WO2017210855A1 - Balancing transportation means - Google Patents

Balancing transportation means Download PDF

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Publication number
WO2017210855A1
WO2017210855A1 PCT/CN2016/085078 CN2016085078W WO2017210855A1 WO 2017210855 A1 WO2017210855 A1 WO 2017210855A1 CN 2016085078 W CN2016085078 W CN 2016085078W WO 2017210855 A1 WO2017210855 A1 WO 2017210855A1
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WO
WIPO (PCT)
Prior art keywords
rotating member
balance
power source
rotate
vehicle
Prior art date
Application number
PCT/CN2016/085078
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French (fr)
Chinese (zh)
Inventor
罗春晖
Original Assignee
罗春晖
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Publication date
Application filed by 罗春晖 filed Critical 罗春晖
Priority to PCT/CN2016/085078 priority Critical patent/WO2017210855A1/en
Publication of WO2017210855A1 publication Critical patent/WO2017210855A1/en

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    • BPERFORMING OPERATIONS; TRANSPORTING
    • B62LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62KCYCLES; CYCLE FRAMES; CYCLE STEERING DEVICES; RIDER-OPERATED TERMINAL CONTROLS SPECIALLY ADAPTED FOR CYCLES; CYCLE AXLE SUSPENSIONS; CYCLE SIDE-CARS, FORECARS, OR THE LIKE
    • B62K11/00Motorcycles, engine-assisted cycles or motor scooters with one or two wheels

Abstract

A balancing transportation means, comprising: a vehicle body (1) used to carry an object or a person; a first power source; a first rotating member (2) mounted on the vehicle body and driven to rotate by the first power source and then drive the vehicle body to move; a second rotating member (3) rotatably mounted on a carrier member (8), the carrier member being rotatable about a central rotation axis of the first rotating member; a transmission mechanism (5) employed by the first rotating member to drive the second rotating member to rotate; and a second power source also capable of driving the second rotating member (3) to rotate, wherein when the second power source is activated, the second rotating member is driven to rotate about the first rotating member to change a gravity center of the balancing transportation means. The balancing transportation means of the present invention can adapt to various road surface conditions, reduce energy consumption of a rider when carrying a person and energy consumption of the device when carrying an object, and enable independent adjustment of an overall gravity center of the device.

Description

Balanced transport Technical field

The invention relates to the field of balance vehicle attitude conversion structure, in particular to a balance transportation vehicle.

Background technique

Electric balance car, also known as body car, thinking car, camera car, etc.;

There are two types of unicycles and two wheels on the market. The principle of operation is based on a basic principle called Dynamic Stabilization, which uses gyroscopes and accelerometers inside the car body to detect The change of the attitude of the car body, and the servo control system, accurately drive the motor to adjust accordingly to maintain the balance of the system; it is a new type of green environmental protection product used by modern people as a means of transportation and recreation;

The driving method is as follows:

Similar to the human body's own balance system, when the body's center of gravity is leaning forward, in order to ensure balance, it is necessary to move forward, and the center of gravity is inclined. When steering, if the balance car has a structure similar to the handle, the handle can be controlled, similar to a car. The steering wheel, if it is just a single-wheeled electric balance car, it can be tilted to different degrees on both sides according to the demand;

Under normal circumstances, in the driving of the balance car, the human body needs to consume a certain amount of physical energy, and it functions as a part of balancing, especially for the novice, the driving balance car will be very tired;

Secondly, for the unmanned balance car mechanism, there is no driver's adjustment to the balance, and the machine self-adjusting energy consumption is too large;

At the same time, the adjustment of the balance in the above two cases is through "dynamic balance", that is, inevitable It is necessary to accelerate or decelerate, but in some cases it is not suitable for such shifting. For example, if there is an obstacle in front, then the center of gravity of the overall balancing vehicle (including the driver or not included) is in front, and acceleration is required to balance. The car has reached equilibrium again, and obviously this acceleration is unreasonable in this case;

Moreover, the current road conditions of the balance car are too singular. For roads with poor road conditions, such as mountain roads, there is no good driving experience or even danger.

Summary of the invention

The object of the present invention is to overcome the above-mentioned deficiencies in the prior art, and to provide a method for adapting to various road surfaces, reducing the body energy consumption of the driver when carrying people, reducing the energy consumption of the device when loading the object, and not relying on the principle of "dynamic balance". A balanced transport that individually adjusts the overall center of gravity of the unit.

In order to achieve the above object, the present invention provides the following technical solutions:

A balanced transportation vehicle that includes:

a vehicle body for carrying or carrying a person;

First power source;

a first rotating component mounted on the vehicle body and driven to rotate by the first power source to drive the vehicle body to move;

a second rotating member rotatably mounted on a carrier, the carrier being rotatable about a central axis of rotation of the first rotating member;

a transmission mechanism, the first rotating component drives the second rotating component to rotate by the transmission mechanism;

a second power source, the second power source is also capable of driving the second rotating member to rotate around its own axis move;

When the second power source is activated, the second rotating member is driven to rotate about the first rotating member to change the center of gravity of the balance vehicle.

When the second power source is not activated, the second rotating component is driven by the first rotating component to rotate on the vehicle body through the transmission mechanism, and then the first rotating component drives the second rotating component to rotate through the transmission mechanism, which is an equilibrium state. When the second power source is activated, a force is applied to rotate the second rotating member, and the carrier on which the second rotating member is mounted is rotated coaxially with the central axis of rotation of the first rotating member (ideally, this rotation is an articulation The state is basically unaffected by the frictional force. This frictional force is called X). Because the front is an equilibrium state, and the first rotating component is in contact with the ground during driving, the transmission mechanism and the first rotating component are integrally synchronized. The ground is operated, and the frictional force given to the first rotating component by the ground must be greater than the X. Therefore, once the second power source is activated, driving the rotation of the second rotating component must cause the equilibrium state to be broken. Where the second rotating member is in contact with the transmission mechanism, and the contact between the first rotating member and the transmission mechanism, the linear velocity at the two places will be different ( Is the same), then form a speed difference, which will move the second rotating component on the transmission mechanism, then "change the center of gravity of the balancing vehicle" to move the center of gravity forward or backward, so that The entire vehicle reaches a new balance;

Through this process, the balance transportation vehicle can be supported only by the first rotating component, or can be supported by the first rotating component plus the transmission mechanism and/or the second rotating component to adapt to various road surfaces, and at the same time, the above structure can be The overall center of gravity of the device can be individually adjusted without the aid of the "dynamic balance" principle (there is no contradiction in which the shift must be balanced in the case of unsuitable shifting as described in the background art), and the driver's physical energy consumption is reduced when manned Similarly, when the load is loaded, the energy consumption of the device is reduced.

As a preferred embodiment of the present invention, the first rotating component is a wheel, and the other rotating component is selected. As in the form of a cylinder) works better.

As a preferred embodiment of the present invention, the transmission mechanism is a crawler belt, which can better synchronize the linear speeds of the first rotating component and the second rotating component with the track connection respectively, and can also prevent the second power source from slipping when starting. Phenomenon (such as what may occur when the transmission uses a conveyor belt).

As a preferred embodiment of the present invention, a first clutch mechanism is disposed between the vehicle body and the first rotating component, and the second rotating component cooperates with a function of rotating the first rotating component to jointly brake the traveling mechanism. The braking effect is better; the carrier is respectively provided with a second clutch mechanism between the first rotating component and the second rotating component, and the mutual cooperation can realize the conversion of various states.

As a preferred embodiment of the present invention, the second rotating member is fitted inside the transmission mechanism, and after the second rotating member moves downward around the first rotating member, the transmission mechanism (such as the crawler belt) and the A rotating component together supports the vehicle.

As a preferred aspect of the present invention, the carrier is mounted with a weight device located on a side of the carrier opposite the second rotating member.

As a preferred aspect of the invention, the weight of the weight of the fitting device is adjustable.

As a preferred embodiment of the present invention, the transmission mechanism and the first rotating member are connected by a shifting device for rotating the linear speed of the transmission mechanism and the maximum diameter surface of the first rotating member The line speed is the same, in such a manner that the transmission mechanism does not need to fit on the outermost side of the first rotating component, so that when the first rotating component separately supports the transporting tool, the first rotating component can directly contact the ground, which can be better Drive to reduce the influence of the transmission mechanism on the driving state.

As a preferred embodiment of the present invention, two states are included. The first state is that the balance vehicle is supported on the ground only by the first rotating member, travels in a dynamic and stable manner, or is dynamic. a stable way plus the way to “change the center of gravity of the balanced transport”;

The second state is that the balance transportation vehicle is simultaneously supported on the ground by the first rotating component and the transmission mechanism;

The first state and the second state are achieved by the second power source driving the second rotating member to rotate about the first rotating member.

As a preferred aspect of the invention, the carrier is a support rod, the second rotating member is mounted at an outer end of the support rod, and the support rod is rotatably mounted in a middle portion of the vehicle body.

As a preferred solution of the present invention, the vehicle body is further provided with a weight mechanism, and the mechanism includes a weight, and the position of the weight is adjustable to assist the vehicle body to achieve better balance.

Compared with the prior art, the beneficial effects of the present invention:

It can adapt to a variety of road surfaces, reduce the driver's physical energy consumption when carrying people, reduce the energy consumption of the device when carrying the load, and adjust the overall center of gravity of the device without the help of the "dynamic balance" principle.

BRIEF DESCRIPTION OF THE DRAWINGS:

Figure 1 is a front elevational view showing the structure of the embodiment of the present application;

Figure 2 is a plan view showing the structure of the embodiment of the present application;

Figure 3 is a side view showing the structure of the embodiment of the present application;

4 is a schematic diagram of the first state and the second state of the structure in the embodiment of the present application;

Figure 5 is a schematic view showing the structure of the upper and lower stairs in the embodiment of the present application;

6 is a structural view of a pit in the embodiment of the present application;

Figure 7 is a structural obstacle diagram in the embodiment of the present application;

Marked in the figure: 1-car body, 2-first rotating part, 3- second rotating part, 4-driven wheel, 5-transmission mechanism, 6-weight device, 7-disc brake mechanism, 8-carrier, 9 - Counterweight mechanism.

detailed description

The present invention will be further described in detail below with reference to the embodiments and specific embodiments. However, the scope of the above-mentioned subject matter of the present invention should not be construed as being limited to the following embodiments, and the technology implemented based on the present invention is within the scope of the present invention.

Example 1

As shown in Figures 1-3, a balanced transport vehicle includes:

The vehicle body 1 is used for loading or carrying people (in the present embodiment, it is used for carrying materials, and the vehicle body 1 has a space for storing), and the vehicle body 1 is provided with a center of gravity detecting device;

The first power source (for the hub motor);

a first rotating member 2 mounted on the vehicle body 1 and driven to rotate by the first power source to drive the vehicle body 1 to move, the first rotating member 2 being The number of wheels and wheels is two, which are respectively disposed on both sides of the vehicle body 1, and correspondingly, two second rotating members 3 (also in the embodiment) are provided;

a second rotating member 3, the second rotating member 3 is rotatably mounted on a carrier 8 (in the embodiment, the carrier 8 is a support rod, and the second rotating member 3 is mounted outside the support rod End, the support rod is rotatably mounted in the middle of the vehicle body 1), the carrier 8 is rotatable about a central axis of rotation of the first rotating member 2, and the second rotating member 3 is fitted to the transmission mechanism 5 internal;

a transmission mechanism 5, the first rotating member 2 drives the second rotating member 3 to rotate by the transmission mechanism 5, the transmission mechanism 5 is a crawler belt, and two freely rotatable slaves are arranged side by side on the support rod The movable wheel 4 and the driven wheel 4 are fitted inside the crawler belt, and the crawler belt is formed with a convex structure under the support of the driven wheel 4, so that the position of the second rotating member 3 is moved, and when the crawler belt is lowered, the contact area between the crawler belt and the ground is increased, so that the vehicle is transported. The overall support effect is better;

a second power source (which may be an in-wheel motor), the second power source is also capable of driving the second rotating member 3 to rotate about its own axis, and a first clutch is disposed between the vehicle body 1 and the first rotating member 2 a mechanism, the carrier 8 and the first rotating member 2 and the second rotating member 3 are respectively provided with a second clutch mechanism (the first clutch mechanism and the second clutch mechanism are the disc brake mechanism 7 in this embodiment);

When the second power source is activated, the second rotating component 3 is driven to rotate around the first rotating component 2 to change the center of gravity of the balance vehicle, and the second power source is detected after the center of gravity detecting device detects the center of gravity deviation The start adjusts the center of gravity of the vehicle to reach a new equilibrium.

In this embodiment, the carrier 8 is mounted with a weight device 6 on the opposite side of the carrier 8 and the second rotating member 3, and the weight of the fitting device can be In this embodiment, the vehicle body 1 is further provided with a weighting mechanism 9 which includes a weighting block, and the position of the weighting block is adjustable to assist the vehicle body 1 to achieve better balance.

The transmission mechanism 5 and the first rotating member 2 are connected by a shifting device for linearly rotating the linear velocity of the transmission mechanism 5 and the maximum radial surface of the first rotating member 2 the same.

Specifically, the transport device includes two states, the first state is that the balance transport vehicle is supported on the ground only by the first rotating component 2;

The second state is that the balance transportation vehicle is simultaneously supported on the ground by the first rotating component 2 and the transmission mechanism 5 (track);

The first state and the second state are achieved by the second power source driving the second rotating member 3 to rotate about the first rotating member 2.

The specific driving process is shown in Figure 4-7. In Figure 4, the left side is the case where the balanced transportation vehicle is driven under poor road conditions (such as cross-country climbing, etc.) or the gear is lowered when braking or braking, and the right side is In the case where the road condition is good, only the first rotating member 2 supports the driving in a dynamic stable manner (or dynamic stabilization plus the gravity adjustment method in the structure of the present application);

FIG. 5 is a schematic view of the balance transporting vehicle up and down the stairs, and the overall center of gravity of the balance vehicle can be controlled by the position adjustment of the second rotating component 3 so that the phenomenon of tipping or the like does not occur;

Figure 6 is the case where the balance transportation vehicle passes through the pit. By adjusting the position of the second rotating member 3, the track is controlled to be lowered, and the balance transportation means is supported by at least two places to prevent it from falling into the pit;

Figure 7 shows the situation in which the balance vehicle passes the obstacle. When the obstacle is encountered, the track first contacts the obstacle, increases the stability of the balance vehicle, and the balance vehicle continues to advance. The first rotating member 2 contacts the obstacle, because there is also a front Track support, so encountering obstacles does not cause the balance vehicle to tip over and be safer.

Example 2

In this embodiment, a structure different from that of Embodiment 1 is that, in the second state, the transmission mechanism 5 is not in contact with the ground, and in the second state, the balance transportation vehicle simultaneously passes the first rotation. The component 2 and other supporting structures (such as the driven wheel 4 in Embodiment 1) are supported on the ground. If so, the transmission mechanism 5 (may not be a crawler belt, the conveyor belt can be used) does not bypass the driven wheel 4, but merely bypasses the The second rotating member 3 can be rotated to complete the process of rotating the second rotating member 3 around the first rotating member 2; the transmission mechanism 5 can also be other structures, not limited to the crawler belt or the conveyor belt. Similarly, in the second state, The structure for supporting the vehicle together with the first rotating member 2 is not limited to the driven wheel 4, but may be other structures mounted on the support rod.

Claims (11)

  1. A balanced transportation vehicle characterized by comprising:
    a vehicle body for carrying or carrying a person;
    First power source;
    a first rotating component mounted on the vehicle body and driven to rotate by the first power source to drive the vehicle body to move;
    a second rotating member rotatably mounted on a carrier, the carrier being rotatable about a central axis of rotation of the first rotating member;
    a transmission mechanism, the first rotating component drives the second rotating component to rotate by the transmission mechanism;
    a second power source, the second power source is also capable of driving the second rotating member to rotate about its own axis;
    When the second power source is activated, the second rotating member is driven to rotate about the first rotating member to change the center of gravity of the balance vehicle.
  2. A balanced vehicle according to claim 1 wherein said first rotating member is a wheel.
  3. A balanced vehicle according to claim 1 wherein said transmission mechanism is a track.
  4. A balance transporting vehicle according to claim 1, wherein a first clutch mechanism is disposed between the vehicle body and the first rotating member, and the carrier is respectively coupled to the first rotating member and the second rotating member. A second clutch mechanism is provided between the two.
  5. A balance vehicle according to claim 1, wherein said second rotating member fits inside said transmission mechanism.
  6. A balance transporting vehicle according to any one of claims 1 to 4, wherein said carrier is mounted with a counterweight means, said counterweight means being located on the opposite side of said carrier and said second rotating member.
  7. A balance vehicle according to any one of claims 6 to 4, wherein the weight of the weight of the fitting device is adjustable.
  8. A balance transporting vehicle according to any one of claims 1 to 7, wherein said transmission mechanism and said first rotating member are connected by a shifting device for said transmission The linear velocity of the mechanism is the same as the linear velocity of the maximum radial surface of the first rotating member.
  9. A balance vehicle according to any one of claims 8 to 2, characterized in that it comprises two states, the first state being: the balance vehicle is supported on the ground only by the first rotating member;
    The second state is that the balance transportation vehicle is simultaneously supported on the ground by the first rotating component and the transmission mechanism;
    The first state and the second state are achieved by the second power source driving the second rotating member to rotate about the first rotating member.
  10. A balance transporting vehicle according to any one of claims 9 to 9, wherein said carrier is a support rod, said second rotating member is mounted at an outer end of said support rod, said support rod being rotatably mounted In the middle of the car body.
  11. A balanced transport vehicle according to any of claims 10, wherein The vehicle body is also provided with a weight mechanism, which includes a weight block, and the position of the weight block is adjustable.
PCT/CN2016/085078 2016-06-07 2016-06-07 Balancing transportation means WO2017210855A1 (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
PCT/CN2016/085078 WO2017210855A1 (en) 2016-06-07 2016-06-07 Balancing transportation means

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
PCT/CN2016/085078 WO2017210855A1 (en) 2016-06-07 2016-06-07 Balancing transportation means
CN201680003274.3A CN107074307A (en) 2016-06-07 2016-06-07 One kind balance means of transport

Publications (1)

Publication Number Publication Date
WO2017210855A1 true WO2017210855A1 (en) 2017-12-14

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Application Number Title Priority Date Filing Date
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JPH09156564A (en) * 1995-12-11 1997-06-17 Honda Motor Co Ltd Transfer jig for car body frame for two wheeler
US6402174B1 (en) * 2001-04-06 2002-06-11 Alan Maurer Recumbent tricycle with controlled wheel and body lean
JP2011068216A (en) * 2009-09-24 2011-04-07 Honda Motor Co Ltd Control device of omnidirectional moving vehicle
CN102139730A (en) * 2011-03-02 2011-08-03 浙江亿春科技股份有限公司 Intelligent self-balancing transportation vehicle
CN102935802A (en) * 2012-12-06 2013-02-20 南宁市武拖机械有限责任公司 Bowing tractor
CN103676943A (en) * 2013-09-12 2014-03-26 上海交通大学 A seat-type gravity center manual-controlled turning foot-pedal-type two-wheel self-balance intelligent vehicle
CN104309740A (en) * 2014-09-26 2015-01-28 柳州市新锐科技有限公司 Swinging type electric balance monocycle

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Publication number Priority date Publication date Assignee Title
CN100434331C (en) * 2007-01-29 2008-11-19 北京理工大学 Small-sized four-peddrail mobile robot driving device
CN100443351C (en) * 2007-06-22 2008-12-17 北京理工大学 Small-sized 6-track whole topographic form mobile robot
CN101244728A (en) * 2008-03-18 2008-08-20 中国矿业大学 Flame-proof type robot platform for search operation in coal mine well
US9020639B2 (en) * 2009-08-06 2015-04-28 The Regents Of The University Of California Multimodal dynamic robotic systems
US9522595B2 (en) * 2011-01-27 2016-12-20 Irobot Defense Holdings, Inc. Small unmanned ground vehicle

Patent Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH09156564A (en) * 1995-12-11 1997-06-17 Honda Motor Co Ltd Transfer jig for car body frame for two wheeler
US6402174B1 (en) * 2001-04-06 2002-06-11 Alan Maurer Recumbent tricycle with controlled wheel and body lean
JP2011068216A (en) * 2009-09-24 2011-04-07 Honda Motor Co Ltd Control device of omnidirectional moving vehicle
CN102139730A (en) * 2011-03-02 2011-08-03 浙江亿春科技股份有限公司 Intelligent self-balancing transportation vehicle
CN102935802A (en) * 2012-12-06 2013-02-20 南宁市武拖机械有限责任公司 Bowing tractor
CN103676943A (en) * 2013-09-12 2014-03-26 上海交通大学 A seat-type gravity center manual-controlled turning foot-pedal-type two-wheel self-balance intelligent vehicle
CN104309740A (en) * 2014-09-26 2015-01-28 柳州市新锐科技有限公司 Swinging type electric balance monocycle

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