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WO2018161947A1 - Dispositif d'auto-équilibrage, véhicule électrique, véhicule de posture, valise interagissant avec l'utilisateur et planche à roulettes à deux roues - Google Patents

Dispositif d'auto-équilibrage, véhicule électrique, véhicule de posture, valise interagissant avec l'utilisateur et planche à roulettes à deux roues Download PDF

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Publication number
WO2018161947A1
WO2018161947A1 PCT/CN2018/078506 CN2018078506W WO2018161947A1 WO 2018161947 A1 WO2018161947 A1 WO 2018161947A1 CN 2018078506 W CN2018078506 W CN 2018078506W WO 2018161947 A1 WO2018161947 A1 WO 2018161947A1
Authority
WO
WIPO (PCT)
Prior art keywords
vehicle
pedal
pedal assembly
motor
wheels
Prior art date
Application number
PCT/CN2018/078506
Other languages
English (en)
Chinese (zh)
Inventor
高强
Original Assignee
深圳市亮点智控科技有限公司
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
Priority claimed from CN201720227597.2U external-priority patent/CN206744776U/zh
Priority claimed from CN201720235311.5U external-priority patent/CN206654150U/zh
Priority claimed from CN201710136887.0A external-priority patent/CN106892039B/zh
Priority claimed from CN201720229350.4U external-priority patent/CN206813194U/zh
Application filed by 深圳市亮点智控科技有限公司 filed Critical 深圳市亮点智控科技有限公司
Publication of WO2018161947A1 publication Critical patent/WO2018161947A1/fr

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Classifications

    • A—HUMAN NECESSITIES
    • A45—HAND OR TRAVELLING ARTICLES
    • A45C—PURSES; LUGGAGE; HAND CARRIED BAGS
    • A45C5/00—Rigid or semi-rigid luggage
    • A45C5/04—Trunks; Travelling baskets
    • 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
    • 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
    • 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
    • B62K5/00—Cycles with handlebars, equipped with three or more main road wheels
    • B62K5/01—Motorcycles with four or more wheels
    • 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
    • B62K5/00—Cycles with handlebars, equipped with three or more main road wheels
    • B62K5/02—Tricycles
    • B62K5/027—Motorcycles with three wheels
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62M—RIDER PROPULSION OF WHEELED VEHICLES OR SLEDGES; POWERED PROPULSION OF SLEDGES OR SINGLE-TRACK CYCLES; TRANSMISSIONS SPECIALLY ADAPTED FOR SUCH VEHICLES
    • B62M6/00—Rider propulsion of wheeled vehicles with additional source of power, e.g. combustion engine or electric motor
    • B62M6/40—Rider propelled cycles with auxiliary electric motor
    • B62M6/45—Control or actuating devices therefor
    • B62M6/50—Control or actuating devices therefor characterised by detectors or sensors, or arrangement thereof

Definitions

  • the present disclosure relates to the field of electric control technologies, and in particular, to a self-balancing device, an electric vehicle, a posture vehicle, a passenger luggage, and a two-wheeled scooter.
  • the self-balancing device is a device that allows the electric vehicle to advance, retreat, turn and stop the electric vehicle by applying different forces to the front and rear ends of the pedal assembly.
  • the user needs to drive the entire self-balancing device when using the existing self-balancing device.
  • the car body can control the driving wheel movement through the control system, the sensing sensitivity is low, and the actual operation difficulty of the user is difficult.
  • the electric vehicle is difficult to maintain stable operation especially when the driving wheel accelerates, and there is a large safety hazard.
  • the purpose of the present disclosure includes, for example, providing a self-balancing device that improves the deficiencies of the prior art, which is simple in structure, easy to handle, and relatively smooth.
  • Embodiments of the present disclosure provide a self-balancing device for an electric vehicle including a vehicle body and at least three wheels, at least two of the three of which are drive wheels, and the self-balancing device includes a pedal a component, a control system, and a motor, the motor is disposed in the driving wheel, and a motor shaft of the motor is pivotally connected to the vehicle body after passing through the driving wheel, and the pedal assembly and the vehicle body pivot
  • the control system includes an attitude detecting unit connected to the pedal assembly and a processing unit respectively connected to the attitude detecting unit and the motor shaft, the posture detecting unit configured to detect the pedal assembly and the horizontal plane An inclination angle, the processing unit controls the driving wheel to be operated by the motor according to the inclination angle, and the pedal assembly is further connected to be configured to at least partially or completely compensate when the processing unit controls the driving wheel to accelerate The angle of inclination is described to balance the auxiliary balancing mechanism of the pedal assembly.
  • the auxiliary balancing mechanism is a synchronization mechanism connected to the motor shaft, and the synchronization mechanism can apply the driving wheel to the motor at least when the processing unit controls the driving wheel to accelerate.
  • the force of the shaft is fed back to the pedal assembly to partially or fully compensate for the tilt angle.
  • the synchronization mechanism is any one of a gear transmission mechanism, a chain transmission mechanism, a belt transmission mechanism, a drawbar transmission mechanism, and a ball joint linkage transmission mechanism.
  • the pedal assembly includes a pedal body, a pedal bracket and a pedal shaft, wherein the pedal body is fixedly connected to the pedal shaft through the pedal bracket, and the synchronization mechanism is respectively coupled to the pedal shaft and the motor shaft connection.
  • the posture detecting unit includes a gyroscope and an acceleration sensor provided on the pedal body or the pedal bracket or the synchronization mechanism.
  • the pedal shaft is pivotally connected to the vehicle body, and an axial limiting mechanism is further disposed between the pedal shaft and the vehicle body.
  • Embodiments of the present disclosure also provide an electric vehicle including the above self balancing device.
  • the electric vehicle is any one of a posture car, a cart, a sanitation truck, a golf cart, a bumper car, an ATV, a passenger trunk, a two-wheeled scooter, and a transport vehicle.
  • the cart includes the vehicle body provided with a stage and a first armrest, the pedal assembly is pivotally connected to the stage, and the three of the wheels include two of the driving wheels And a driven wheel, the motor shaft is pivotally connected to the stage.
  • the four wheels are four; wherein the four wheels are all the driving wheels, and the left and right sides of the vehicle body are symmetrically disposed with two of the driving wheels; or,
  • the wheel includes two of the driving wheels and two driven wheels, and the two driving wheels are symmetrically disposed at a front portion of the vehicle body, and the two driven wheels are symmetrically disposed at a rear portion of the vehicle body.
  • the attitude vehicle comprises at least two vehicle bodies, at least two of the at least three of the wheels are driving wheels, and the two vehicle bodies are pivotally connected to each other.
  • the manned luggage box comprises a box, and the self-balancing device is disposed at a bottom of the box body.
  • the two-wheeled scooter includes a vehicle body, a handlebar, a front wheel and a rear wheel, the handlebars are fixedly connected to the vehicle body and the front wheel, respectively, the rear wheel is a driving wheel and is Driven by the self-balancing device, the motor shaft of the motor is disposed outside the rear wheel and pivotally connected to the vehicle body, the vehicle body is the vehicle body, and the pedal assembly is disposed on the front wheel and the rear wheel Between the bodies on the body.
  • Embodiments of the present disclosure also provide an attitude vehicle including a self-balancing device, at least three wheels, and at least two vehicle bodies, at least two of the three of which are drive wheels, the self-balancing device including a pedal assembly, a control system, and a motor, wherein the motor is disposed in the drive wheel and a motor shaft of the motor is coupled to the vehicle body, the pedal assembly is disposed on the vehicle body, and the control system includes The pedal assembly is coupled to and configured to detect an attitude detecting unit for tilting the pedal assembly from a horizontal plane, and is respectively coupled to the attitude detecting unit and the motor and controls the driving wheel to be operated by the motor according to the tilt angle
  • the processing unit, the two vehicle bodies are pivotally connected to each other.
  • two of the vehicle bodies are sequentially arranged along a direction in which the driving wheels are running, and two of the at least three of the driving wheels are disposed on one of the vehicle bodies, and the remaining wheels are disposed.
  • two of the vehicle bodies are sequentially arranged in a direction perpendicular to the running of the driving wheels, and two of the driving wheels are respectively disposed corresponding to the two vehicle bodies.
  • the two adjacent vehicle bodies are pivotally connected by a limiting shaft, and the limiting shaft is provided with a first limiting portion for axially positioning the two of the vehicle bodies and can limit two a second limiting portion of the circumferential rotation angle between the vehicle bodies.
  • the first limiting portion is a circlip or a snap ring; the second limiting portion is a groove-shaped structure, and the limiting shaft is substantially D-shaped at the second limiting portion.
  • Embodiments of the present disclosure also provide a passenger luggage case including a box body and a self-balancing device disposed at a bottom of the box body, the self-balancing device including a support body, a driving wheel, a pedal assembly, and a control system.
  • the driving wheel includes a main hub and a motor disposed in the main hub, a motor shaft of the motor is pivotally connected to the supporting body, and the pedal assembly is disposed on both outer sides of the driving wheel and the supporting body Pivot
  • the control system includes an attitude detecting unit connected to the pedal assembly and a processing unit respectively connected to the attitude detecting unit and the motor, the posture detecting unit configured to detect an inclination of the pedal assembly and a horizontal plane
  • the processing unit controls the main hub to operate by the motor according to the tilt angle
  • the pedal assembly is further coupled to be configured to at least partially or fully compensate when the processing unit controls the main hub to accelerate operation
  • the angle of inclination is to balance the auxiliary balancing mechanism of the pedal assembly.
  • An embodiment of the present disclosure further provides a two-wheeled scooter including a vehicle body, a handlebar, a front wheel and a rear wheel, wherein the handlebars are fixedly coupled to the vehicle body and the front wheel, respectively.
  • the self-balancing device includes a pedal assembly, a control system, and a motor, wherein the motor is disposed in the rear wheel, and a motor shaft of the motor is disposed outside the rear wheel and pivotally connected to the vehicle body.
  • the pedal assembly is disposed on the vehicle body between the front wheel and the rear wheel and is pivotally connected to the vehicle body, and the control system includes an attitude detecting unit connected to the pedal assembly and respectively a posture detecting unit and a processing unit connected to the motor shaft, the posture detecting unit is configured to detect an inclination of the pedal assembly and a horizontal plane, and the processing unit controls the rear wheel to operate by the motor according to the inclination angle,
  • the pedal assembly is further coupled to an auxiliary balancing mechanism configured to at least partially or fully compensate for the tilt angle to balance the pedal assembly when the processing unit controls the rear wheel acceleration operation.
  • the self-balancing device has a simple structure, and the user can realize the control of various operating states (forward, backward, turning, and stopping) of the electric vehicle through the self-balancing device, saving time and effort,
  • various operating states forward, backward, turning, and stopping
  • the user can control the motor to accurately drive the driving wheel by using the control system to perform the "foot control" without the need of driving the heavy body.
  • the operation is flexible and convenient.
  • the auxiliary balance mechanism is set to balance the pedal assembly while the drive wheel is running, ensuring smooth operation of the electric vehicle, improving safety and user experience.
  • the attitude vehicle has a simple structure, and the user can realize the control of various operating states (forward, backward, turning and stopping) of the attitude vehicle through the self-balancing device, and the operation is flexible and convenient, saving time and labor, and adopting two vehicle bodies.
  • the pivotal structure enables the vehicle body to adaptively adjust the height of each wheel in various operating states, thereby greatly improving the grip performance of each wheel, improving safety and improving the user experience.
  • the passenger trunk has a simple structure, and the user can control the operation of the trunk in a "foot control" mode while riding, and the structure of the pedal assembly and the support body is pivoted to enable the user to perform "foot control” through the pedal assembly.
  • the control system can be used to control the motor to accurately drive the main hub without the need to drive the entire support body and the trunk. The operation is flexible and convenient.
  • the auxiliary balance mechanism can balance the pedal assembly when the main hub accelerates, ensuring the user. Smooth rides for increased safety and user experience.
  • the two-wheeled scooter has a simple structure.
  • the user can control the motor to accurately drive the rear wheel without using the entire body when performing the "foot control" through the pedal assembly, and the operation is flexible.
  • the pedal assembly can be balanced during the acceleration of the rear wheel, and the stability and safety are better.
  • FIG. 1 is a schematic exploded view of a self-balancing device used in an attitude vehicle according to an embodiment of the present disclosure
  • FIG. 2 is a schematic exploded view of another posture vehicle shown in FIG. 1;
  • FIG. 3 is a plan view of the posture car shown in Figures 1 and 2;
  • Figure 4 is a bottom view of the posture vehicle shown in Figures 1 and 2;
  • Figure 5 is a front elevational view of the posture vehicle shown in Figures 1 and 2;
  • FIG. 6 is a schematic exploded view of the posture vehicle shown in FIG. 1 using two vehicle bodies pivotally connected;
  • FIG 7 is another exploded structural view of the attitude vehicle shown in Figure 6;
  • Figure 8 is a plan view of the posture car shown in Figures 6 and 7;
  • Figure 9 is a bottom plan view of the posture car shown in Figures 6 and 7;
  • Figure 10 is a front elevational view of the posture vehicle shown in Figures 6 and 7;
  • Figure 11 is a schematic view showing another structure of the posture vehicle shown in Figure 1 when two vehicle bodies are pivotally connected;
  • FIG. 12 is a schematic exploded view of the posture vehicle shown in FIG. 1 with three vehicle bodies pivotally connected;
  • Figure 13 is a schematic exploded view of another posture vehicle of Figure 12;
  • Figure 14 is a schematic structural view of the limit shaft of Figures 6, 7, and 9 to 13;
  • FIG. 15 is a schematic structural view of a self-balancing device used in a cart according to an embodiment of the present disclosure
  • Figure 16 is a side elevational view of Figure 15;
  • FIG. 17 is a schematic structural view of a self-balancing device used in another type of cart according to an embodiment of the present disclosure.
  • Figure 18 is a schematic view showing the structure of the cart shown in Figure 15 when the first support plate and the second support plate are pivotally connected;
  • Figure 19 is a side elevational view of Figure 18;
  • FIG. 20 is a schematic structural diagram of a passenger luggage provided by an embodiment of the present disclosure.
  • Figure 21 is a side elevational view showing the passenger trunk of Figure 20;
  • Figure 22 is a partial structural schematic view of the self-balancing device in the passenger luggage case shown in Figures 20 and 21;
  • FIG. 23 is a schematic structural diagram of another passenger luggage provided by an embodiment of the present disclosure.
  • Figure 24 is a schematic structural view showing the first support body and the second support body pivotally connected in Figure 23;
  • 25 is a schematic exploded view of a two-wheeled scooter according to an embodiment of the present disclosure.
  • Figure 26 is a top plan view of the two-wheeled scooter shown in Figure 25;
  • Figure 27 is a side view showing the structure of the two-wheeled scooter shown in Figure 25.
  • Icon 100-stage; 101-first support plate; 102-second support plate; 120-body; 200-first armrest; 201-crossbar; 202-first vertical bar; 300-driven wheel; 400-drive wheel; 510-pedal assembly; 511-pedal body; 512-pedal bracket; 513-pedal shaft; 520-motor shaft; 530-control system; 540-synchronous mechanism; 550-power module; 600-limit shaft ; 610 - second limit; 620 - circlip; 710 - first bearing; 720 - second bearing; 730 - third bearing; 810 - pedal shaft clamp; 820 - motor shaft clamp; 830 - limit Axle block; 10-box; 11-bottom; 12-top; 13-front; 20-self-balancing device; 21-support body; 211-first support; 212-second support; 30-rod Institution; 40-handle; 50-body; 60-handlebar; 61-front fork; 62-riser; 63-second armrest; 64-bracke
  • connection may also be a detachable connection or an integral connection; it may be a mechanical connection or an electrical connection; it may be directly connected or indirectly connected through an intermediate medium, and may be internal communication between the two elements.
  • a self-balancing device provided by an embodiment of the present disclosure is used for an electric vehicle.
  • the electric vehicle includes a vehicle body 120 and at least three wheels, and at least two of the three wheels are driven.
  • the wheel 400, the self-balancing device comprises a pedal assembly 510, a control system 530 and a motor.
  • the motor is disposed in the driving wheel 400, and the motor shaft 520 of the motor passes through the driving wheel 400 and is pivotally connected to the vehicle body 120.
  • the pedal assembly 510 and the vehicle The body 120 is pivotally connected, and the control system 530 includes an attitude detecting unit coupled to the pedal assembly 510 and a processing unit coupled to the attitude detecting unit (not shown) and the motor shaft 520, respectively, and the attitude detecting unit is configured to detect the pedal assembly 510 and the horizontal plane.
  • the dip angle the processing unit is operated by the motor control drive wheel 400 in accordance with the tilt angle
  • the pedal assembly 510 is also coupled with an auxiliary balancing mechanism configured to at least partially or fully compensate for the tilt angle to balance the pedal assembly 510 when the processing unit controls the drive wheel 400 to accelerate operation.
  • the self-balancing device has a simple structure, and the user can realize the control of various operating states (forward, backward, turning and stopping) of the electric vehicle by the “foot control” mode, saving time and labor, and on the one hand, the pedal assembly 510 and
  • the pivotal structure of the vehicle body 120 allows the user to control the motor to accurately drive the driving wheel 400 by using the control system to control the motor without the need to drive the heavy body 120 when performing the "foot control" by the pedal assembly 510.
  • the operation is flexible and convenient.
  • the auxiliary balance mechanism is configured to balance the pedal assembly 510 when the drive wheel 400 is accelerated, ensuring smooth operation of the electric vehicle, improving safety and user experience.
  • the above-mentioned driving wheel 400 is a common motor wheel, and the specific structure thereof will not be described in detail herein.
  • the auxiliary balancing mechanism is a synchronization mechanism 540 that is drivingly connected to the motor shaft 520 , and the synchronization mechanism 540 can control the driving wheel 400 at least in the processing unit.
  • the force acting on the motor shaft 520 by the drive wheel 400 is fed back to the pedal assembly 510 during acceleration operation to partially or fully compensate for the tilt angle.
  • the pedal assembly 510 includes a pedal body 511 , a pedal bracket 512 and a pedal shaft 513 .
  • the pedal body 511 is fixedly connected to the pedal shaft 513 via the pedal bracket 512 .
  • the synchronizing mechanism 540 is coupled to the pedal shaft 513 and the motor shaft 520, respectively.
  • the pedal bracket 512 as a support for mounting the pedal body 511 and the pedal shaft 513 can greatly improve the stability and reliability of the overall structure.
  • the pedal bracket 512 also preferably includes a first bracket and a second bracket that are disposed symmetrically with respect to the pedal body 511 to further improve structural stability and reliability.
  • the pedal body 511 and the pedal bracket 512 can be detachably fixedly connected by screwing or riveting, or can be integrally fixed or integrally formed by welding to ensure structural stability.
  • the above processing unit may be a common servo unit.
  • the specific control process of the self-balancing device provided by the embodiment in the attitude vehicle is:
  • the pedal body 511 When the user applies a forward tilting force to the front portion of the pedal assembly 510 (specifically, the pedal body 511 of the pedal assembly 510) or when the center of gravity of the user leans forward relative to the pedal assembly 510, the pedal body 511 produces an inclination with respect to the horizontal plane, on the one hand
  • the tilt angle is detected by the attitude detecting unit and converted into corresponding data and transmitted to the servo unit.
  • the servo unit adjusts the operating environment parameter of the motor according to the data to accurately control the acceleration of the motor rotation, and is connected to the pedal body 511 on the other hand.
  • the synchronizing mechanism 540 also transmits a torque to the motor shaft 520 correspondingly, thereby driving the motor shaft 520 to accelerate the rotation, thereby greatly improving the sensing sensitivity of the self-balancing device, thereby making the operation of the entire attitude vehicle more flexible;
  • the process of the forward acceleration of the driving wheel 400 can be understood as the fact that the outer rotor of the motor is subjected to a forward force of the inner stator, under which the driving wheel 400 generates forward acceleration, and correspondingly, the synchronization is determined.
  • the motor shaft 520 connected thereto and the motor shaft 520 connected thereto are also subjected to a reaction force of the outer rotor, and the design of the synchronizing mechanism 540
  • the reaction force can be ingeniously fed back from the motor shaft 520 to the pedal assembly 510 to balance the forward tilting force of the pedal body 511 with the rider, thereby compensating the aforementioned inclination angle to ensure smooth riding.
  • the processing unit may cooperate with the attitude detecting unit to implement the back-up protection.
  • the control process is specifically: when the processing unit determines that the attitude vehicle is over-speed, it sends a control command to the attitude detecting unit to make the attitude detecting unit
  • the balance angle is adjusted accordingly, so that the pedal assembly 510 is tilted backward by a certain angle, so that the user is forced to achieve the purpose of the center of gravity backward, thereby achieving deceleration, thereby further ensuring smooth riding and improving safety.
  • the posture detecting unit includes a gyroscope (not shown) and an acceleration sensor (not shown) provided on the pedal body 511 or the pedal bracket 512 or the synchronizing mechanism 540.
  • the gyroscope and the acceleration sensor are structures commonly known in the field of electric control technology to accurately detect the inclination of the pedal body 511 with respect to the horizontal plane.
  • the above processing unit may be disposed on a control board, including a power electronic device and an integrated circuit module, etc., preferably disposed under the pedal assembly 510 in use, and configured to receive start and stop of the motor. And braking and other signals, configured to control the starting, stopping and braking of the motor; on the other hand, it is convenient to improve the accuracy of the position signal of the pedal assembly 510 and the forward and reverse signals of the motor detected by the receiving attitude detecting unit for better control Each power electronic device is turned on and off, thereby causing the motor to generate continuous torque; in addition, it is convenient to receive the speed command and the speed feedback signal configured to control and adjust the motor speed.
  • the structure and installation and use of the control board are common in the field of the existing electric control technology, so that the corresponding prior art can be adopted, and details are not described herein.
  • the synchronizing mechanism 540 is simple in design, and the positioning and positioning of the pedal assembly 510 and the motor shaft 520 can be completed in a limited assembly space by selecting different size and/or type of synchronizing mechanisms 540, and the compact structure and assembly operation are ensured. Convenience.
  • the synchronization mechanism 540 is any one of the existing gear transmission mechanism, the chain transmission mechanism, the belt transmission mechanism, the tie rod transmission mechanism, and the ball joint linkage rod transmission mechanism, and the user can assemble the space structure and the transmission according to the design of the electric vehicle. The requirements are designed accordingly. Referring to Figures 1, 2, 6, and 8, this embodiment employs a belt drive mechanism.
  • the pedal shaft 513 is pivotally connected to the vehicle body 120 and an axial limiting mechanism (not shown) is disposed between the pedal shaft 513 and the vehicle body 120.
  • a pedal shaft 513 can be connected to the vehicle body 120, and can ensure that the pedal bracket 512 and the pedal body 511 connected thereto are not axially shaken relative to the vehicle body 120, and the entire pedal assembly can be ensured.
  • the 510 can adjust the tilt angle lightly and flexibly under the user's "foot control" to avoid driving the heavy body 120, thereby further improving the flexibility of operation.
  • the axial limiting mechanism can adopt the existing structure such as a circlip or a snap ring, and has the advantages of simple structure, low price and convenient installation.
  • the pedal shaft 513 and the vehicle body 120 are pivotally connected by the first bearing 710 or the first sleeve, and the motor shaft 520 and the vehicle body 120 are pivotally connected by the second bearing 720 or the second sleeve.
  • the pedal shaft 513 and the motor shaft 520 are respectively mounted and positioned by the positioning block.
  • the first bearing 710, the first sleeve, the second bearing 720, the second sleeve, and the positioning block are all common in existing mounting structures and will not be described in detail herein.
  • the electric vehicle may be any one of a posture car, a stroller, a sanitation car, a golf cart, a bumper car, an ATV, a passenger trunk, a two-wheeled scooter, and a transport vehicle.
  • 1 to 13 show the structure of the self-balancing device when applied in a posture vehicle.
  • FIG. 1 to FIG. 14 there are four wheels; wherein four wheels are driving wheels 400 , and two driving wheels 400 are symmetrically disposed on the left and right sides of the vehicle body 120; or two driving wheels are included in the four wheels.
  • the wheel 400 and the two driven wheels 300 are symmetrically disposed at the front of the vehicle body 120, and the two driven wheels 300 are symmetrically disposed at the rear of the vehicle body 120.
  • Such a four-wheeled attitude vehicle has better stability and balance when riding, and can avoid the danger of use caused by tilting after power failure. It should be noted that, as shown in FIGS.
  • the pedal assembly 510 is preferably provided with two sets of pedals of each set of the pedal assembly 510.
  • the shafts 513 are coupled to the motor shaft 520 of the respective drive wheel 400 via a synchronizing mechanism 540, respectively. It should be understood that when four drive wheels 400 are employed, it is only necessary to adjust the respective connection structures accordingly.
  • the pedal assembly 510 may be disposed on the inner side or the outer side of the vehicle body 120.
  • the inner side specifically refers to the vehicle body 120 in which the pedal assembly is disposed between the two driving wheels 400; the outer side specifically refers to the pedal assembly 510 disposed in two The outer side of the drive wheel 400.
  • a structure in which two or three vehicle bodies 120 are pivoted may be adopted, so that the vehicle body 120 can drive each of the posture vehicles in various operating states.
  • the wheel is adaptively height-adjusted, thereby greatly improving the grip performance of each wheel, improving safety and improving the user experience.
  • FIGS. 12 and 13 When three vehicle bodies 120 are used, the intermediate vehicle body 120 is not required.
  • the drive wheel 400 is set.
  • the two vehicle bodies 120 are sequentially arranged in a direction perpendicular to the running direction of the driving wheel 400 , and the two driving wheels 400 are respectively disposed corresponding to the two vehicle bodies 120 . That is, the two vehicle bodies 120 are distributed to the left and right in the direction in which the attitude vehicle travels.
  • Such a structure is particularly suitable for a four-wheeled attitude vehicle, and the structure in which the two left and right vehicle bodies 120 are pivotally connected to each other can also improve the wheels. Grip performance.
  • the three vehicle bodies 120 are also sequentially arranged perpendicular to the direction in which the driving wheels 400 are operated, that is, the three vehicle bodies 120 are left to right in the direction in which the attitude vehicle travels. Distributed in order.
  • Another optional structure is that, referring to FIG. 11, in the embodiment, two vehicle bodies 120 are sequentially arranged in the direction in which the driving wheels 400 are operated, and two of the at least three wheels are disposed in one of the driving wheels 400.
  • the vehicle body 120 has the remaining wheels disposed on the other vehicle body 120; that is, the two vehicle bodies 120 are distributed forward and backward in the direction in which the attitude vehicle travels.
  • This structure is particularly suitable for the four-wheel attitude vehicle, the front vehicle body 120 and the rear vehicle body.
  • the structure in which the 120s are pivoted to each other can improve the grip performance of each wheel.
  • the adjacent two vehicle bodies 120 can be pivotally connected through the limiting shaft 600 , and the limiting shaft 600 and the vehicle body 120 are Specifically, it can be pivotally connected through a third bearing or a third sleeve.
  • the limiting shaft 600 can be mounted and positioned by the positioning block respectively.
  • the limiting shaft 600 may further be provided with a first limiting portion for axially positioning the two vehicle bodies 120 and a second limiting portion 610 capable of limiting the circumferential rotation angle between the two vehicle bodies 120.
  • the first limiting portion can prevent the left and right movements of the vehicle body 120 (before and in the direction of the attitude vehicle), and the second limiting portion 610 can be arranged to enable the two adjacent bodies 120 to be in the whole vehicle.
  • the rotation of the limit shaft 600 can be performed, thereby improving the obstacle-blocking ability of the attitude vehicle.
  • the two vehicle bodies 120 can be pivotally connected to the limiting shaft 600 at the same time, or one of the vehicle bodies 120 is pivotally connected to one end of the limiting shaft 600, and the other body 120 is The other end of the limiting shaft 600 is fixed; when three vehicle bodies 120 are used, the attitude vehicle can be provided with two limiting shafts 600, and the connection manner between the limiting shafts 600 and the vehicle body 120 is two The body 120 is similar, and will not be described here.
  • the first limiting portion can adopt a structure such as an existing circlip 620 or a snap ring, and the structure is simple, the price is low, and the installation is convenient.
  • the second limiting portion 610 is preferably a groove-like structure. Referring to FIG. 14 , the limiting shaft 600 is substantially D-shaped at the second limiting portion 610 . According to the limitation of the rotation angle of the vehicle body 120 , the corresponding adjustment is performed. The size of the trough structure is sufficient.
  • 15 to 19 show the structure of the self-balancing device when it is applied in a cart.
  • the cart includes a vehicle body 120 having a stage 100 and a first armrest 200.
  • the pedal assembly 510 is pivotally coupled to the stage 100.
  • the three wheels include two drive wheels 400 and a slave wheel.
  • the moving wheel 300 and the motor shaft 520 are pivotally connected to the stage 100.
  • the first armrest 200 is disposed on the stage 100 above the driving wheel 400, that is, the cart is driven by the front wheel.
  • the stage 100 can be an integrally formed structure.
  • the first armrest 200 includes a cross bar 201 and a first vertical bar 202 and a second vertical bar (not shown) connected via the cross bar 201.
  • the first vertical bar 202 and the second vertical bar are disposed on the stage 100, and the structure Simple and light weight.
  • the stage 100 includes a first support plate 101 and a second support plate 102.
  • the pedal assembly 510 is disposed on the second support plate 102 and pivotally connected to the second support plate 102.
  • the first support plate 101 is The bottom part is provided with a driven wheel 300.
  • the two driving wheels 400 are disposed at the bottom of the second supporting plate 102.
  • the motor is disposed in the driving wheel 400 and the motor shaft 520 of the motor is pivotally connected to the second supporting plate 102.
  • the first support plate 101 and the second support plate 102 are integrally formed, it is preferable that the first support plate 101 is configured to carry goods, and the second support plate 102 is provided for carrying a user, such a structure is advantageous for improving convenience of use.
  • the driving wheel 400 is driven by the rear wheel to improve the safety of use; in particular, the first supporting plate 101 and the second supporting plate 102 can be disposed on the front and rear sides of the first armrest 200;
  • the first armrest 200 is a vertical plate structure disposed on the stage 100.
  • the vertical plate structure is preferably disposed between the first supporting plate 101 and the second supporting plate 102.
  • the first supporting plate 101 and the second supporting plate 102 may also adopt a pivoting structure, similar to the structure in which the two vehicle bodies 120 in the posture car are pivoted back and forth to improve the driving wheels.
  • the first support plate 101 and the second support plate 102 can also be pivotally connected through the limiting shaft 600, which will not be described in detail herein.
  • the above-mentioned cart constitutes a four-wheeled cart, and the structural stability is good.
  • the self-balancing device further includes a power module 550 disposed on the vehicle body 120 and providing power to the control system 530 and the motor.
  • the power module 550 is preferably a rechargeable battery.
  • An embodiment of the present disclosure also provides an electric vehicle provided with the self-balancing device described above.
  • the pedal assembly of the self-balancing device can be It is located on the chassis of sanitation trucks, golf carts, bumper cars, ATVs, manned suitcases, two-wheeled scooters or transport vehicles.
  • the above-mentioned electric vehicle is based on the same concept as the self-balancing device embodiment of the present disclosure, and the technical effects thereof are the same as those of the self-balancing device embodiment of the present disclosure.
  • the description in the embodiment of the self-balancing device of the present disclosure Let me repeat.
  • an attitude vehicle provided by an embodiment of the present disclosure includes a self-balancing device, at least three wheels, and at least two vehicle bodies 120. At least two of the three wheels are driving wheels 400, and the self-balancing device includes The pedal assembly 510, the control system 530 and the motor are disposed in the drive wheel 400 and the motor shaft 520 of the motor is coupled to the vehicle body 120.
  • the pedal assembly 510 is disposed on the vehicle body 120.
  • the control system 530 includes the pedal assembly 510 and is configured.
  • the posture detecting unit that detects the tilt angle between the pedal assembly 510 and the horizontal plane, and the processing unit that is respectively connected to the posture detecting unit and the motor and operates by the motor control driving wheel 400 according to the tilt angle, the two vehicle bodies 120 are pivotally connected to each other.
  • the attitude vehicle has a simple structure, and the user can realize the control of various operating states (forward, backward, turning and stopping) of the attitude vehicle through the self-balancing device, and the operation is flexible and convenient, saving time and labor, and adopting two vehicles.
  • the pivotal structure of the body 120 enables the vehicle body 120 to adaptively adjust the height of each wheel in various operating states, thereby greatly improving the grip performance of each wheel, improving safety, and improving users. Experience.
  • FIGS. 6 to 11 When two vehicle bodies 120 are used, reference may be made to FIGS. 6 to 11 . When three vehicle bodies 120 are used, reference may be made to FIGS. 12 and 13 . When three vehicle bodies 120 are used, the intermediate vehicle body 120 is not required.
  • the drive wheel 400 is set.
  • the two vehicle bodies 120 are sequentially arranged in a direction perpendicular to the running direction of the driving wheel 400 , and the two driving wheels 400 are respectively disposed corresponding to the two vehicle bodies 120 . That is, the two vehicle bodies 120 are distributed to the left and right in the direction in which the attitude vehicle travels.
  • Such a structure is particularly suitable for a four-wheeled attitude vehicle, and the structure in which the two left and right vehicle bodies 120 are pivotally connected to each other can also improve the wheels. Grip performance.
  • the three vehicle bodies 120 are also sequentially arranged perpendicular to the direction in which the driving wheels 400 are operated, that is, the three vehicle bodies 120 are left to right in the direction in which the attitude vehicle travels. Distributed in order.
  • Another optional structure is that, referring to FIG. 11, in the embodiment, two vehicle bodies 120 are sequentially arranged in the direction in which the driving wheels 400 are operated, and two of the at least three wheels are disposed in one of the driving wheels 400.
  • the vehicle body 120 has the remaining wheels disposed on the other vehicle body 120; that is, the two vehicle bodies 120 are distributed forward and backward in the direction in which the attitude vehicle travels.
  • This structure is particularly suitable for the four-wheel attitude vehicle, the front vehicle body 120 and the rear vehicle body.
  • the structure in which the 120s are pivoted to each other can improve the grip performance of each wheel.
  • the adjacent two vehicle bodies 120 are pivotally connected by the limiting shaft 600 , and the limiting shaft 600 is provided with axial directions for the two vehicle bodies 120 .
  • the first limiting portion that is positioned and the second limiting portion 610 that can limit the circumferential rotation angle between the two vehicle bodies 120.
  • the first limiting portion can prevent the left and right movements of the vehicle body 120 (before and in the direction of the attitude vehicle), and the second limiting portion 610 can be arranged to enable the two adjacent bodies 120 to be in the whole vehicle.
  • the rotation of the limit shaft 600 can be performed, thereby improving the obstacle-blocking ability of the attitude vehicle.
  • the two vehicle bodies 120 can be pivotally connected to the limiting shaft 600 at the same time, or one of the vehicle bodies 120 is pivotally connected to one end of the limiting shaft 600, and the other body 120 is The other end of the limiting shaft 600 is fixed; when three vehicle bodies 120 are used, the attitude vehicle can be provided with two limiting shafts 600, and the connection manner between the limiting shafts 600 and the vehicle body 120 is two The body 120 is similar, and will not be described here.
  • the first limiting portion can adopt a structure such as an existing circlip 620 or a snap ring, and the structure is simple, the price is low, and the installation is convenient.
  • the second limiting portion 610 is preferably a groove-like structure. Referring to FIG. 14 , the limiting shaft 600 is substantially D-shaped at the second limiting portion 610 . According to the limitation of the rotation angle of the vehicle body 120 , the corresponding adjustment is performed. The size of the trough structure is sufficient.
  • the pedal assembly 510 is pivotally coupled to the vehicle body 120, and the pedal assembly 510 is further coupled to be configured to at least partially or fully compensate for the tilt angle to balance the pedal assembly 510 when the processing unit controls the drive wheel 400 to accelerate operation.
  • Auxiliary balance mechanism The structure in which the pedal assembly 510 is pivotally connected to the vehicle body 120 allows the user to control the motor to accurately drive the driving wheel 400 without using the heavy body 120 when performing the "foot control" by the pedal assembly 510.
  • the setting of the auxiliary balancing mechanism can balance the pedal assembly 510 when the driving wheel 400 is accelerated, ensuring smooth running of the posture vehicle, improving safety and user experience.
  • the above-mentioned driving wheel 400 is a common motor wheel, and the specific structure thereof will not be described in detail herein.
  • the motor shaft 520 is pivotally connected to the vehicle body 120
  • the auxiliary balancing mechanism is a synchronous mechanism that is connected to the motor shaft 520.
  • the synchronization mechanism can at least control the driving in the processing unit.
  • the pedal assembly 510 includes a pedal body 511 , a pedal bracket 512 and a pedal shaft 513 .
  • the pedal body 511 is fixedly connected to the pedal shaft 513 through the pedal bracket 512 , and the synchronization mechanism 540 and the pedal respectively
  • the shaft 513 is coupled to the motor shaft 520.
  • the pedal bracket 512 as a support for mounting the pedal body 511 and the pedal shaft 513 can greatly improve the stability and reliability of the overall structure.
  • the pedal bracket 512 also preferably includes a first bracket and a second bracket that are disposed symmetrically with respect to the pedal body 511 to further improve structural stability and reliability.
  • the pedal body 511 and the pedal bracket 512 can be detachably fixedly connected by screwing or riveting, or can be integrally fixed or integrally formed by welding to ensure structural stability.
  • the pedal assembly 510 is disposed on the inner side or the outer side of the vehicle body 120. Since the vehicle body 120 is disposed between the two driving wheels 400, the inner side specifically refers to the vehicle body 120 in which the pedal assembly is disposed between the two driving wheels 400; the outer side specifically refers to the pedal assembly 510 disposed in two The outer side of the drive wheel 400.
  • the above processing unit may be a common servo unit.
  • the specific control process of the attitude vehicle is: when the user applies a forward tilt force to the front portion of the pedal assembly 510 (specifically, the pedal body 511 of the pedal assembly 510) or when the user's center of gravity is relative to When the pedal assembly 510 is tilted forward, the pedal body 511 is inclined with respect to the horizontal plane.
  • the tilt angle is detected by the posture detecting unit and converted into corresponding data and transmitted to the servo unit.
  • the servo unit adjusts the operating environment parameters of the motor according to the data. Therefore, the acceleration of the motor rotation is accurately controlled.
  • the synchronization mechanism 540 connected to the pedal body 511 also transmits a torque to the motor shaft 520, thereby driving the motor shaft 520 to accelerate, thereby greatly improving the self-balancing.
  • the sensing sensitivity of the device so that the user is more flexible in the operation of the entire attitude vehicle; the process of the forward acceleration of the driving wheel 400 can be understood as the outer rotor of the motor is subjected to a forward force of the inner stator under the force
  • the drive wheel 400 generates forward acceleration, and correspondingly, the synchronous inner stator and the motor connected thereto
  • the 520 is also subjected to a reaction force of the outer rotor, and the synchronization mechanism 540 is designed to ingeniously feed back the reaction force from the motor shaft 520 to the pedal assembly 510 to utilize the reaction force and the forward force of the rider acting on the pedal body 511.
  • the processing unit may cooperate with the attitude detecting unit to implement the back-up protection.
  • the control process is specifically: when the processing unit determines that the attitude vehicle is over-speed, it sends a control command to the attitude detecting unit to make the attitude detecting unit
  • the balance angle is adjusted accordingly, so that the pedal assembly 510 is tilted backward by a certain angle, so that the user is forced to achieve the purpose of the center of gravity backward, thereby achieving deceleration, thereby further ensuring smooth riding and improving safety.
  • the posture detecting unit includes a gyroscope (not shown) and an acceleration sensor (not shown) provided on the pedal body 511 or the pedal bracket 512 or the synchronizing mechanism 540.
  • the gyroscope and the acceleration sensor are structures commonly known in the field of electric control technology to accurately detect the inclination of the pedal body 511 with respect to the horizontal plane.
  • the processing unit is disposed on a control board, and the control board includes power electronics, an integrated circuit module, etc., and is preferably disposed under the pedal assembly 510 during use, and is configured to receive start and stop of the motor.
  • the signal such as braking is configured to control the starting, stopping and braking of the motor; on the other hand, it is convenient to improve the accuracy of the position signal of the pedal assembly 510 and the forward and reverse signals of the motor detected by the receiving attitude detecting unit, so as to better control each
  • the power electronics are turned on and off to provide continuous torque to the motor; in addition, the speed command and speed feedback signals are conveniently received and configured to control and adjust the motor speed.
  • the structure and installation and use of the control board are common in the field of the existing electric control technology, so that the corresponding prior art can be adopted, and details are not described herein.
  • the synchronizing mechanism 540 is simple in design, and the positioning and positioning of the pedal assembly 510 and the motor shaft 520 can be completed in a limited assembly space by selecting different size and/or type of synchronizing mechanisms 540, and the compact structure and assembly operation are ensured. Convenience.
  • the synchronization mechanism 540 is any one of the existing gear transmission mechanism, the chain transmission mechanism, the belt transmission mechanism, the tie rod transmission mechanism, and the ball joint linkage rod transmission mechanism, and the user can assemble the space structure and the transmission according to the design of the attitude vehicle. The requirements are designed accordingly. Referring to Figures 6, 7, 9, 11, 12 and 13, this embodiment employs a belt drive mechanism.
  • the pedal shaft 513 is pivotally connected to the vehicle body 120 and an axial limiting mechanism (not shown) is disposed between the pedal shaft 513 and the vehicle body 120.
  • a pedal shaft 513 can be connected to the vehicle body 120, and can ensure that the pedal bracket 512 and the pedal body 511 connected thereto are not axially shaken relative to the vehicle body 120, and the entire pedal assembly can be ensured.
  • the 510 can adjust the tilt angle lightly and flexibly under the user's "foot control" to avoid driving the heavy body 120, thereby further improving the flexibility of operation.
  • the axial limiting mechanism can adopt the existing structure such as the circlip 620 or the snap ring, and has the advantages of simple structure, low price and convenient installation.
  • the pedal shaft 513 and the vehicle body 120 are pivotally connected by the first bearing 710 or the first sleeve, and the motor shaft 520 and the vehicle body 120 are pivotally connected by the second bearing 720 or the second sleeve.
  • the pedal shaft 513 and the motor shaft 520 are respectively mounted and positioned by the positioning block.
  • the first bearing 710, the first sleeve, the second bearing 720, the second sleeve, and the positioning block are all common in existing mounting structures and will not be described in detail herein.
  • FIG. 6 to FIG. 10 there are four wheels; wherein four wheels are driving wheels 400, and two driving wheels 400 are symmetrically disposed on the left and right sides of the vehicle body 120; or two driving wheels are included in the four wheels.
  • the wheel 400 and the two driven wheels 300 are symmetrically disposed at the front of the vehicle body 120, and the two driven wheels 300 are symmetrically disposed at the rear of the vehicle body 120.
  • Such a four-wheeled attitude vehicle has better stability and balance when riding, and can avoid the danger of use caused by tilting after power failure. It should be noted that, as shown in FIG. 6 to FIG.
  • the pedal assembly 510 is preferably provided with two groups of each of the pedal assemblies 510.
  • the pedal shafts 513 are respectively coupled to the motor shaft 520 of the corresponding drive wheel 400 via a synchronizing mechanism 540. It should be understood that when four drive wheels 400 are employed, it is only necessary to adjust the respective connection structures accordingly.
  • the driven wheel 300 described above is a common universal wheel.
  • the pedal shaft 513 and the vehicle body 120 are pivotally connected by the first bearing 710 or the first sleeve, and the motor shaft 520 and the vehicle body 120 are pivotally connected by the second bearing 720 or the second sleeve, and the limiting shaft 600 is coupled with
  • the vehicle bodies 120 are pivotally connected by a third bearing 730 or a third sleeve.
  • the pedal shaft 513 is further provided with a pedal shaft pressing block 810 configured to be mounted and positioned.
  • the motor shaft 520 is provided with a motor shaft pressing block 820 configured to be mounted and positioned.
  • the limiting shaft 600 is provided with a limiting shaft configured to be mounted and positioned. Clamp block 830.
  • the above-mentioned axial limiting mechanism can adopt the existing structure such as the circlip 620 or the snap ring, and has the advantages of simple structure, low price and convenient installation.
  • the limit shaft 600 can be connected to the pedal shaft 513, or a part of the pedal shaft 513 can be used as the limit shaft 600 to further simplify Structure for installation.
  • the pedal assembly 510 is preferably provided with two sets, and the pedal shafts 513 of each set of the pedal assemblies 510 are respectively connected to the motor shaft 520 of the corresponding driving wheel 400 through the synchronizing mechanism 540.
  • the pedal assembly 510 is preferably provided on the vehicle bodies 120 on both sides.
  • the self-balancing device further includes a power module 550 disposed on the vehicle body 120 and providing power to the control system 530 and the motor.
  • the attitude vehicle further includes other requirements configured to install the positioning pedal shaft 513, the motor shaft 520, and the like. Components or structures, which are common in existing attitude vehicles, can be implemented in accordance with the prior art and will not be described in detail herein.
  • a passenger trunk provided by an embodiment of the present disclosure includes a cabinet 10 and a self-balancing device 20 disposed at a bottom portion 11 of the cabinet 10.
  • the self-balancing device 20 includes a support body 21, a driving wheel 400, and a pedal.
  • the assembly wheel 510 and the control system 530 include a main hub and a motor (not shown) disposed in the main hub.
  • the motor shaft 520 of the motor is pivotally connected to the support body 21, and the pedal assembly 510 is disposed on both outer sides of the drive wheel 400.
  • the control system 530 includes an attitude detecting unit (not shown) connected to the pedal assembly 510 and a processing unit (not shown) respectively connected to the attitude detecting unit and the motor, the posture detecting unit being configured to detect the pedal The inclination of the assembly 510 to the horizontal plane, the processing unit is operated by the motor control main hub according to the inclination angle, and the pedal assembly 510 is further coupled to be configured to at least partially or fully compensate for the inclination when the processing unit controls the main hub to accelerate the operation to balance the auxiliary balance of the pedal assembly 510. mechanism.
  • the manned luggage has a simple structure, and the user can control the operation of the trunk in a "foot control" manner in the riding state.
  • the structure in which the pedal assembly 510 is pivotally connected to the support body 21 allows the user to perform the "stepping through the pedal assembly 510".
  • the foot control can drive the motor to accurately drive the main hub by using the control system 530, and the operation is flexible and convenient.
  • the auxiliary balance mechanism can set the pedal assembly when the main hub accelerates. The 510 tends to balance, ensuring smooth rides for users, improving safety and user experience.
  • the pedal assembly 510 includes two, and the two pedal assemblies 510 are disposed on both outer sides of the casing 10 for the user to pedal while riding.
  • the drive wheel 400 described above is a common motor wheel.
  • the auxiliary balancing mechanism is a synchronization mechanism 540 that is drivingly coupled to the motor shaft 520.
  • the synchronization mechanism 540 can apply the main hub to the motor shaft at least when the processing unit controls the main hub to accelerate.
  • the force of 520 is fed back to the pedal assembly 510 to partially or fully compensate for the tilt angle.
  • the pedal assembly 510 includes a pedal body 511, a pedal bracket 512 and a pedal shaft 513.
  • the pedal body 511 is fixedly coupled to the pedal shaft 513 via a pedal bracket 512
  • the synchronization mechanism 540 is coupled to the pedal shaft. 513 and motor shaft 520.
  • the pedal bracket 512 as a support for mounting the pedal body 511 and the pedal shaft 513 can greatly improve the stability and reliability of the overall structure.
  • the pedal bracket 512 also preferably includes a first bracket and a second bracket that are disposed symmetrically with respect to the pedal body 511 to further improve structural stability and reliability.
  • the pedal body 511 and the pedal bracket 512 can be detachably fixedly connected by screwing or riveting, or can be integrally fixed or integrally formed by welding to ensure structural stability.
  • the above processing unit may be a common servo unit.
  • the specific control process of the passenger trunk provided by the embodiment is: when the user applies the forward tilt force to the front portion 13 of the pedal assembly 510 (specifically, the pedal body 511 of the pedal assembly 510) or when the user When the center of gravity is tilted forward relative to the pedal assembly 510, the pedal body 511 is inclined with respect to the horizontal plane.
  • the tilt angle is detected by the attitude detecting unit and converted into corresponding data transmission to the servo unit, and the servo unit adjusts the motor according to the data.
  • the operating environment parameter is used to accurately control the acceleration of the motor rotation.
  • the synchronizing mechanism 540 connected to the pedal body 511 also transmits a torque to the motor shaft 520, thereby driving the motor shaft 520 to accelerate, thereby greatly
  • the sensing sensitivity of the self-balancing device 20 is improved, so that the user's operation on the entire luggage box is more flexible; the process of accelerating forward movement of the main hub can be understood as the outer rotor of the motor is subjected to a forward force of the inner stator, where Under the force, the main hub produces forward acceleration, and correspondingly, the synchronous inner stator and the electricity connected thereto
  • the shaft 520 is also subjected to a reaction force of the outer rotor, and the synchronization mechanism 540 is designed to ingeniously feed back the reaction force from the motor shaft 520 to the pedal assembly 510 to utilize the reaction force and the user's forward force acting on the pedal body 511. Balance each other to compensate for the aforementioned inclination angle to ensure smooth ride and improve safety.
  • the processing unit may cooperate with the attitude detecting unit to implement the backward protection.
  • the control process is specifically: when the processing unit determines that the passenger luggage is overspeed, it sends a control command to the posture detecting unit to make the posture
  • the detecting unit adjusts the balance angle accordingly, so that the pedal assembly 510 is tilted backward by a certain angle, so that the user is forced to achieve the purpose of the center of gravity backward, thereby achieving deceleration, thereby further ensuring smooth riding and improving safety.
  • the posture detecting unit includes a gyroscope (not shown) and an acceleration sensor (not shown) provided on the pedal body 511 or the pedal bracket 512 or the synchronizing mechanism 540.
  • the gyroscope and the acceleration sensor are structures commonly known in the field of electric control technology to accurately detect the inclination of the pedal body 511 with respect to the horizontal plane.
  • the processing unit is disposed on a control board, and the control board includes power electronics, an integrated circuit module, etc., and is preferably disposed under the pedal assembly 510 during use, and is configured to receive start and stop of the motor.
  • the signal such as braking is configured to control the starting, stopping and braking of the motor; on the other hand, it is convenient to improve the accuracy of the position signal of the pedal assembly 510 and the forward and reverse signals of the motor detected by the receiving attitude detecting unit, so as to better control each
  • the power electronics are turned on and off to provide continuous torque to the motor; in addition, the speed command and speed feedback signals are conveniently received and configured to control and adjust the motor speed.
  • the structure and installation and use of the control board are common in the existing self-balancing device 20, so that the corresponding prior art can be adopted, and details are not described herein.
  • the synchronizing mechanism 540 is simple in design, and the positioning and positioning of the pedal assembly 510 and the motor shaft 520 can be completed in a limited assembly space by selecting different size and/or type of synchronizing mechanisms 540, and the compact structure and assembly operation are ensured. Convenience.
  • the synchronization mechanism 540 is any one of the existing gear transmission mechanism, the chain transmission mechanism, the belt transmission mechanism, the tie rod transmission mechanism, and the ball joint linkage rod transmission mechanism, and the user can assemble the space structure and the transmission according to the design of the luggage box. The requirements are designed accordingly. Referring to Figure 22, this embodiment employs a belt drive mechanism.
  • the pedal shaft 513 is pivotally connected to the support body 21 and an axial limiting mechanism (not shown) is further disposed between the pedal shaft 513 and the support body 21.
  • a pedal shaft 513 can be connected to the support body 21, and can ensure that the pedal bracket 512 and the pedal body 511 connected thereto are not axially shaken relative to the support body 21, and the entire pedal assembly can be ensured.
  • the 510 can adjust the tilt angle lightly and flexibly under the user's "foot control" to avoid driving the bulky support body 21, thereby further improving the flexibility of operation.
  • the axial limiting mechanism can adopt the existing structure such as a circlip or a snap ring, and has the advantages of simple structure, low price and convenient installation.
  • the bottom portion 11 of the casing 10 is further provided with at least one driven wheel 300 spaced apart from the driving wheel 400.
  • the setting of the driven wheel 300 allows the passenger luggage to be operated as a multi-wheel mechanism with better stability.
  • the driven wheel 300 is preferably two, and the driving wheel 400 and the driven wheel 300 are sequentially disposed in the order of the bottom portion 11 of the casing 10.
  • the support body 21 includes a first support body 211 and a second support body 212 pivotally connected to each other.
  • the drive wheel 400 is disposed at the bottom of the first support body 211, and the driven wheel 300 is disposed at the second position.
  • the bottom of the support body 212 can greatly improve the grip performance of each of the driving wheels 400 and the driven wheels 300, improve safety, and enhance the user experience.
  • the driven wheel 300 described above is preferably a common universal wheel.
  • the pedal shaft 513 and the support body 21 are pivotally connected by a first bearing or a first sleeve; the motor shaft 520 and the support body 21 are pivotally connected by a second bearing or a second sleeve; the first support body 211 and the The two supporting bodies 212 can be pivotally connected through the limiting shaft 600.
  • the limiting shaft 600 can be pivotally connected to the first supporting body 211 and the second supporting body 212 through the third bearing or the third sleeve.
  • the pedal shaft 513, the motor shaft 520, the first support body 211, and the second support body 212 can be respectively mounted and positioned by the positioning block.
  • the first bearing, the first sleeve, the second bearing, the second sleeve, the third bearing, the third sleeve and the positioning block are all common in existing mounting structures and will not be described in detail herein.
  • first support body 211 and the second support body 212 can be respectively pivotally connected to the limiting shaft 600, or the first support body 211 is pivotally connected to one end of the limiting shaft 600, and the second supporting body 212 and the limiting position are respectively The other end of the shaft 600 is fixed; or the second support body 212 is pivotally connected to one end of the limiting shaft 600, and the first support body 211 is fixed to the other end of the limiting shaft 600.
  • the front side of the casing 10 is further provided with a tie rod mechanism 30, and the tie rod mechanism 30 is fixedly connected to the support body 21.
  • the pull rod mechanism 30 can be easily pulled on some road surfaces that are inconvenient to move by itself. And the user can hold the lever when riding, which can further improve the safety of use.
  • a handle 40 is also preferably provided at the top 12 of the cabinet 10 to effect a hand-held function.
  • the above-mentioned passenger luggage further includes a power source, a luggage pick-and-place port of the trunk, a zipper provided on the pick-and-place port, and other required components or structures, which are common in existing trunks. Therefore, it can be implemented corresponding to the prior art, and will not be described in detail herein.
  • a two-wheeled scooter provided by an embodiment of the present disclosure includes a vehicle body 50, a handlebar 60, a front wheel 31, and a rear wheel 32.
  • the handlebar 60 is fixedly coupled to the vehicle body 50 and the front wheel 31, respectively.
  • the self-balancing device includes a pedal assembly 510, a control system and a motor.
  • the motor is disposed in the rear wheel 32.
  • the motor shaft 520 of the motor is disposed outside the rear wheel 32 and pivotally connected to the vehicle body 50.
  • the pedal assembly 510 is provided.
  • the vehicle body 50 between the front wheel 31 and the rear wheel 32 is pivotally connected to the vehicle body 50.
  • the control system includes an attitude detecting unit connected to the pedal assembly 510 and a processing unit respectively connected to the attitude detecting unit and the motor shaft 520.
  • the unit is configured to detect the inclination of the pedal assembly 510 from the horizontal plane, and the processing unit is operated by the motor control rear wheel 32 according to the tilt angle.
  • the pedal assembly 510 is also coupled to be configured to at least partially or fully compensate for the tilt angle when the processing unit controls the rear wheel 32 to accelerate operation.
  • the auxiliary balancing mechanism of the balance pedal assembly 510 is configured to detect the inclination of the pedal assembly 510 from the horizontal plane, and the processing unit is operated by the motor control rear wheel 32 according to the tilt angle.
  • the pedal assembly 510 is also coupled to be configured to at least partially or fully compensate for the tilt angle when the processing unit controls the rear wheel 32 to accelerate operation.
  • the auxiliary balancing mechanism of the balance pedal assembly 510 is configured to detect the inclination of the pedal assembly 510 from the horizontal plane, and the processing unit is operated by the motor control rear wheel 32 according to the tilt angle.
  • the pedal assembly 510 is also coupled to be configured to at least partially or fully compensate for the tilt angle when the processing unit controls the rear wheel
  • the rear wheel 32 can be understood as a drive wheel and the body 50 can be understood as a vehicle body.
  • the two-wheeled scooter has a simple structure.
  • the pedal assembly 510 by pivoting the pedal assembly 510 to the vehicle body 50, the user does not need to drive the entire body 50 when performing the "foot control" through the pedal assembly 510, and the control system can be used to control the motor after precise driving.
  • the wheel 32 is operated, and the operation is flexible and convenient.
  • the pedal assembly 510 can be balanced when the rear wheel 32 is accelerated, ensuring smooth ride of the user and improving safety.
  • the rear wheel 32 is a common motor wheel, and the specific structure thereof will not be described in detail herein.
  • the auxiliary balancing mechanism is a synchronization mechanism 540 that is drivingly connected to the motor shaft 520.
  • the synchronization mechanism 540 can at least the rear wheel when the processing unit controls the rear wheel 32 to accelerate.
  • the force acting on the motor shaft 520 is fed back to the pedal assembly 510 to partially or fully compensate for the tilt angle.
  • the pedal assembly 510 includes a pedal body 511, a pedal bracket 512 and a pedal shaft 513.
  • the pedal body 511 is fixedly coupled to the pedal shaft 513 via the pedal bracket 512, and the pedal shaft 513 and the motor shaft
  • the 520 remains in parallel and is in transmission connection with the motor shaft 520 via the synchronizing mechanism 540.
  • the pedal bracket 512 as a support for mounting the pedal body 511 and the pedal shaft 513 can greatly improve the stability and reliability of the overall structure.
  • the pedal body 511 and the pedal bracket 512 can be detachably fixedly connected by screwing or riveting, or can be integrally fixed or integrally formed by welding to ensure structural stability.
  • the above processing unit may be a common servo unit.
  • the specific control process of the two-wheeled scooter is: when the user applies a forward tilt force to the front portion of the pedal assembly 510 (specifically, the pedal body 511 of the pedal assembly 510) or when the user's center of gravity is relatively When the pedal assembly 510 is tilted forward, the pedal body 511 is inclined with respect to a horizontal plane.
  • the tilt angle is detected by the posture detecting unit and converted into corresponding data and transmitted to the servo unit, and the servo unit adjusts the operating environment of the motor according to the data. The parameter thus precisely controls the acceleration of the rotation of the motor.
  • the synchronizing mechanism 540 connected to the pedal body 511 also transmits a torque to the motor shaft 520 correspondingly, thereby driving the motor shaft 520 to accelerate the rotation, thereby greatly improving the overall
  • the sensitivity is sensed to make the operation more flexible; the process of accelerating forward movement of the rear wheel 32 can be understood as the outer rotor of the motor being subjected to a forward force of the inner stator, under which the rear wheel 32 is forwarded.
  • the force, synchronization mechanism 540 is designed to ingeniously feed back the reaction force from the motor shaft 520 to the pedal assembly 510 to balance the forward force of the rider's action on the pedal body 511 with the reaction force, thereby compensating the aforementioned inclination To ensure smooth operation and improve safety.
  • the processing unit may cooperate with the attitude detecting unit to implement the back-up protection.
  • the control process is specifically: when the processing unit determines that the rear wheel 32 is over-speed, it sends a control command to the attitude detecting unit to perform the attitude detection.
  • the unit adjusts the balance angle accordingly, thereby driving the pedal assembly 510 to be inclined backward by a certain angle, so that the user is forced to achieve the purpose of the center of gravity backward, thereby achieving deceleration, thereby further ensuring stable operation of the two-wheeled scooter and improving safety.
  • the posture detecting unit includes a gyroscope (not shown) and an acceleration sensor (not shown) provided on the pedal body 511 or the pedal bracket 512 or the synchronizing mechanism 540.
  • the gyroscope and the acceleration sensor are structures commonly found in scooters to accurately detect the inclination of the pedal body 511 with respect to the horizontal plane.
  • the control system includes a main control board 70 configured to set a processing unit, and the main control board 70 is disposed on the vehicle body 50.
  • the main control board 70 includes power electronics, integrated circuit modules, and the like.
  • the main control board 70 can be configured to receive signals of starting, stopping, and braking of the motor to control the starting, stopping, and braking of the motor, and to improve the position signal of the pedal assembly 510 detected by the receiving attitude detecting unit.
  • the accuracy of the forward and reverse signals of the motor to better control the on and off of each power electronic device, so that the motor produces continuous torque; in addition, it is convenient to receive the speed command and speed feedback signal, configured to control and adjust the motor speed .
  • the structure and installation and use of the main control board 70 are common in the field of the existing electric control technology, so that the corresponding prior art can be adopted, and details are not described herein.
  • the synchronizing mechanism 540 is simple in design, and the positioning and positioning of the pedal assembly 510 and the motor shaft 520 can be completed in a limited assembly space by selecting different size and/or type of synchronizing mechanisms 540, and the compact structure and assembly operation are ensured. Convenience.
  • the synchronization mechanism 540 is any one of the existing gear transmission mechanism, the chain transmission mechanism, the belt transmission mechanism, the tie rod transmission mechanism, and the ball joint linkage rod transmission mechanism, and the user can assemble the space structure and the transmission according to the design of the scooter. The requirements are designed accordingly. Referring to Figure 25, this embodiment employs a belt drive mechanism.
  • the two-wheeled scooter includes two synchronization mechanisms 540 symmetrically disposed on two sides of the rear wheel 32.
  • Such a structure is not only advantageous for improving the stability of the overall structure and the stability of the actual operation.
  • the vehicle body 50 is provided with a first mounting seat 81 configured to mount the pedal shaft 513 and a second mounting bracket 82 configured to mount the motor shaft 520, the pedal shaft
  • the first bearing 710 and the pedal shaft pressing block 810 are pivotally connected to the first mounting base 81.
  • the motor shaft 520 is pivotally connected to the second mounting seat 82 through the second bearing 720 and the motor shaft pressing block 820.
  • the structure is simple and assembled. Conveniently, it can ensure that the entire pedal assembly 510 can be easily and flexibly adjusted under the user's "foot control" to avoid driving the bulky body 50, and the operation flexibility is good.
  • the two-wheeled scooter since the two-wheeled scooter includes two synchronizing mechanisms 540 symmetrically disposed on both sides of the rear wheel 32, correspondingly two symmetric first mounting seats 81 and two symmetric ones are also provided. Two mounts 82, and the first bearing 710 and the second bearing 720 are also correspondingly two.
  • an axial limiting structure (not shown) is disposed between the pedal shaft 513 and the first mounting seat 81 and between the motor shaft 520 and the second mounting seat 82.
  • a structure can ensure that the pedal bracket 512 and the pedal body 511 and the rear wheel 32 do not axially shake relative to the vehicle body 50 while positioning the pedal shaft 513 and the vehicle body 50 and the motor shaft 520 and the vehicle body 50.
  • the axial limiting mechanism can adopt the existing structure such as a circlip or a snap ring, and has the advantages of simple structure, low price and convenient installation.
  • the handlebar 60 includes a riser 62, a front fork 61 that fixedly connects the riser 62 and the front wheel 31, a second armrest 63 that is disposed on the riser 62, and a fixed connection riser 62 and the body 50.
  • the bracket 64 has a simple structure, convenient processing and low cost.
  • the front wheel 31 is preferably a driven wheel. The handlebar 60 described above can improve the stability of the user standing on the body 50 on the one hand, and facilitate the steering operation by the user on the other hand.
  • the two-wheeled scooter further includes a power module 550 for supplying power to the control system and the motor, and the power module 550 is preferably disposed between the pedal assembly 510 and the rear wheel 32.
  • the body 50 is used to save the overall space.
  • the power module 550 is also preferably a rechargeable battery to improve ease of use.
  • the above two-wheeled scooter further includes other required components or structures configured to install the positioning pedal shaft 513, the screw shaft of the motor shaft 520, etc., which are common in existing scooters, and therefore It can be implemented corresponding to the prior art and will not be described in detail herein.
  • the present disclosure provides a self-balancing device that is simple in structure and can ensure smooth operation of an electric vehicle.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Transportation (AREA)
  • Motorcycle And Bicycle Frame (AREA)

Abstract

La présente invention concerne un dispositif d'auto-équilibrage, un véhicule électrique, un véhicule de posture, une valise interagissant avec l'utilisateur et une planche à roulettes à deux roues. Le dispositif d'auto-équilibrage comprend un ensemble pédale (510), un système de commande (530) et un moteur électrique, le moteur électrique étant agencé dans une roue d'entraînement (400) et un arbre de moteur électrique (520) du moteur électrique étant raccordé de manière pivotante à une carrosserie de véhicule (120) ; l'ensemble pédale (510) est disposé sur la carrosserie de véhicule (120) et est raccordé de manière pivotante à la carrosserie de véhicule (120) ; le système de commande (530) comprend une unité de détection de posture raccordée à l'ensemble pédale (510), et une unité de traitement raccordée respectivement à l'unité de détection de posture et à l'arbre de moteur électrique (520) ; l'unité de détection de posture est conçue pour détecter l'angle d'inclinaison entre l'ensemble pédale (510) et un plan horizontal ; l'unité de traitement commande, selon l'angle d'inclinaison, le fonctionnement de la roue d'entraînement (400) au moyen du moteur électrique ; et l'ensemble pédale (510) est en outre raccordé à un mécanisme d'équilibrage auxiliaire qui est conçu pour pouvoir compenser partiellement ou complètement l'angle d'inclinaison de manière à équilibrer l'ensemble pédale (510) au moins lorsque l'unité de traitement commande le fonctionnement accéléré de la roue d'entraînement. Le dispositif d'auto-équilibrage est flexible et pratique à utiliser et présente une bonne stabilité de fonctionnement.
PCT/CN2018/078506 2017-03-09 2018-03-09 Dispositif d'auto-équilibrage, véhicule électrique, véhicule de posture, valise interagissant avec l'utilisateur et planche à roulettes à deux roues WO2018161947A1 (fr)

Applications Claiming Priority (8)

Application Number Priority Date Filing Date Title
CN201710136887.0 2017-03-09
CN201720227597.2U CN206744776U (zh) 2017-03-09 2017-03-09 载人行李箱
CN201720235311.5 2017-03-09
CN201720227597.2 2017-03-09
CN201720235311.5U CN206654150U (zh) 2017-03-09 2017-03-09 姿态车
CN201710136887.0A CN106892039B (zh) 2017-03-09 2017-03-09 自平衡装置及电动车辆
CN201720229350.4U CN206813194U (zh) 2017-03-09 2017-03-09 两轮滑板车
CN201720229350.4 2017-03-09

Publications (1)

Publication Number Publication Date
WO2018161947A1 true WO2018161947A1 (fr) 2018-09-13

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PCT/CN2018/078506 WO2018161947A1 (fr) 2017-03-09 2018-03-09 Dispositif d'auto-équilibrage, véhicule électrique, véhicule de posture, valise interagissant avec l'utilisateur et planche à roulettes à deux roues

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WO (1) WO2018161947A1 (fr)

Cited By (3)

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Publication number Priority date Publication date Assignee Title
CN113753164A (zh) * 2021-09-07 2021-12-07 深圳市亮点智控科技有限公司 一种体感车运行的控制系统及方法
CN113771996A (zh) * 2021-09-07 2021-12-10 深圳市动平衡科技有限公司 一种体感车
US11541960B2 (en) * 2017-01-04 2023-01-03 Hangzhou Chic Intelligent Technology Co., Ltd Man-machine interaction somatosensory vehicle

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CN206654150U (zh) * 2017-03-09 2017-11-21 深圳市亮点智控科技有限公司 姿态车
CN206750011U (zh) * 2017-03-09 2017-12-15 深圳市亮点智控科技有限公司 自平衡装置及电动车辆
CN206744776U (zh) * 2017-03-09 2017-12-15 深圳市亮点智控科技有限公司 载人行李箱
CN206813194U (zh) * 2017-03-09 2017-12-29 深圳市亮点智控科技有限公司 两轮滑板车

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JP3981733B2 (ja) * 2003-09-17 2007-09-26 独立行政法人産業技術総合研究所 平行２輪乗用台車
WO2011016054A2 (fr) * 2009-08-03 2011-02-10 Subhav Sinha Gyropode stabilisé dynamiquement
CN203975082U (zh) * 2014-07-17 2014-12-03 上海普若迪智能科技有限公司 多联体平衡车
CN105172955A (zh) * 2015-09-30 2015-12-23 深圳市高斯拓普科技有限公司 一种电动四轮平衡车
CN106184533A (zh) * 2016-09-30 2016-12-07 深圳市瑞能德电子有限公司 一种电动平衡车
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CN206654150U (zh) * 2017-03-09 2017-11-21 深圳市亮点智控科技有限公司 姿态车
CN206750011U (zh) * 2017-03-09 2017-12-15 深圳市亮点智控科技有限公司 自平衡装置及电动车辆
CN206744776U (zh) * 2017-03-09 2017-12-15 深圳市亮点智控科技有限公司 载人行李箱
CN206813194U (zh) * 2017-03-09 2017-12-29 深圳市亮点智控科技有限公司 两轮滑板车

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US11541960B2 (en) * 2017-01-04 2023-01-03 Hangzhou Chic Intelligent Technology Co., Ltd Man-machine interaction somatosensory vehicle
CN113753164A (zh) * 2021-09-07 2021-12-07 深圳市亮点智控科技有限公司 一种体感车运行的控制系统及方法
CN113771996A (zh) * 2021-09-07 2021-12-10 深圳市动平衡科技有限公司 一种体感车

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