WO2018133554A1 - 车辆平衡系统及其控制方法 - Google Patents

车辆平衡系统及其控制方法 Download PDF

Info

Publication number
WO2018133554A1
WO2018133554A1 PCT/CN2017/113551 CN2017113551W WO2018133554A1 WO 2018133554 A1 WO2018133554 A1 WO 2018133554A1 CN 2017113551 W CN2017113551 W CN 2017113551W WO 2018133554 A1 WO2018133554 A1 WO 2018133554A1
Authority
WO
WIPO (PCT)
Prior art keywords
vehicle
slider
auxiliary support
weight assembly
balancing system
Prior art date
Application number
PCT/CN2017/113551
Other languages
English (en)
French (fr)
Inventor
舒晓芬
Original Assignee
北京凌云智能科技有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 北京凌云智能科技有限公司 filed Critical 北京凌云智能科技有限公司
Publication of WO2018133554A1 publication Critical patent/WO2018133554A1/zh

Links

Images

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62H—CYCLE STANDS; SUPPORTS OR HOLDERS FOR PARKING OR STORING CYCLES; APPLIANCES PREVENTING OR INDICATING UNAUTHORIZED USE OR THEFT OF CYCLES; LOCKS INTEGRAL WITH CYCLES; DEVICES FOR LEARNING TO RIDE CYCLES
    • B62H1/00—Supports or stands forming part of or attached to cycles
    • B62H1/10—Supports or stands forming part of or attached to cycles involving means providing for a stabilised ride
    • B62H1/12—Supports or stands forming part of or attached to cycles involving means providing for a stabilised ride using additional wheels
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62H—CYCLE STANDS; SUPPORTS OR HOLDERS FOR PARKING OR STORING CYCLES; APPLIANCES PREVENTING OR INDICATING UNAUTHORIZED USE OR THEFT OF CYCLES; LOCKS INTEGRAL WITH CYCLES; DEVICES FOR LEARNING TO RIDE CYCLES
    • B62H1/00—Supports or stands forming part of or attached to cycles
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62J—CYCLE SADDLES OR SEATS; AUXILIARY DEVICES OR ACCESSORIES SPECIALLY ADAPTED TO CYCLES AND NOT OTHERWISE PROVIDED FOR, e.g. ARTICLE CARRIERS OR CYCLE PROTECTORS
    • B62J23/00—Other protectors specially adapted for cycles

Definitions

  • the present invention relates to the field of two-wheel balance technology, and in particular to a vehicle balance system and a control method thereof.
  • a two-wheeled vehicle is a type of vehicle that is distributed back and forth and relies on an internal balancing system to adjust the left and right balance of the vehicle.
  • the internal balance system mainly relies on the gyro system to adjust the left and right balance of the vehicle.
  • the gyro system includes a flywheel, a gyro, and a motor, and the flywheel is fixed in the gyro room by bearings.
  • the driving direction of the car is the X axis
  • the left and right direction of the car is the Y axis
  • the vertical direction of the car is the Z axis.
  • the car's heading direction is the positive direction of the X-axis.
  • the left side of the car is the positive direction of the Y-axis along the direction of the car, and the upper side of the car is the positive direction of the Z-axis.
  • the flywheel can perform a rotary motion about the Z axis, and the gyro room is fixed on the frame, and can perform a rotary motion around the Y axis.
  • the flywheel makes a rotary motion in the positive direction of the Z-axis.
  • the motor drives the gyro to rotate in the negative direction of the Y-axis
  • the torque in the positive direction of the X-axis is output through the frame, and the entire frame is offset in the negative direction of the Y-axis.
  • the left and right balance of the vehicle can be adjusted by adjusting the offset of the gyro room by the motor. Since the offset of the gyro room is limited by space, after the vehicle is repeatedly disturbed by the external force in the same direction or after being subjected to the same external force, the gyro room cannot continue to resist the external force disturbance after reaching the maximum position, which will affect the vehicle balance. The vehicle is tilted, so the gyro system needs to be unloaded to return the gyro room in the gyro system to its original position.
  • the prior art method of unloading the gyro system causes the vehicle to swing back and forth, which may cause the driver to drive discomfort and affect the experience.
  • the present invention provides a vehicle balancing system to solve the problem of frequent vehicle sway in the prior art when unloading the gyro system and to solve the problem in the prior art that the vehicle volume and weight need to be significantly increased to solve the frequent sway of the vehicle.
  • the present invention provides a vehicle balance system including: an auxiliary support member that falls when the vehicle is stopped, rises while the vehicle is running; a gyro system that is disposed on the vehicle, and the gyro system And adjusting a balance of the vehicle; a weight assembly disposed on the vehicle and coupled to the auxiliary support, the weight assembly adjusting a position of a center of gravity of the vehicle according to an operating state of the gyro system.
  • the vehicle balancing system further includes a slide rail for carrying the weight assembly to provide a running track for the movement of the weight assembly.
  • the weight assembly includes: a first slider; a first driving mechanism coupled to the slider, wherein the first driving mechanism is configured to drive the slider to move in the direction of the sliding rail.
  • the weight assembly further includes: a second slider; a second driving mechanism connected to the slider, wherein the first driving mechanism is configured to drive the slider to move in the direction of the sliding rail .
  • the weight assembly includes: a controller electrically connected to the first driving mechanism and the second driving mechanism, and the controller controls the first sliding according to the gyro system motion state and the vehicle state The block and the second slider move.
  • the weight assembly includes two controllers, one of which is electrically connected to the first driving mechanism, and the other controller is electrically connected to the second driving mechanism.
  • the weight assembly includes a telescopic mechanism connected to the auxiliary support member to drive the auxiliary support member to perform horizontal and vertical movements, and a driving mechanism coupled to the telescopic mechanism for driving the driving mechanism.
  • the telescopic mechanism moves in the direction of gravity center adjustment.
  • An embodiment of the present invention provides a vehicle balance system control method.
  • the vehicle balance system is the vehicle balance system.
  • the initial position of the slider is the farthest point on the slider from the intersection of the slider direction and the longitudinal axis of the vehicle.
  • the initial position is the default position of the slider, which is the position where all the moments must be removed except for the center of gravity adjustment.
  • auxiliary support performs a lifting and landing action when the slider is in an initial position.
  • the present invention also provides a vehicle balance system comprising: an auxiliary support member for being disposed on a vehicle, the auxiliary support member being adjustably disposed relative to a position of the vehicle; and a gyro system disposed on the frame of the vehicle,
  • the utility model is used for adjusting the balance state of the vehicle; the weight assembly is arranged on the vehicle and connected with the auxiliary support member, and the weight assembly adjusts the position of the center of gravity of the vehicle according to the running state of the gyro system.
  • the vehicle balance system further includes: a slide rail disposed on the frame, at least a portion of the weight assembly being slidably coupled to the slide rail along an extending direction of the slide rail.
  • the weight assembly includes: a slider, the slider is matched with the slide rail, and the weight assembly is slidably engaged with the slide rail through the slider.
  • the slide rail and the slider are two, and the two slide rails and the two sliders are disposed in one-to-one correspondence; the auxiliary support members are two, and the two auxiliary support members are respectively connected with the corresponding one of the sliders.
  • both slide rails extend in the width direction of the frame such that both auxiliary support members are spaced apart along the width direction of the frame.
  • the weight assembly further includes: a connecting bracket, the connecting bracket is disposed on the slider, and the slider is connected to the auxiliary supporting member through the connecting bracket.
  • the weight assembly further includes: a rocker arm, one end of the rocker arm and the connecting bracket, and the auxiliary support member is disposed at the other end of the rocker arm; wherein the rocker arm and the connecting bracket are swingably connected to drive the auxiliary support member to lift and lower.
  • the slider has an initial position and the slider moves from the initial position toward the longitudinal axis of the vehicle frame.
  • the auxiliary support has a raised position and a lowered position, and the auxiliary support moves between the raised position or the lowered position when the slider is in the initial position.
  • auxiliary support members are two, and the two auxiliary support members are spaced apart along the width direction of the frame and are located on opposite sides of the frame.
  • the movement of the auxiliary support member and the corresponding weight is used to adjust the center of gravity of the vehicle, thereby avoiding the need for the vehicle to swing back and forth when the gyro is unloaded, without additionally adding obvious space and weight design requirements, and providing the driver with A better driving experience. That is to say, the driver's driving comfort is ensured without weakening the requirements of the vehicle design index.
  • FIG. 1 is a schematic cross-sectional structural view of a balance system according to an embodiment of the present invention
  • FIG. 2 is a schematic top plan view of a balance system according to an embodiment of the invention.
  • FIG. 3 is a schematic view showing an auxiliary support member in a raised state according to an embodiment of the present invention.
  • FIG. 4 is a schematic view showing the auxiliary support in a falling state according to an embodiment of the present invention.
  • orientations such as “front, back, up, down, left, right", “horizontal, vertical, vertical, horizontal” and “top, bottom” and the like are indicated. Or the positional relationship is generally based on the orientation or positional relationship shown in the drawings, and is merely for the convenience of the description of the invention and the simplification of the description, which are not intended to indicate or imply the indicated device or component. It must be constructed and operated in a specific orientation or in a specific orientation, and thus is not to be construed as limiting the scope of the invention; the orientations “inside and outside” refer to the inside and outside of the contour of the components themselves.
  • spatially relative terms such as “above”, “above”, “on top”, “above”, etc., may be used herein to describe as in the drawings.
  • the exemplary term “above” can include both “over” and "under”.
  • the device can also be positioned in other different ways (rotated 90 degrees or at other orientations) and the corresponding description of the space used herein is interpreted accordingly.
  • An embodiment of the present invention provides a vehicle balance system including an auxiliary support member that falls when the vehicle stops, rises while the vehicle is running, and a gyro system that is disposed on the vehicle, the gyro The system is for adjusting a balance of the vehicle; a weight assembly is disposed on the vehicle and coupled to the auxiliary support, the weight assembly adjusting a position of a center of gravity of the vehicle according to an operating state of the gyro system.
  • the auxiliary support acts to stabilize the vehicle when the vehicle is stopped, and on the other hand, it is connected with the weight assembly, and together with the weight assembly, the position of the center of gravity of the vehicle is adjusted as far as possible according to the state of the gyro system and the vehicle. To improve the user's driving comfort.
  • the vehicle balance system of FIGS. 1 and 2 further includes a slide rail for carrying the weight assembly to provide a running track for the movement of the weight assembly.
  • the slide rail forms an angle with the traveling direction of the vehicle, and may be 90 degrees or other angles.
  • the weight assembly includes: a first slider; a first driving mechanism connected to the slider, wherein the first driving mechanism is configured to drive the slider to move in the direction of the sliding rail.
  • the first sliding rail, the first sliding block and the first driving mechanism constitute a first set of weight components, and the sliders of different weights are arranged according to requirements, and the slider with the larger weight adjusts the center of gravity.
  • the weight assembly further includes a second sliding rail, a second sliding block, and a second driving mechanism, wherein the second driving mechanism is drivingly connected to the slider, and the second driving mechanism is configured to drive the slider Moving in the direction of the slide rail.
  • the second sliding rail, the second sliding block and the second driving mechanism constitute a second set of weight components, the two sets of weight components are symmetrically arranged, the two sets of weight components are completely independent in structure, each slider drives a support member, Assuming that the first weight assembly is connected to the left side support of the vehicle, and the second weight assembly is connected to the right side support of the vehicle, only the movement of the left support member is driven when the first slider is moved, and only when the second slider is moved. The right support moves.
  • the weight assembly further includes a controller electrically connected to the first driving mechanism, and the first controller controls the slider movement according to the gyro system motion state and the vehicle state.
  • the controller controls how the slider moves and controls the movement distance and movement speed of the slider according to internal commands.
  • the weight component can be controlled by the same controller, the controller is electrically connected to the first driving mechanism and the second driving mechanism, and the controller is according to the gyro system
  • the motion state and the vehicle state control the slider to move.
  • Two drive mechanisms are controlled by the same controller, and the two drive mechanisms control the slider action, and the two sliders can be operated separately or simultaneously.
  • the weight component can be separately controlled by two controllers, one of the controllers is electrically connected to the first driving mechanism, and the other controller is electrically connected to the second driving mechanism. .
  • One of the controllers controls the first drive mechanism and the other controller controls the second drive mechanism.
  • the slider controlled by the first drive mechanism and the slider controlled by the second drive mechanism may slide separately or simultaneously.
  • the weight assembly includes: a telescopic mechanism connected to the auxiliary support member to drive the auxiliary support member to perform horizontal and vertical movement; and a driving mechanism coupled to the telescopic mechanism.
  • the drive mechanism is configured to drive the telescopic mechanism to move in a direction in which the center of gravity is adjusted.
  • the telescopic mechanism is equivalent to a mechanical arm, which can move horizontally to realize the center of gravity adjustment of the vehicle to improve the driving experience of the driver, and the telescopic mechanism can also be vertically moved to assist the two-wheeled vehicle to maintain static balance when stopped.
  • the telescopic mechanism is connected to the auxiliary support member, and the center of gravity adjustment function can be realized without the slide rail.
  • the connecting brackets in the drawings 1, 2, 3 and 4 of the present invention can be selected according to requirements, and the slider can be connected with the bracket structure, that is, the slider can be directly connected with the auxiliary supporting member; the auxiliary supporting member
  • the lifting drive mechanism can be disposed on the slider, and the wire connecting the driving mechanism can be reserved for a certain length.
  • the invention also provides a vehicle balance system control method, wherein the vehicle in the control method is a two-wheeled vehicle with a slider, and the initial position of the slider is the farthest point on the slider from the intersection of the slider direction and the longitudinal axis of the vehicle.
  • This initial position is the default position of the slider, which is the position at which all the moments must be removed except for the center of gravity adjustment.
  • the initial position of the slider is the farthest point on the slider from the intersection of the slider and the longitudinal axis of the vehicle.
  • the initial position is the default position of the slider, as shown in Figures 2 and 3.
  • the optimal support member raises the landing position as the initial position and the default position of the slider.
  • the slider is always in the initial position, and only needs to be adjusted when the vehicle center of gravity needs to be adjusted.
  • the support member is raised, the control slider moves in the specified direction, and finally the center of gravity is adjusted, and the support member returns to the initial position.
  • the auxiliary support performs the raising and lowering action when the slider is in the initial position.
  • the weight assembly is not placed on the frame relative to the embodiment, but is placed on the upper part of the vehicle body, and the left and right auxiliary support weight assemblies and the auxiliary support members are integrally connected and driven.
  • the mechanism drives the weight assembly and the auxiliary support to achieve a lifting or lowering function.
  • the slide rail is fixed to the driving mechanism, and the length of the sliding rail can be greater than or less than the width of the vehicle body.
  • the structure and method disclosed by the present invention are applicable to a vehicle having a gyro system, and also to a vehicle without a gyro system, where the adjustment of the center of gravity of the vehicle is required, and the position of the auxiliary support member is used to change the center of gravity of the vehicle.
  • the adjustment of the center of gravity of the vehicle is required, and the position of the auxiliary support member is used to change the center of gravity of the vehicle.
  • the vehicle balancing system of the present invention includes: an auxiliary support 10 for being disposed on the vehicle, the auxiliary support 10 being adjustably disposed relative to the vehicle position; and a gyro system disposed on the frame 20 of the vehicle
  • the utility model is used for adjusting the balance state of the vehicle; the weight assembly is arranged on the vehicle and connected with the auxiliary support member, and the weight assembly adjusts the position of the center of gravity of the vehicle according to the running state of the gyro system.
  • the weight assembly is coupled to the auxiliary support 10 and the gyro system to adjust the position of the auxiliary support 10 in accordance with the operating state of the gyro system to adjust the position of the center of gravity of the vehicle.
  • the vehicle balance system further includes a slide rail 21 disposed on the frame 20, and at least a portion of the weight assembly is slidably coupled to the slide rail 21 along the extending direction of the slide rail 21.
  • the weight assembly includes a slider 31 that is adapted to the slide rail 21, and the weight assembly is slidably engaged with the slide rail 21 via the slider 31.
  • both the slide rail 21 and the slider 31 are two, and the two slide rails 21 and the two sliders 31 are disposed one by one; the auxiliary support members 10 are two, and the two auxiliary support members 10 are respectively Connected to a corresponding one of the sliders 31.
  • both of the slide rails 21 extend in the width direction of the frame 20 such that both of the auxiliary support members 10 are spaced apart in the width direction of the frame 20.
  • the weight assembly further includes a connecting bracket 32, the connecting bracket 32 is disposed on the slider 31, and the slider 31 is connected to the auxiliary supporting member 10 through the connecting bracket 32.
  • the weight assembly further includes: a rocker arm 33, one end of the rocker arm 33 and the connecting bracket 32, and the auxiliary support member 10 is disposed at the other end of the rocker arm 33; wherein the rocker arm 33 and the connecting bracket 32 can swing Ground connection to drive the auxiliary support 10 up and down.
  • the slider 31 has an initial position, and the slider 31 is moved from the initial position toward the vehicle longitudinal axis of the frame 20.
  • the auxiliary support 10 has a raised position and a lowered position, and when the slider 31 is in the initial position, the auxiliary support 10 moves between the raised position or the lowered position.
  • the auxiliary support members 10 are two, and the two auxiliary support members 10 are spaced apart along the width direction of the frame 20 and located on opposite sides of the frame 20.

Landscapes

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

Abstract

一种车辆平衡系统及其控制方法，该车辆平衡系统包括：辅助支撑件（10），辅助支撑件（10）在车辆停止时降落，在车辆行驶时升起；陀螺系统，设置在车架（20）上，陀螺系统用于调节所述车辆的平衡；配重组件，设置在所述车辆上，与辅助支撑件（10）连接，配重组件根据所述陀螺系统的运行状态调节所述车辆的重心位置。所述车辆平衡系统及其控制方法既能够避免陀螺卸载时车辆需要进行来回摆动，又不需要额外增加明显的空间和重量设计要求，为驾驶者提供更好的驾驶体验，即能在不减弱车辆设计指标要求的前提下保证驾驶者的驾驶舒适性。

Description

车辆平衡系统及其控制方法 技术领域
本发明涉及两轮车平衡技术领域，具体而言，涉及一种车辆平衡系统及其控制方法。
背景技术
两轮汽车是一种车轮前后分布，并依靠内部平衡系统来调整车辆左右平衡的交通工具。
现有技术中的两轮汽车，其内部平衡系统主要依靠陀螺系统来调节车辆的左右平衡。陀螺系统包括飞轮、陀螺房和电机，飞轮通过轴承固定在陀螺房内。为了便于理解，规定汽车的行驶方向为X轴，汽车的左右方向为Y轴，汽车的竖直方向为Z轴。并且汽车前进方向为X轴正方向，沿汽车前进方向汽车的左侧为Y轴正方向，汽车的上方为Z轴的正方向。具体的，飞轮可做绕Z轴的旋转运动，陀螺房固定在机架上，并可做绕Y轴的旋转运动。其中，飞轮以Z轴的正方向做旋转运动，当电机带动陀螺房以Y轴正方向旋转运动时，由于陀螺进动效应，则会通过机架输出X轴负方向的力矩，使机架整体朝Y轴正方向偏移。当电机带动陀螺房以Y轴负方向旋转运动时，则会通过机架输出X轴正方向的力矩，并使机架整体朝Y轴负方向偏移。通过电机调整陀螺房的偏移量可调整车辆的左右平衡。由于陀螺房的偏移受空间限制，因此当车辆多次受到同一方向的外力扰动后或受到持续同一外力作用后，陀螺房在达到最大位置后则无法继续抵御外力扰动，则会影响车辆平衡，使车辆发生倾斜，因此需要对陀螺系统进行卸载，使陀螺系统内的陀螺房回到初始位置。
现有技术中在对陀螺系统进行卸载时，例如在当车辆受到扰动或外力作用，车辆向Y轴负方向偏移时，通过提高电机带动陀螺房向Y轴正方向旋转速度，使机架输出向X轴负方向更大的力矩，进而能够使车辆向Y轴负方向偏移的角度比之前减小的更多，直至越过竖直中线而出现向Y轴正方向偏移的情形，当车辆平衡时，陀螺房不处于初始平衡位置时，陀螺房仍然会产生力矩，该力矩使得车辆会继续运动而偏离平衡位置，这样陀螺力矩和车辆重力力矩达到一个动态平衡，如此通过反复调节，能够使车辆直立而保持平衡，并且实现了对陀螺系统的卸载。
现有技术中对陀螺系统进行卸载的方式，会使得车辆来回摆动，这样会造成驾驶者驾驶不适，影响使用体验。
目前其它解决车辆来回摆动一般均采用增加额外的部件，一方面需要占用额外空间，另一方面需要增加额外重量，这样的结构特征在车辆设计上不是我们所期望的。
发明内容
本发明提供一种车辆平衡系统，以解决现有技术中的在对陀螺系统进行卸载时车辆频繁晃动问题并且解决现有技术中需要明显额外增加车辆体积和重量去解决车辆频繁晃动的问题。
本发明提供了一种车辆平衡系统，车辆平衡系统包括：辅助支撑件，所述辅助支撑件在车辆停止时降落，在车辆行驶时升起；陀螺系统，设置在车辆上，所述陀螺系统用于调节所述车辆的平衡；配重组件，设置在所述车辆上，与所述辅助支撑件连接，所述配重组件根据所述陀螺系统的运行状态调节所述车辆的重心位置。
进一步地，车辆平衡系统还包括滑轨，所述滑轨用于承载配重组件，为配重组件移动提供运行轨道。
进一步地，所述配重组件包括：第一滑块；第一驱动机构，与所述滑块驱动连接，所述第一驱动机构用于驱动所述滑块在所述滑轨方向上移动。
进一步地，所述配重组件还包括：第二滑块；第二驱动机构，与所述滑块驱动连接，所述第一驱动机构用于驱动所述滑块在所述滑轨方向上移动。
进一步地，所述配重组件包括：控制器，所述控制器与所述第一驱动机构和第二驱动机构电连接，所述控制器根据所述陀螺系统运动状态和车辆状态控制第一滑块和第二滑块移动。
进一步地，所述配重组件包括：两个控制器，其中一个控制器与所述第一驱动机构电连接，另外一个控制器与所述第二驱动机构电连接。
进一步地，所述配重组件包括伸缩机构，与所述辅助支撑件连接，能够带动辅助支撑件做水平和垂直运动；驱动机构，与所述伸缩机构驱动连接，所述驱动机构用于驱动所述伸缩机构在重心调节的方向上运动。
本发明实施例提供了一种车辆平衡系统控制方法，所述车辆平衡系统为上述车辆平衡系统，所述滑块的初始位置为滑块上离滑块方向与车纵轴交点最远点，该初始位置是滑块的默认位置，默认位置即除了需要重心调节必须离开该处外其它所有时刻的位置。
进一步地，所述辅助支撑件在所述滑块处于初始位置时执行升起降落动作。
本发明还提供了一种车辆平衡系统，包括：辅助支撑件，辅助支撑件用于设置在车辆上，辅助支撑件相对于车辆位置可调节地设置；陀螺系统，设置在车辆的车架上，用于调整车辆的平衡状态；配重组件，设置在车辆上，与辅助支撑件连接，配重组件根据陀螺系统的运行状态调节车辆的重心位置。
进一步地，车辆平衡系统还包括：滑轨，滑轨设置在车架上，配重组件的至少部分沿滑轨的延伸方向可滑动地与滑轨连接。
进一步地，配重组件包括：滑块，滑块与滑轨相适配，配重组件通过滑块与滑轨滑动配合。
进一步地，滑轨和滑块均为两个，两个滑轨和两个滑块一一对应地设置；辅助支撑件为两个，两个辅助支撑件分别与相应一个滑块连接。
进一步地，两个滑轨均沿车架的宽度方向延伸，以使两个辅助支撑件均沿车架的宽度方向间隔设置。
进一步地，配重组件还包括：连接支架，连接支架设置在滑块上，滑块通过连接支架与辅助支撑件连接。
进一步地，配重组件还包括：摇臂，摇臂的一端与连接支架，辅助支撑件设置在摇臂的另一端；其中，摇臂与连接支架可摆动地连接，以带动辅助支撑件升降。
进一步地，滑块具有初始位置，滑块由初始位置朝向靠近车架的车纵轴线的方向移动。
进一步地，辅助支撑件具有升起位置和降落位置，当滑块位于初始位置时，辅助支撑件在升起位置或降落位置之间运动。
进一步地，辅助支撑件为两个，两个辅助支撑件沿车架的宽度方向间隔设置并位于车架的相对两侧。
应用本发明的技术方案，利用辅助支撑件及相应配重的移动来调节车辆重心，既避免陀螺卸载时车辆需要进行来回摆动，又不需要额外增加明显的空间和重量设计要求，为驾驶者提供更好的驾驶体验。即在不减弱车辆设计指标要求的前提下保证驾驶者的驾驶舒适性。
附图说明
构成本申请的一部分的说明书附图用来提供对本发明的进一步理解，本发明的示意性实施例及其说明用于解释本发明，并不构成对本发明的不当限定。在附图中：
图1示出了根据本发明实施例提供的平衡系统横向剖面结构示意图；
图2示出了根据本发明实施例提供的平衡系统俯视结构示意图；
图3示出了根据本发明实施例提供的辅助支撑件处于升起状态示意图；
图4示出了根据本发明实施例提供的辅助支撑件处于降落状态示意图。
附图标记：
10、辅助支撑件；20、车架；21、滑轨；31、滑块；32、连接支架；33、摇臂。
具体实施方式
下面将结合本发明实施例中的附图，对本发明实施例中的技术方案进行清楚、完整地描述，显然，所描述的实施例仅仅是本发明一部分实施例，而不是全部的实施例。以下对至少一个示例性实施例的描述实际上仅仅是说明性的，决不作为对本发明及其应用或使用的任何 限制。基于本发明中的实施例，本领域普通技术人员在没有作出创造性劳动前提下所获得的所有其他实施例，都属于本发明保护的范围。
需要注意的是，这里所使用的术语仅是为了描述具体实施方式，而非意图限制根据本申请的示例性实施方式。如在这里所使用的，除非上下文另外明确指出，否则单数形式也意图包括复数形式，此外，还应当理解的是，当在本说明书中使用术语“包含”和/或“包括”时，其指明存在特征、步骤、操作、器件、组件和/或它们的组合。
除非另外具体说明，否则在这些实施例中阐述的部件和步骤的相对布置、数字表达式和数值不限制本发明的范围。同时，应当明白，为了便于描述，附图中所示出的各个部分的尺寸并不是按照实际的比例关系绘制的。对于相关领域普通技术人员已知的技术、方法和设备可能不作详细讨论，但在适当情况下，所述技术、方法和设备应当被视为授权说明书的一部分。在这里示出和讨论的所有示例中，任何具体值应被解释为仅仅是示例性的，而不是作为限制。因此，示例性实施例的其它示例可以具有不同的值。应注意到：相似的标号和字母在下面的附图中表示类似项，因此，一旦某一项在一个附图中被定义，则在随后的附图中不需要对其进行进一步讨论。
在本发明的描述中，需要理解的是，方位词如“前、后、上、下、左、右”、“横向、竖向、垂直、水平”和“顶、底”等所指示的方位或位置关系通常是基于附图所示的方位或位置关系，仅是为了便于描述本发明和简化描述，在未作相反说明的情况下，这些方位词并不指示和暗示所指的装置或元件必须具有特定的方位或者以特定的方位构造和操作，因此不能理解为对本发明保护范围的限制；方位词“内、外”是指相对于各部件本身的轮廓的内外。
为了便于描述，在这里可以使用空间相对术语，如“在……之上”、“在……上方”、“在……上表面”、“上面的”等，用来描述如在图中所示的一个器件或特征与其他器件或特征的空间位置关系。应当理解的是，空间相对术语旨在包含除了器件在图中所描述的方位之外的在使用或操作中的不同方位。例如，如果附图中的器件被倒置，则描述为“在其他器件或构造上方”或“在其他器件或构造之上”的器件之后将被定位为“在其他器件或构造下方”或“在其他器件或构造之下”。因而，示例性术语“在……上方”可以包括“在……上方”和“在……下方”两种方位。该器件也可以其他不同方式定位(旋转90度或处于其他方位)，并且对这里所使用的空间相对描述作出相应解释。
此外，需要说明的是，使用“第一”、“第二”等词语来限定零部件，仅仅是为了便于对相应零部件进行区别，如没有另行声明，上述词语并没有特殊含义，因此不能理解为对本发明保护范围的限制。
本发明实施例提供了一种车辆平衡系统，该车辆平衡系统包括辅助支撑件，所述辅助支撑件在车辆停止时降落，在车辆行驶时升起；陀螺系统，设置在车辆上，所述陀螺系统用于调节所述车辆的平衡；配重组件，设置在所述车辆上，与所述辅助支撑件连接，所述配重组件根据所述陀螺系统的运行状态调节所述车辆的重心位置。
辅助支撑件一方面起到车辆停止时稳定车辆的作用，另一方面与配重组件连接，和配重组件一起根据陀螺系统和车辆的状态尽可能保证车身直立的情况下实现车辆重心位置的调整，提高用户的驾驶舒适性。
具体的，如图1和图2车辆平衡系统还包括滑轨，滑轨用于承载配重组件，为配重组件移动提供运行轨道。
所述滑轨与车辆行驶方向形成夹角，可以是90度也可以是其它角度。
具体的，所述配重组件包括：第一滑块；第一驱动机构，与所述滑块驱动连接，所述第一驱动机构用于驱动所述滑块在所述滑轨方向上移动。
第一滑轨、第一滑块及第一驱动机构构成第一套配重组件，根据需要配置不同重量的滑块，重量越大的滑块调节重心的力度越大。
具体的，所述配重组件还包括第二滑轨、第二滑块、第二驱动机构，第二驱动机构与所述滑块驱动连接，所述第二驱动机构用于驱动所述滑块在所述滑轨方向上移动。
第二滑轨、第二滑块及第二驱动机构构成第二套配重组件，两套配重组件对称布置，两套配重组件在结构上完全独立，每一个滑块带动一个支撑件，假定第一配重组件连接车辆左侧支撑件，第二配重组件连接车辆右侧支撑件，则当第一滑块运动时只带动左侧支撑件运动，当第二滑块运动时只带动右侧支撑件运动。
具体的，所述配重组件还包括控制器，所述控制器与所述第一驱动机构电连接，所述第一控制器根据所述陀螺系统运动状态和车辆状态控制所述滑块移动。
控制器控制滑块如何运动，根据内部指令控制滑块的运动距离和运动速度。
具体的，如果有两套配重组件，配重组件可以由同一个控制器控制，所述控制器与所述第一驱动机构和第二驱动机构电连接，所述控制器根据所述陀螺系统运动状态和车辆状态控制所述滑块移动。
由同一个控制器控制两个驱动机构，两个驱动机构控制滑块动作，两个滑块可以单独动作，也可以同时动作。
具体的，如果有两套配重组件，配重组件可以由两个控制器分别控制，其中一个控制器与所述第一驱动机构电连接，另外一个控制器与所述第二驱动机构电连接。其中一个控制器控制第一驱动机构，另外一个控制器控制第二驱动机构。第一驱动机构控制的滑块和第二驱动机构控制的滑块可以单独滑动，也可以同时滑动。
本发明提供的实施例二中，所述配重组件包括：伸缩机构，与所述辅助支撑件连接，能够带动辅助支撑件做水平和垂直运动；驱动机构，与所述伸缩机构驱动连接，所述驱动机构用于驱动所述伸缩机构在重心调节的方向上运动。
伸缩机构相当于机械臂，该伸缩机构可以水平运动，实现车辆的重心调节，来提高驾驶者的驾驶体验，伸缩机构也可以垂直运动，用于辅助两轮车辆在停止时保持静态平衡。该伸缩机构与辅助支撑件相连接，不需要滑轨即可实现重心调节功能。
本发明的附图图1、图2、图3、图4中的连接支架可根据需要进行选取，滑块上可自带连接支架结构，即滑块可以直接和辅助支撑件连接；辅助支撑件升降驱动机构可设置在滑块上，连接驱动机构的导线预留一定长度即可。
本发明还提供了一种车辆平衡系统控制方法，该控制方法中的车辆为具有滑块的两轮车，滑块的初始位置为滑块上离滑块方向与车纵轴交点最远点，该初始位置是滑块的默认位置，默认位置即除了需要重心调节必须离开该处外其它所有时刻的位置。
滑块的初始位置为滑块上离滑块方向与车纵轴交点最远点，该初始位置是滑块的默认位置，如图2和图3所示。此时为最佳的支撑件升起降落位置可作为滑块的初始位置和默认位置，在不需要重心调节的情况下，滑块总是处于初始位置，只有当需要调节车辆重心时，才需要在支撑件升起状态下控制滑块在指定方向移动，最终重心调节完毕，支撑件回到初始位置。
具体的，优选所述辅助支撑件在所述滑块处于初始位置时才执行升起降落动作。为了更好的保持平衡性和安全性，可以只允许辅助支撑件在滑块处于初始位置时才执行升起降落动作。如果可以在滑块处于任意位置时降落辅助支撑件，则在辅助支撑件接触地面以后车辆左右两边受力不均，影响车辆使用寿命。
本发明提供的实施例三中，相对于实施例一配重组件不放置在车架上，而是放置在车身上部，左右两个辅助支撑件配重组件和辅助支撑件连接成一整体，有驱动机构驱动配重组件和辅助支撑件实现升起或降落功能，滑轨固定在驱动机构上，滑轨长度可大于或可小于车身宽度。
本发明所揭示的结构和方法适用于有陀螺系统的车辆，也适用于没有陀螺系统的车辆，凡需要车辆重心调节的，并可利用辅助支撑件位置移动改变车辆重心的均在本发明的保护范围之内。
本发明中的车辆平衡系统，包括：辅助支撑件10，辅助支撑件10用于设置在车辆上，辅助支撑件10相对于车辆位置可调节地设置；陀螺系统，设置在车辆的车架20上，用于调整车辆的平衡状态；配重组件，设置在车辆上，与辅助支撑件连接，配重组件根据陀螺系统的运行状态调节车辆的重心位置。
具体地，配重组件与辅助支撑件10和陀螺系统连接，以根据陀螺系统的运行状态调节辅助支撑件10的位置以调节车辆的重心位置。
在本实施例中，车辆平衡系统还包括：滑轨21，滑轨21设置在车架20上，配重组件的至少部分沿滑轨21的延伸方向可滑动地与滑轨21连接。
在本实施例中，配重组件包括：滑块31，滑块31与滑轨21相适配，配重组件通过滑块31与滑轨21滑动配合。
在本实施例中，滑轨21和滑块31均为两个，两个滑轨21和两个滑块31一一对应地设置；辅助支撑件10为两个，两个辅助支撑件10分别与相应一个滑块31连接。
在本实施例中，两个滑轨21均沿车架20的宽度方向延伸，以使两个辅助支撑件10均沿车架20的宽度方向间隔设置。
在本实施例中，配重组件还包括：连接支架32，连接支架32设置在滑块31上，滑块31通过连接支架32与辅助支撑件10连接。
在本实施例中，配重组件还包括：摇臂33，摇臂33的一端与连接支架32，辅助支撑件10设置在摇臂33的另一端；其中，摇臂33与连接支架32可摆动地连接，以带动辅助支撑件10升降。
在本实施例中，滑块31具有初始位置，滑块31由初始位置朝向靠近车架20的车纵轴线的方向移动。
在本实施例中，辅助支撑件10具有升起位置和降落位置，当滑块31位于初始位置时，辅助支撑件10在升起位置或降落位置之间运动。
在本实施例中，辅助支撑件10为两个，两个辅助支撑件10沿车架20的宽度方向间隔设置并位于车架20的相对两侧。
以上所述仅为本发明的优选实施例而已，并不用于限制本发明，对于本领域的技术人员来说，本发明可以有各种更改和变化。凡在本发明的精神和原则之内，所作的任何修改、等同替换、改进等，均应包含在本发明的保护范围之内。

Claims (19)

  1. 一种车辆平衡系统，其特征在于，所述车辆平衡系统包括：
    辅助支撑件，所述辅助支撑件在车辆停止时降落，在车辆行驶时升起；
    陀螺系统，设置在车架上，所述陀螺系统用于调节所述车辆的平衡；
    配重组件，设置在所述车辆上，与所述辅助支撑件连接，所述配重组件根据所述陀螺系统的运行状态调节所述车辆的重心位置。
  2. 根据权利要求1所述的车辆平衡系统，其特征在于，所述车辆平衡系统还包括滑轨，所述滑轨用于承载配重组件，为配重组件移动提供运行轨道。
  3. 根据权利要求2所述的车辆平衡系统，其特征在于，所述配重组件包括：
    第一滑块；
    第一驱动机构，与所述第一滑块驱动连接，所述第一驱动机构用于驱动所述第一滑块在所述滑轨方向上移动。
  4. 根据权利要求3所述的车辆平衡系统，其特征在于，所述配重组件还包括：
    第二滑块；
    第二驱动机构，与所述第二滑块驱动连接，所述第二驱动机构用于驱动所述第二滑块在所述滑轨方向上移动。
  5. 根据权利要求4所述的车辆平衡系统，其特征在于，所述配重组件包括：
    控制器，所述控制器与所述第一驱动机构和第二驱动机构电连接，所述控制器根据所述陀螺系统运动状态和车辆状态控制所述第一滑块和所述第二滑块移动。
  6. 根据权利要求4所述的车辆平衡系统，其特征在于，所述配重组件包括：
    两个控制器，其中一个控制器与所述第一驱动机构电连接，另外一个控制器与所述第二驱动机构电连接。
  7. 根据权利要求1所述的车辆平衡系统，其特征在于，所述配重组件包括：
    伸缩机构，与所述辅助支撑件连接，能够带动辅助支撑件做水平和垂直运动；
    驱动机构，与所述伸缩机构驱动连接，所述驱动机构用于驱动所述伸缩机构在重心调节的方向上运动。
  8. 一种车辆平衡系统控制方法，其特征在于，所述车辆平衡系统为权利要求1至7中任一项所述车辆平衡系统，滑块的初始位置为滑块上离滑块方向与车纵轴交点最远点，该初始位置是滑块的默认位置，默认位置即除了需要重心调节必须离开该处外其它所有时刻的位置。
  9. 根据权利要求8所述的车辆平衡系统控制方法，其特征在于，所述辅助支撑件在所述滑块处于初始位置时执行升起降落动作。
  10. 一种车辆平衡系统，其特征在于，包括：
    辅助支撑件(10)，所述辅助支撑件(10)用于设置在车辆上，所述辅助支撑件(10)相对于所述车辆位置可调节地设置；
    陀螺系统，设置在所述车辆的车架(20)上，用于调整所述车辆的平衡状态；
    配重组件，设置在所述车辆上，与所述辅助支撑件连接，所述配重组件根据所述陀螺系统的运行状态调节所述车辆的重心位置。
  11. 根据权利要求10所述的车辆平衡系统，其特征在于，所述车辆平衡系统还包括：
    滑轨(21)，所述滑轨(21)设置在所述车架(20)上，所述配重组件的至少部分沿所述滑轨(21)的延伸方向可滑动地与所述滑轨(21)连接。
  12. 根据权利要求11所述的车辆平衡系统，其特征在于，所述配重组件包括：
    滑块(31)，所述滑块(31)与所述滑轨(21)相适配，所述配重组件通过所述滑块(31)与所述滑轨(21)滑动配合。
  13. 根据权利要求12所述的车辆平衡系统，其特征在于，所述滑轨(21)和所述滑块(31)均为两个，两个所述滑轨(21)和两个所述滑块(31)一一对应地设置；所述辅助支撑件(10)为两个，两个所述辅助支撑件(10)分别与相应一个所述滑块(31)连接。
  14. 根据权利要求13所述的车辆平衡系统，其特征在于，
    两个所述滑轨(21)均沿所述车架(20)的宽度方向延伸，以使两个所述辅助支撑件(10)均沿所述车架(20)的宽度方向间隔设置。
  15. 根据权利要求12所述的车辆平衡系统，其特征在于，所述配重组件还包括：
    连接支架(32)，所述连接支架(32)设置在所述滑块(31)上，所述滑块(31)通过所述连接支架(32)与所述辅助支撑件(10)连接。
  16. 根据权利要求15所述的车辆平衡系统，其特征在于，所述配重组件还包括：
    摇臂(33)，所述摇臂(33)的一端与所述连接支架(32)，所述辅助支撑件(10)设置在所述摇臂(33)的另一端；其中，所述摇臂(33)与所述连接支架(32)可摆动地连接，以带动所述辅助支撑件(10)升降。
  17. 根据权利要求12所述的车辆平衡系统，其特征在于，所述滑块(31)具有初始位置，所述滑块(31)由所述初始位置朝向靠近所述车架(20)的车纵轴线的方向移动。
  18. 根据权利要求17所述的车辆平衡系统，其特征在于，所述辅助支撑件(10)具有升起位置和降落位置，当所述滑块(31)位于所述初始位置时，所述辅助支撑件(10)在所述升起位置或所述降落位置之间运动。
  19. 根据权利要求10所述的车辆平衡系统，其特征在于，所述辅助支撑件(10)为两个，两个所述辅助支撑件(10)沿所述车架(20)的宽度方向间隔设置并位于所述车架(20)的相对两侧。
PCT/CN2017/113551 2017-01-23 2017-11-29 车辆平衡系统及其控制方法 WO2018133554A1 (zh)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
CN201710050074.X 2017-01-23
CN201710050074.XA CN108341001A (zh) 2017-01-23 2017-01-23 两轮车辆平衡系统及其控制方法

Publications (1)

Publication Number Publication Date
WO2018133554A1 true WO2018133554A1 (zh) 2018-07-26

Family

ID=62907733

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/CN2017/113551 WO2018133554A1 (zh) 2017-01-23 2017-11-29 车辆平衡系统及其控制方法

Country Status (2)

Country Link
CN (1) CN108341001A (zh)
WO (1) WO2018133554A1 (zh)

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN113865882A (zh) * 2021-08-31 2021-12-31 东风柳州汽车有限公司 仿形滑移门以及用于仿形滑移门的测试方法
CN115366938A (zh) * 2022-10-24 2022-11-22 江苏华耀机械制造有限公司 一种安全性高的电动平车

Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN1610626A (zh) * 2002-08-28 2005-04-27 古木忍 承载式车辆
GB2465020A (en) * 2008-11-07 2010-05-12 Antony Richard Weir Self-balancing single-track electric vehicle
CN102358600A (zh) * 2011-08-18 2012-02-22 浙江大学宁波理工学院 一种高位拣选车的重心自主平衡装置
CN103600795A (zh) * 2013-10-17 2014-02-26 上海交通大学 基于圆盘光栅的自平衡两轮车
US9393483B2 (en) * 2014-09-05 2016-07-19 Dynamic Labs, Llc Motorized vehicle
CN206520696U (zh) * 2017-01-23 2017-09-26 北京凌云智能科技有限公司 两轮车辆平衡系统

Family Cites Families (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE10235576A1 (de) * 2002-08-03 2004-02-19 Bayerische Motoren Werke Ag Stützradanordnung für Einspurfahrzeuge
CN102822046B (zh) * 2010-02-26 2015-06-17 塞格威股份有限公司 车辆控制的装置和方法
JP6167352B2 (ja) * 2014-09-25 2017-07-26 株式会社ケーイーアール 移動台車
JP2016107956A (ja) * 2014-12-01 2016-06-20 宏志 後藤 自転車補助輪
CN104443194B (zh) * 2014-12-05 2017-01-18 浙江大学 装有陀螺稳定系统的两轮前后置自平衡电动车及其控制方法

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN1610626A (zh) * 2002-08-28 2005-04-27 古木忍 承载式车辆
GB2465020A (en) * 2008-11-07 2010-05-12 Antony Richard Weir Self-balancing single-track electric vehicle
CN102358600A (zh) * 2011-08-18 2012-02-22 浙江大学宁波理工学院 一种高位拣选车的重心自主平衡装置
CN103600795A (zh) * 2013-10-17 2014-02-26 上海交通大学 基于圆盘光栅的自平衡两轮车
US9393483B2 (en) * 2014-09-05 2016-07-19 Dynamic Labs, Llc Motorized vehicle
CN206520696U (zh) * 2017-01-23 2017-09-26 北京凌云智能科技有限公司 两轮车辆平衡系统

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN113865882A (zh) * 2021-08-31 2021-12-31 东风柳州汽车有限公司 仿形滑移门以及用于仿形滑移门的测试方法
CN113865882B (zh) * 2021-08-31 2024-04-19 东风柳州汽车有限公司 仿形滑移门以及用于仿形滑移门的测试方法
CN115366938A (zh) * 2022-10-24 2022-11-22 江苏华耀机械制造有限公司 一种安全性高的电动平车
CN115366938B (zh) * 2022-10-24 2023-02-28 江苏华耀机械制造有限公司 一种安全性高的电动平车

Also Published As

Publication number Publication date
CN108341001A (zh) 2018-07-31

Similar Documents

Publication Publication Date Title
US10675999B2 (en) Active vibration isolation system
JP6878448B2 (ja) 大事象中の角度軌道計画を備えた車両シート
WO2018133554A1 (zh) 车辆平衡系统及其控制方法
CN203318676U (zh) 一种重心球移动的共轴双翼飞行器
ES2745267T3 (es) Amortiguación activa de la oscilación vertical de una cabina de ascensor suspendido
CN105644783A (zh) 一种可自动调节左右翅膀扑动幅值的扑翼机器人
CN206520696U (zh) 两轮车辆平衡系统
CN106428598A (zh) 一种无人机云台和无人机
CN207190706U (zh) 移动式机器人高度自适应底盘
CN110767027B (zh) 一种飞行员空间态势感知辅助训练系统
CN206367525U (zh) 车辆平衡系统
CN205321674U (zh) 一种高度自调式支座
CN209475030U (zh) 一种背起式移位机
CN210153510U (zh) 一种基于电子三轴稳定技术的手机手持云台稳定器
CN109878738B (zh) 一种航空座椅角度调节装置
CN208947211U (zh) 一种无障碍观光车及无障碍观光系统
CN210804848U (zh) 一种飞行器教学模型座舱
CN109867213A (zh) 一种高空作业专用汽车转塔调平装置
CN204846211U (zh) 一种平衡电动车
JP2001139239A (ja) エレベーター
CN210148086U (zh) 一种人体上半身外骨骼的手臂活动支架及人体上半身外骨骼
CN207065004U (zh) 调节机构，及具有该调节机构的倒立摆装置和拍摄机器人
CN207973381U (zh) 一种电梯轿厢及其减震平衡系统
CN108248719A (zh) 车辆平衡系统
KR20200064313A (ko) 상하높이 조절이 되는 전동형 시트

Legal Events

Date Code Title Description
121 Ep: the epo has been informed by wipo that ep was designated in this application

Ref document number: 17892088

Country of ref document: EP

Kind code of ref document: A1

NENP Non-entry into the national phase

Ref country code: DE

122 Ep: pct application non-entry in european phase

Ref document number: 17892088

Country of ref document: EP

Kind code of ref document: A1