 1所述的平衡车， 其特征在于， 还包括驱动机构， 所述 驱动机构与控制机构电连接。
根据权利要求 1所述的平衡车， 其特征在于， 还包括限位件， 所述限 位件设置于连接轴上， 所述限位件分别与第一脚踏机构和第二脚踏机 构对应设置并分别被第一脚踏机构和第二脚踏机构全部或部分覆盖。 根据权利要求 4所述的平衡车， 其特征在于， 所述限位件包括限位部 和弹性部， 所述限位部设置于连接轴上， 所述第一脚踏机构和第二脚 踏机构分别通过所述弹性部与限位部连接， 从而可旋转地设置于所述 连接轴上。
根据权利要求 5所述的平衡车， 其特征在于， 所述第一脚踏机构和第 二脚踏机构分别与连接轴连接。
根据权利要求 5所述的平衡车， 其特征在于， 所述连接轴包括第一连 接轴和第二连接轴， 所述第一车轮和第一脚踏机构分别设置于第一连 接轴上， 所述第二车轮和第二脚踏机构分别设置于第二连接轴上， 所 述第一连接轴和第二连接轴通过限位部连接。
根据权利要求 1所述的平衡车， 其特征在于， 还包括车体， 所述车体 设置于连接轴上， 所述第一脚踏机构和第二脚踏机构分别设置于所述 车体上且通过所述车体可旋转地设置于所述连接轴上。 [权利要求 9] 根据权利要求 8所述的平衡车， 其特征在于， 所述第一脚踏机构和第 二脚踏机构分别沿连接轴径向的长度大于所述车体沿连接轴径向的长 度。
PCT/CN2016/071989 2016-01-25 2016-01-25 一种平衡车 WO2017127979A1 (zh)

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