CN107128418A - A kind of Self-Balancing vehicle strong by property - Google Patents

Abstract

The invention discloses a self-balancing vehicle with strong passability, which comprises pedals, wheel shafts, support rods, wheel shafts, wheels, servo motors, battery packs and a controller. Two wheel shafts are arranged symmetrically on both sides of the pedal. The wheel shaft is connected to one end of three support rods of equal length, and the three support rods form an angle of 120 degrees to form an equilateral triangle. The other end of the support rod is fixed to the wheel shaft, and the wheels are fixed on the wheel shaft; The battery pack, the controller and the servo motor are all arranged inside the pedal, the battery pack is respectively connected to the controller and the servo motor, the battery supplies power to the controller and the servo motor, the controller is connected to the control terminal of the servo motor, and the The output shaft is connected to the wheel set shaft and used to drive the wheel set shaft. The wheels are equipped with hub motors; the invention has simple structure, strong adaptability to road surfaces, high passability, low power consumption, and good market application value .

Description

A self-balancing car with strong passability

technical field

The invention relates to the field of vehicles, in particular to a self-balancing vehicle with strong passability.

Background technique

With the advancement of technology, self-balancing vehicles have developed rapidly in recent years, bringing a lot of convenience to people's daily travel, but because the driving route of traditional self-balancing vehicles is limited by uneven ground and steps, it brings users It is inconvenient, and the self-balancing vehicle cannot respond to obstacles in front of it, which may cause injury to the user. At the same time, the existing self-balancing vehicle cannot switch from two wheels to four wheels or to six wheels.

There are deficiencies in the existing technology and need to be improved.

Contents of the invention

In order to solve the defects existing in the current technology, the invention provides a self-balancing vehicle with strong passability.

The technical document provided by the present invention is a self-balancing vehicle with strong passability, including pedals, wheel shafts, support rods, wheel shafts, wheels, servo motors, battery packs and controllers. Two wheels are symmetrically arranged on both sides of the pedals. Axle set, the wheel set axle is connected to one end of three support rods of equal length, the three support rods form an angle of 120 degrees, forming an equilateral triangle, the other end of the support rod is fixed to the wheel axle, and the wheels are fixed to the wheel axle above; the battery pack, the controller and the servo motor are all arranged inside the pedal, the battery pack is respectively connected to the controller and the servo motor, the battery supplies power to the controller and the servo motor, the controller is connected to the control end of the servo motor, and the The output shaft of the servo motor is connected to the wheel set shaft for driving the wheel set shaft. The wheels are equipped with hub motors, and the hub motors are connected to the controller inside the pedal along the support rod through wires.

Preferably, a detection module is provided on the front of the pedal, the detection module is connected to the controller, the detection module is used to detect obstacles on the road surface, the detection module is provided as at least one, and the detection module is embedded in the outer shell of the pedal superior.

Preferably, an inclined surface is provided on the front of the pedal, the detection module is embedded on the inclined surface, and the detection angle of the detection module is at an angle of 45 degrees to the ground.

Preferably, the detection module is any one or a combination of infrared photoelectric sensors, ultrasonic distance sensors and image positioning detection units.

Preferably, the support rod is aluminum alloy or titanium alloy, the support rod is set as a hollow tube, and the wire passes through the hollow tube to electrically connect the hub motor and the controller. The length of the support rod is not More than 200 mm, the ratio of said wheel radius to support rod does not exceed 0.4.

Preferably, the servo motor is arranged in the middle of the pedal, the battery pack is fixed above the servo motor, the controller is fixed below the servo motor, the output shafts at both ends of the servo motor pass through the shell on the side of the pedal, and the wheel set Shaft connection, gaskets are provided between the servo motor and the controller, and between the servo motor and the battery pack to protect the controller and the battery pack from damage due to friction.

Preferably, the support rod is detachably fixed on the wheel shaft, and three slots are arranged on the edge of the wheel shaft, the three slots are evenly distributed along the circumference of the wheel shaft, and the three slots are connected to the wheel shaft. The included angles formed by the centers of the circles are all 120 degrees, and the three support rods are respectively fixed in the three card slots.

Preferably, the wire inside the hollow tube is connected to the controller through a wire plug joint, and the wire plug joint is used to facilitate the disconnection of the wire when the support rod is disassembled.

Compared with the beneficial effects of the prior art, when the road surface is relatively flat, one of the left and right groups of wheels touches the ground, which reduces the contact area with the ground, reduces friction, and reduces power consumption. If it is used on a flat road for a long time, it can Disassemble other support rods and wheels to reduce the weight of the body and reduce power consumption; when the road surface is uneven, the left and right groups of wheels each have two wheels that touch the ground as driving wheels, and the self-balancing vehicle is working in a four-wheel driving state. , can enhance the passing capacity of the balance car; when it is necessary to go up and down the steps, each group of wheels works in an alternate state where one wheel touches the ground as a driving wheel and two wheels touch the ground as a drive wheel, so that the balance car can pass through the steps. The structure is simple, the road surface adaptability is strong, the trafficability is high, the power consumption is low, and it has good market application value.

Description of drawings

Figure 1 Schematic diagram of the overall structure of the balance car;

Fig. 2 is a schematic structural view of a wheel set;

Fig. 3 is a schematic diagram of the connection structure of a wheel, a support rod and a wheel shaft;

Figure 4 is a schematic diagram of the internal structure of the pedal.

detailed description

It should be noted that the above-mentioned technical features continue to be combined with each other to form various embodiments not listed above, which are all regarded as the scope of the description of the present invention; and, for those of ordinary skill in the art, improvements can be made according to the above description Or transformation, and all these improvements and transformations should belong to the protection scope of the appended claims of the present invention.

In order to facilitate understanding of the present invention, the present invention will be described in more detail below in conjunction with the accompanying drawings and specific embodiments, and preferred embodiments of the present invention are provided in the accompanying drawings; however, the present invention can be realized in many different forms , are not limited to the embodiments described in this specification; on the contrary, the purpose of providing these embodiments is to make the understanding of the disclosure of the present invention more thorough and comprehensive.

It should be noted that when an element is said to be "fixed" to another element, it may be directly on the other element or there may be an intervening element; when an element is said to be "connected" to another element, it may be directly connected to another element or possibly intervening elements; the terms "vertical," "horizontal," "left," "right," and similar expressions are used in this specification for purposes of illustration only.

Unless otherwise defined, all the technical and scientific terms used in this specification have the same meaning as commonly understood by those skilled in the technical field of the present invention; the terms used in this specification in the specification of the present invention are only for describing specific The purpose of the examples is not to limit the invention.

The present invention will be described in detail below in conjunction with the accompanying drawings.

As shown in Figures 1 to 4, a self-balancing vehicle with strong passability includes a pedal 2, a wheel shaft 5, a support rod 4, a wheel shaft 3, a wheel 1, a servo motor 7, a battery pack 8 and a controller 9, Two wheel shafts 5 are arranged symmetrically on both sides of the pedal 2, and the wheel shafts 5 are connected to one end of three support rods 4 of equal length, and the three support rods 4 form an angle of 120 degrees to form an equilateral Triangular, the other end of the support rod 4 fixes the wheel axle 3, and the wheel 1 is fixed on the wheel axle 3; the battery pack 8, the controller 9 and the servo motor 7 are all arranged inside the pedal 2, and the battery pack 8 is connected to the controller respectively 9 and the servo motor 7, the battery supplies power to the controller 9 and the servo motor 7, the controller 9 is connected to the control end of the servo motor 7, and the output shaft 6 of the servo motor 7 is connected to the wheel shaft 5 for driving the wheel shaft 5 , the wheels 1 are equipped with in-wheel motors, and the in-wheel motors are connected to the controller 9 inside the pedal 2 along the support rod 4 through wires.

Further, the in-wheel motor is a brushless in-wheel motor, three wheels 1 form a wheel set, and the wheel shaft 3 connected to the three wheels 1 is connected to the wheel set shaft 5 through a support rod 4 of equal length, and the pedals 2 are located on the left and right Between the two wheel sets, the servo motor 7 is fixed inside the pedal 2, and the output shaft 6 of the servo motor 7 is connected to the left and right two wheel sets respectively.

Preferably, a detection module 10 is provided on the front of the pedal 2, the detection module 10 is connected to the controller 9, the detection module 10 is used to detect obstacles on the road surface, the detection module 10 is set to at least one, the detection The module 10 is embedded on the shell of the pedal 2 .

Preferably, a slope is provided on the front of the pedal 2, the detection module 10 is embedded on the slope, and the detection angle of the detection module 10 is at an angle of 45 degrees to the ground.

Preferably, the detection module 10 is any one or a combination of infrared photoelectric sensors, ultrasonic distance sensors and image positioning detection units.

Preferably, the support rod 4 is aluminum alloy or titanium alloy, the support rod 4 is set as a hollow tube, the wire passes through the hollow tube, and is electrically connected to the hub motor and the controller 9, the support The length of the rod 4 is not more than 200 mm, and the ratio of the radius of the wheel 1 to the support rod 4 is not more than 0.4.

Preferably, the servo motor 7 is arranged in the middle of the pedal 2, the battery pack 8 is fixed above the servo motor 7, the controller 9 is fixed below the servo motor 7, and the output shafts 6 at both ends of the servo motor 7 pass through the pedal 2. The shell on the side is connected to the wheel set shaft 5. Gaskets are arranged between the servo motor 7 and the controller 9 and between the servo motor 7 and the battery pack 8 to protect the controller 9 and the battery pack 8 from Damage due to friction.

Preferably, the support rod 4 is detachably fixed on the wheel shaft 5, and three slots are arranged on the edge of the wheel shaft 5, the three slots are evenly distributed along the circumference of the wheel shaft 5, and the three slots The included angles formed with the center of the wheel shaft 5 are all 120 degrees, and the three support rods 4 are respectively fixed in the three slots.

Preferably, the wire inside the hollow tube is connected to the controller 9 through a wire plug joint, and the wire plug joint is used to facilitate disconnection of the wire when the support rod 4 is disassembled.

Further, the six wheels 1 in the self-balancing vehicle are all built with in-wheel motors, and the rotation of any one or several wheels 1 can be precisely controlled by the controller 9, combined with the servo motor connected to the left and right shafts in the pedal 2 Motor 7, and then control the balance, forward, two-wheel state, four-wheel state and the state of climbing steps in which two of the six wheels advance alternately, so as to solve the problem of insufficient ability to pass through complex road conditions such as uneven ground and steps.

The balance of the self-balancing vehicle is jointly determined by the state of the wheels and the state of the servo motor 7 installed under the pedal 2 .

The working principle of the present invention is that if it is used on a flat road surface for a long time, other support rods 4 and wheels 1 can be disassembled, and only one left and one corresponding support rods 4 and wheels 1 are kept, so as to reduce the weight of the vehicle body, reduce power consumption, and control The controller 9 controls the servo motor 7 to rotate to stop at the position where the support rod 4 is perpendicular to the ground, and the gyroscope in the controller 9 cooperates with the hub motor to control the balance of the vehicle body; when the road surface is relatively smooth, and the support rod 4 and the wheel 1 are not disassembled At this time, each of the left and right groups of wheels has a wheel 1 touching the ground, which reduces the contact area with the ground, reduces friction, and reduces power consumption. The controller 9 controls the servo motor 7 to rotate to a position where one of the support rods 4 is perpendicular to the ground and stops. , the gyroscope in the controller 9 cooperates with the wheel hub motor to control the balance of the vehicle body. At this time, when the detection module 10 detects obstacles such as small stones ahead, and the two wheels cannot run smoothly, the controller 9 receives the signal from the detection module 10. signal, the controller 9 controls the rotation of the servo motor 7, so that the four wheels move forward on the ground, and pass through the small stones. When the detection module 10 detects a step, the controller 9 controls the servo motor 7 to continuously rotate at a constant speed, and the servo motor 7 drives the wheel set shaft 5 to realize that the three wheels 1 alternately land on the ground and go up the step. , the controller 9 controls the wheel hub motor to stop rotating. When the detection module 10 does not detect the step, that is, it has reached the top of the step, the controller 9 controls the servo motor 7 to rotate to the position where the support rod 4 is perpendicular to the ground and stops. The gyroscope and the hub motor cooperate to control the balance of the vehicle body, and the hub motor rotates to realize the two-wheel forward.

It should be noted that the above-mentioned technical features continue to be combined with each other to form various embodiments not listed above, which are all regarded as the scope of the description of the present invention; and, for those of ordinary skill in the art, improvements can be made according to the above description Or transformation, and all these improvements and transformations should belong to the protection scope of the appended claims of the present invention.

Claims (8)

1. A self-balancing vehicle with strong passability, characterized in that it includes pedals, wheel shafts, support rods, wheel shafts, wheels, servo motors, battery packs and controllers, and two wheel sets are symmetrically arranged on both sides of the pedals The axle of the wheel group is connected to one end of three support rods of equal length. The angle between the three support rods is 120 degrees, forming an equilateral triangle. The other end of the support rod is fixed to the wheel axle, and the wheels are fixed on the wheel axle. ; The battery pack, the controller and the servo motor are all arranged inside the pedal, the battery pack is respectively connected to the controller and the servo motor, the battery supplies power to the controller and the servo motor, the controller is connected to the control end of the servo motor, and the servo The output shaft of the motor is connected to the wheel set shaft for driving the wheel set shaft. The wheels are equipped with hub motors, and the hub motors are connected to the controller inside the pedal along the support rod through wires. 2. A self-balancing vehicle with strong passability according to claim 1, characterized in that, a detection module is arranged on the front of the pedal, the detection module is connected to the controller, and the detection module is used to detect obstacles on the road surface , there is at least one detection module, and the detection module is embedded in the outer shell of the pedal. 3. A self-balancing vehicle with strong passability according to claim 2, characterized in that, the front of the pedal is provided with an inclined surface, the detection module is embedded on the inclined surface, and the detection angle of the detection module is 45° to the ground. degree angle. 4. A self-balancing vehicle with strong passability according to claim 3, characterized in that, the detection module is any one or a combination of infrared photoelectric sensors, ultrasonic distance sensors and image positioning detection units. 5. A self-balancing vehicle with strong passability according to claim 4, characterized in that, the support rod is aluminum alloy or titanium alloy, the support rod is set as a hollow tube, and the wire is arranged along the hollow tube The interior passes through and is electrically connected to the hub motor and the controller. The length of the support rod does not exceed 200mm, and the ratio of the wheel radius to the support rod does not exceed 0.4. 6. A self-balancing vehicle with strong passability according to claim 5, characterized in that, the servo motor is arranged in the middle of the pedal, the battery pack is fixed above the servo motor, and the controller is fixed below the servo motor , the output shafts at both ends of the servo motor run through the housing on the side of the pedal and are connected to the wheel shaft. Gaskets are provided between the servo motor and the controller, and between the servo motor and the battery pack to protect the controller and the battery pack. The battery pack avoids damage due to friction. 7. A self-balancing vehicle with strong passability according to claim 6, characterized in that, the support rod is detachably fixed on the wheel shaft, and three card slots are arranged on the edge of the wheel shaft, three The three draw-in slots are evenly distributed along the circumference of the wheel shaft, the included angles between the three draw-in slots and the center of the wheel shaft are all 120 degrees, and the three support rods are respectively fixed in the three draw-in slots. 8. A self-balancing vehicle with strong passability according to claim 7, characterized in that, the wire inside the hollow tube is connected to the controller through a wire plug connector, and the wire plug connector is used for disassembling the support rod To facilitate the disconnection of the wire.