CN109050756B - Self-balancing vehicle wheel shock absorption and balance correction mechanism - Google Patents

Abstract

The invention is a wheel shock absorption and balance correction mechanism for a self-balancing vehicle, which enables the vehicle to have the ability to resist the disturbance of the road surface, enables the frame and the pedal to absorb shock and maintain the balance, and provides a stable bearing platform for the rider. A handle that does not sway from side to side can support the rider to prevent imbalance, so that the rider can stably control and control the riding posture. If there is an emergency, the rider can also pull the stable handle to prevent falling. The method is that when the wheel on either side jumps over an obstacle, the balance correction mechanism will drive the other wheel to jump in the opposite direction and the same amplitude, thus keeping the pedals balanced and not inclined, and when the two wheels are at the same time. When encountering an obstacle and impacting force, the superimposed effect of balance correction and spring shock absorption can be used to make the pedals have the ability to absorb shocks and reduce the rider's feet to lose their balance due to excessive force and impact.

Description

A kind of wheel shock absorption and balance correction mechanism for self-balancing vehicle

FIELD OF THE INVENTION The present invention relates to an electric two-wheeled self-balancing vehicle, especially an electric self-balancing vehicle with a single handle or a double handle.

Technical Background The two-wheeled self-balancing scooters currently on the market are double-handled, but most of them are single-handled. Representatives such as the US Segway Company have issued US Patent Nos. US 6,302,230 B1, US 9,188,984 B2 and US7,275,607 B2. The disclosed two-wheeled self-balancing vehicle has been publicly marketed for a few years now, but it has been heard of people crashing and damaging the vehicle.

The vehicle is provided with a pedal for carrying a rider, and an upright handle is arranged in the center of the front side, and the top fork is provided with a grip for the rider's left and right hands to hold, and the handle swings left and right to control the steering of the vehicle. This type of single-handle two-wheeled self-balancing bicycle requires the rider to maintain the stability of the body with the body posture and dynamic distribution of the two feet during the actual riding and steering. Only with a stable body lower plate can the appropriate output of the hands be allowed. Use the force to operate the handle to swing left and right in a controlled manner, otherwise the vehicle cannot be driven to turn stably and effectively, and the vehicle may even turn violently, causing injuries to people and vehicles. The handle of this type of vehicle is actually a swinging operating lever, which cannot provide the rider with a stable center of gravity. It's like standing on a stumbling bus without a hand, and you will stumble if you are not careful.

Collect and analyze in detail the whole history of many past incidents of self-balancing bikes that were out of balance, lost control, violently turned and injured people. Among them, if the human operation skills are not skilled and the same situation can be avoided if the rider's skills are improved, the recurrence of the same situation is excluded. It refers to "the accident caused by the rider pulling the steering handle urgently in order to balance the body at the last moment of the unbalanced fall", "the rider's unbalance caused by external interference and the mishandling of the handle" and "not paying attention to the road conditions". Negligence and Improper Driving" three typical examples.

Therefore, the important method of the application is the "balance correction of shock absorption and shock absorption and the bearing platform" of the two-wheeled self-balancing vehicle, so that the rider can ride without imbalance and can eliminate most of the above-mentioned accidents.

SUMMARY OF THE INVENTION The purpose of the present invention is to allow the conventional single-handle or double-handle two-wheeled self-balancing vehicle to be equipped with the mechanism of the present invention, which has the following characteristics: Resist the unevenness of the road surface to interfere with the left and right balance of the vehicle frame and cause the rider to become unbalanced, provide A solid handlebar supports the rider to prevent imbalances and provides vehicle shock absorption.

The present invention is realized through the following technologies, and it includes:

A wheel shock absorption and balance correction mechanism for a self-balancing vehicle is characterized in that it comprises: a two-wheeled self-balancing vehicle is provided with more than one frame, and two or more wheels are respectively attached with wheel axles; A left four-bar linkage group and a right four-bar linkage group, the linkage groups each have a left wheel bracket and a right wheel bracket, one end of the wheel bracket is respectively connected to the wheel axle, the left and right four-bar linkage The rods also each include two transverse links, the inner ends of the transverse links are respectively pivoted on the frame, and the outer ends of the transverse links are respectively pivoted to the wheel brackets to form a set of The four-link structure with left-right symmetry in the center of the frame, one of the transverse links is provided with an input pivot point with an appropriate lever arm length; It is connected to the central part of the frame, and the other end is pivotally connected to an input pivot point of the corresponding transverse link, so as to impart an appropriate pre-pressure to the left and right four-link sets so that the frame set can be kept in good condition. Balance positive position; a central connecting rod set, which is provided with a pre-compression spring and an extension limit block in the axial direction, which can generate axial extension when the pre-compression amount is exceeded, and it can be used as shock absorption when the two wheels are simultaneously lifted by force. For the purpose of buffering, the two ends of the central link group are respectively pivoted to the input pivot points of the transverse link to connect the two groups of four links to form a linkage mechanism.

The characteristics and purpose of the wheel shock absorption and balance correction mechanism are: providing shock absorption and balance correction of the balance car to correct the uneven jumping of the wheel, so that the frame can always maintain a horizontal posture, and a balance is provided for the rider. Stable standing platform.

In addition, the above-mentioned wheel damping and balance correction mechanism is characterized in that one end of the left shock absorber and the right shock absorber pivotally connected to the central part of the frame is provided with oil passages to communicate with each other, so that all the shock absorbers are connected to each other. The oil cavity of the left and right shock absorbers becomes a connecting pipe structure, and the built-in limit of the shock absorber is used as the system limit of the one wheel damping and balance correction mechanism to replace the one central link group.

Also, a wheel damping and balance correction mechanism for a self-balancing vehicle is characterized in that it includes: a two-wheeled self-balancing vehicle is provided with more than one frame, and two or more wheels are respectively attached with a wheel axle; a left wheel bracket and a right wheel bracket, one end of which is pivotally connected to the wheel axle of the corresponding side so that the left and right wheels are juxtaposed in parallel, the wheel bracket is also provided with a hydraulic cylinder fixing point and a sliding guide block; a The upper left bracket and the upper right bracket are respectively provided with sliding blocks and correspondingly matched with the sliding guide blocks on the wheel brackets so as to guide the wheel brackets and the wheels fixed on them to move in accordance with the sliding direction of the sliding guide blocks, The upper bracket is also provided with a hydraulic cylinder fixing point, and a frame connection point to allow the left and right upper brackets to be fixedly connected to both sides of the frame; a left hydraulic cylinder, and a right hydraulic cylinder, which are provided with cylinders The inner part of the cylinder body and the built-in piston are separated into an upper oil chamber and a lower oil chamber, and each of the oil chambers is provided with an inlet and an outlet connected to its corresponding inlet and outlet, so that the upper oil chambers of the left and right hydraulic cylinders are connected to form a connected body, and The lower oil chambers of the left and right hydraulic cylinders are connected to form a connected body, and the cylinder body ends and the piston rod ends of the left and right hydraulic cylinders are respectively fixed to the corresponding upper support hydraulic cylinder fixing points and the hydraulic pressure of the left and right wheel supports. Cylinder fixing point; a left spring and a right spring, which are arranged between the wheel bracket and the upper bracket on the corresponding side to play the role of support and shock absorption.

The characteristics of this structure are: the use of springs for support and shock absorption, and the use of the upper and lower oil chambers of the two hydraulic cylinders to form a connected pipe system, forcibly make the wheel on one side and its bracket rise or sink under force. It will force the other side of the wheel and its bracket to produce the same force but the opposite direction of movement, so the shock absorption and balance correction functions are achieved, so that the frame is always balanced and does not sway from side to side.

Also, a wheel damping and balance correction mechanism for a self-balancing vehicle is characterized in that it comprises: a self-balancing vehicle is provided with more than one frame, two left wheels and two right wheels are respectively A wheel axle is attached; a left wheel bracket and a right wheel bracket, their respective inner end faces are connected with the frame, the other end is pivotally connected to the wheel axle of the corresponding side so that the left and right wheels are juxtaposed in parallel, and the wheel bracket is also They are respectively provided with a crank connection pivot point and a rocker arm pivot point; four cranks, one end of which is respectively pivoted to the crank connection points on the left and right wheel brackets are in a manner corresponding to the front and rear in the straight direction before driving. The outwardly open end of the crank is pivotally connected to the axles of the left and right wheels, and an input and output force pivot point is provided in the middle of the crank with an appropriate lever ratio; a left rocker arm and a right rocker arm are pivoted at their center points respectively. Connected to the corresponding left and right wheel brackets, the two free ends of the rocker arm are provided with pivot points; four shock absorbers are pivotally connected to the pivot points of the rocker arm and the crank arm respectively. The crank and the rocker arm form a four-link linkage relationship between the input and output force pivot points. The feature of this structural arrangement is that the two wheels arranged in the front and rear on the same side of the vehicle can pass through the rocker arm and the shock absorber. The function of the brake is to generate shock absorption and balance to correct up and down jumps when the vehicle passes through uneven roads. The superposition of the functions of the wheel brackets on both sides makes the frame have the functions of shock absorption and constant balance of left and right height and stable riding.

Also, a wheel damping and balance correction mechanism for a self-balancing vehicle such as the above-mentioned four-wheeled self-balancing vehicle is characterized in that a right rear wheel and a left rear wheel are respectively connected by a right rear fork and a The left rear fork is pivotally connected, and the pivot point of the rear fork is then connected to the respective rear cranks. It is characterized in that when the four-wheeled self-balancing vehicle turns, the two rear wheels can respectively use their forks. The pivot point is used as the axis, and the direction of the wheels is changed according to the turning direction of the vehicle, so that the alignment of the four wheels makes the vehicle turn more smoothly.

Description of drawings

Accompanying drawing 1 is the appearance diagram of a self-balancing vehicle equipped with link-type shock absorption and balance mechanism

Accompanying drawing 1-1 is the structure diagram of the connecting rod type damping and balancing mechanism in FIG. 1

Figure 1-2 is a schematic diagram of the vehicle jumping over obstacles shown in Figure 1

Accompanying drawing 2 is the structural arrangement diagram that utilizes the upper oil chamber of two shock absorbers to communicate

Accompanying drawing 3 is the appearance diagram of a self-balancing vehicle equipped with hydraulic shock-absorbing and balancing mechanism

Figure 3-1 is a structural layout diagram of the hydraulic shock absorption and balance mechanism in Figure 3

Figure 3-2 is a schematic diagram of the vehicle jumping over obstacles shown in Figure 3

Accompanying drawing 4 is the appearance diagram of a self-balancing vehicle equipped with rocker arm type shock absorption and balance mechanism

Figure 4-1 is a schematic diagram of the vehicle passing the obstacle road shown in Figure 4

Figure 4-2 is a schematic diagram of the fork after the vehicle shown in Figure 4 is installed

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS The present application will be further described below with reference to the accompanying drawings.

Accompanying drawing 1 is the external view of a self-balancing vehicle equipped with a link-type shock absorbing and balancing mechanism, the reference numeral 1 in the figure is a two-wheeled self-balancing vehicle, and 2 is a frame on which rider pedals are allowed to be installed Plate, 8 is a four-link damping and balance correction mechanism, the structure of which is described in detail in the illustration of Figures 1-2 below, the right link group 4 has a right wheel bracket 4-1, and its middle section is It is connected with the right wheel shaft 3-1, and its uppermost end is provided with a right handle 10 and a right grip 10-1 for the rider to operate and grasp, and 5 is the left link group, which is also provided with a left wheel bracket 5-1 , The left handle 9 and the left grip 9-1, the right wheel 6 and the left wheel 7 are pivoted in parallel on the right wheel bracket 4-1 and the left wheel bracket 5-1, respectively, Figure 1 is an integral self-balancing vehicle Appearance drawing in an upright stationary state.

Figure 1-1 is a structural diagram of the link-type shock absorption and balance mechanism in Figure 1, in which the front half of the frame 2 is cut away in order to see the internal structure clearly, 8 is a four-link shock absorber And the balance correction mechanism, it includes a right link group 4, which includes four parallel parallel right lateral links 4-2 are pivoted on the right side end of the frame 2 by the inner pivot 4-41 of the right frame. The other end of the transverse link 4-2 is pivotally connected to the right wheel bracket 4-1 to form a parallel four-link structure, and the other end of the frame 2 has a left link group 5, which includes four A left lateral link 5-2 is pivotally connected to the frame 2 by the left frame inner pivot 5-41, and the other end of the left lateral link 5-2 is pivotally connected to the left wheel bracket 5-1 to form A parallel four-link structure corresponding to the right link group 4, the lowermost right link group 4-2 in the figure is provided with a right output pivot point 4-4 that protrudes upward and has a suitable force arm, which is connected to To one end of a right shock absorber 4-5, the other end of the shock absorber 4-5 is pivoted to the middle section of the frame 2 by a right shock absorber pivot 4-6, the four-link shock absorber is connected with the The balance correction mechanism also includes a left connecting rod group 5, whose structure and arrangement are the same as the above-mentioned right connecting rod group 4, but the left and right directions are opposite. The left connecting rod group 5 includes four left horizontal connecting rods 5-2, two left The inner frame pivot 5-41, a left output pivot point 5-4, the left shock absorber 5-5 is pivoted in the middle of the frame 2 by the left shock absorber pivot, 11 is a central link at both ends There is a right lifting lug 11-3 and a left lifting lug 11-4, the two lifting lugs are respectively pivoted on the right output pivot point 4-4 and the left output pivot point 5-4, and the middle section of the central link 11 is provided with A properly preloaded spring 11-1 and limit block 11-2, when the central connecting rod 11 is squeezed, its force directly passes through the outer tube plug 11-32, the outer tube 11-31 and the left The lifting lug flange 11-41 transmits, because there is no elastic element and gap between them, the central link 11 can transmit force almost rigidly, when the central link 11 is stretched to both ends and the force exceeds the force of the spring 11-1. During pre-loading, the outer tube plug 11-32 will press the spring 11-1 limited in the outer tube 11-31 by the screw sleeve 11-23 with the gasket 11-22 locked in it, the outer tube plug The head 11-32 will stretch outwards according to the force, and the stretch should be until the left lifting lug flange 11-41 abuts the stop block 11-2. Therefore, when any side of the wheel is under force, it jumps upwards and squeezes the side. When the four-link and the shock absorber are displaced, the displacement will be transmitted by the central link to the corresponding four-link and drive the other side of the wheel to make a corrective action in the opposite direction but with equal force and beating amount, so that the vehicle's The frame is always level and does not sway from side to side, which is of great help to the balance correction of the vehicle through the uneven road on the left and right, and when the two wheels are simultaneously subjected to external force and jump upward, the central link can be stretched in time to allow the impact force of the two wheels to pass through the respective sides. The four links are transmitted to the shock absorbers on their respective sides to achieve the effect of buffering and shock absorption.

Figure 1-2 is a schematic diagram of the vehicle jumping over obstacles shown in Figure 1. It can be seen from the figure that when the vehicle passes a rolling road surface as shown by the straight line Lr, because of the situation as described in Figure 1-1 Balance correction function, the frame 2 can be kept in a position parallel to the horizontal reference line L, and the left and right handlebars 9 and 10 can also be kept almost parallel to the vertical reference line Lv, all of which are helpful for the rider's body balance and stability. Control the ride.

Fig. 2 is a structural layout drawing of connecting the upper oil chambers of the two shock absorbers. In the figure, the front half of the frame 2 is cut away to see the internal components. 12 is an oil circuit board and shock absorber bracket. The shock absorber 4-5 and the left shock absorber 5-5 are traditional hydraulic shock absorbers used on bicycles and electric motorcycles. In Figure 2, the upper oil chambers of the two shock absorbers are opened upward toward the pivot axis. The oil passages lead to the shaft oil holes of the left and right shock absorber pivots 4-6 and 5-6 on their respective sides, and then connect to each other through the internal oil passages of the oil passage plate 12, so that the upper and lower parts of the two left and right shock absorbers are connected to each other. The oil chamber forms a structure of a connecting pipe, 13 is a conventional accumulator, and the central connecting rod 11 shown in Fig. is omitted, so the structure shown in Figure 2, when the shock absorber on either side is compressed to produce the displacement of the pivot point of the piston rod end of the shock absorber, the same amount of displacement will pass through the connecting pipe oil. The road is transmitted to the shock absorber on the corresponding side to achieve a balance correction function in which the wheel on one side rises and the wheel on the other side falls by an equal amount.

Figure 3 is an external view of a self-balancing vehicle equipped with a hydraulic shock-absorbing and balancing mechanism. In the figure, the frame 2 is cut away at the part indicated by arrow A, and a right hydraulic shock-absorbing and correction mechanism can be seen. 14 and 15 are the left hydraulic shock absorber and correction mechanism.

Figure 3-1 is the structural layout diagram of the hydraulic shock absorption and balance mechanism in Figure 3. The front half of the frame 2 and part of the left wheel bracket 5-1 are cut away in order to see the internal structure. The seat 5-11 and the right top seat 4-11 are fixed on the two ends of the frame 2 to form the main structure of the vehicle. Both sides of the frame 2 are provided with a right hydraulic shock absorption and balance correction mechanism 14 and a reverse direction. The left hydraulic shock absorption and balance correction mechanism 15 with the same structure, a right limit plunger 4-17 and a right cylinder liner 4-15 are fixed on the right top seat 4-11, and two parallel right top seats are fixed The guide column 4-12 corresponds to the lower end of the right wheel bracket 4-1 is connected to a right wheel bracket base 4-10, and two right bushing holes 4-20 are provided on both sides of the base to slide and fit on the right top The guide of the seat guide column 4-12 can move up and down freely, and a right piston 4-16 is fixed in the middle of the seat 4-10, which is oil-tightly matched with the right limit plunger 4-17 and the right cylinder liner 4-15 to form a right upper The oil chamber 4-18 and the right oil cylinder 4-14 of the lower right oil chamber are provided with a right shock-absorbing spring on the outer periphery of the right oil cylinder 4-14, which is preloaded against the right top seat 4-11 and the right wheel bracket The bases 4-10 play the role of shock absorption and shock absorption. The same structure as the right hydraulic shock absorption and balance correction mechanism described above is provided with a left hydraulic shock absorption and balance correction mechanism 15 in the lower right corner of the figure.

Figure 3-2 is a schematic diagram of the jumping condition of the vehicle equipped with the hydraulic shock absorber and balance correction mechanism shown in Figure 3. When the right wheel passes the obstacle, the force drives the right wheel bracket 4-1 to lift up, and it also drives the right wheel bracket 4-1 upward. The wheel bracket base 4-10 and the right piston 4-16 fixed on it are lifted up synchronously, so the upper oil chamber 4-18 is compressed and the oil flow is sent out from the oil outlet 4-181 of the upper right oil chamber, and then the upper oil chamber 4-18 is compressed. Flow through the oil passage (not shown) to the oil outlet 5-181 of the upper left oil chamber and the oil chamber 5-18 of the upper left oil chamber, forcing the left piston 5-16 to extend downward with the same length and pressure, and at the same time drive the fixed left piston The left wheel bracket base 5-10 of 5-16 and the left wheel bracket 5-1 protrude downward together, so, with this connecting pipe type oil circuit structure, the wheels can make one wheel lift the other by the same amount. The effect of lowering is to achieve the function of balancing and correcting the beating of the wheels and keeping the left and right balance of the frame. As for the shock absorption, the shock absorption is performed by the left and right shock springs 4-13 and 5-13 that are pre-compressed between the top seat and the base. 5-191 is a structure in which the oil outlet hole of the lower left oil chamber flows to the oil outlet hole of the lower right oil chamber of 4-191 through the oil passage (not shown), so that the lower oil chambers of the left and right oil cylinders form a connecting pipe structure. The purpose is to prevent the sudden drop of the wheel caused by the vacuum suction of the upper oil chamber of the side oil cylinder when a wheel passes through a pit and vacates.

Figure 4 is an appearance view of a self-balancing vehicle equipped with a rocker-type shock absorption and balance mechanism. 1-1 is a four-wheeled self-balancing vehicle. Part of the frame 2 in the figure is cut away, and it can be seen that there are A frame keel 2-1 connecting the left handle 9 and the right handle 10, the lower end of the left handle 9 is provided with a left crank inner pivot 9-6 for pivoting the left front crank 9-5 and the left rear crank 9-51, so The outer ends of the two cranks are respectively pivotally connected to the corresponding left front wheel 7-1 and the left rear wheel 7-2, so that they are in a state of front and rear parallel, and the middle sections of the two cranks are provided with pivot points to connect to the left shock absorber. The lower end of the shock absorber 9-4, the upper section of the left shock absorber 9-4 is pivotally connected to a left rocker arm 9-2, and the center of the left rocker arm 9-2 is pinned to the lower end of the left handle 9 so that the left The front and rear cranks, the two left shock absorbers and the left rocker arm form a four-link structure. Therefore, when the left front wheel jumps up or down over the obstacle, the same amount of jump and force will be applied in opposite directions. It is transmitted to the left rear wheel to achieve the function of shock absorption and balance correction and beating to keep the frame always level. The lower end of the right handle 10 is generally provided with a right side shock absorption and balance correction link mechanism like the left handle 9 on the left side. 9- 7 is the wheel axle, 10-2 right rocker arm, 10-9 right rocker arm latch, 10-4 right shock absorber, 6-1 right front wheel, 6-2 right rear wheel, when the right wheel passes the obstacle When the force jumps, the right handle 10 and its associated components can achieve the same function as the left handle 9 and its associated components. Therefore, the vehicle shown in FIG. The shock and balance correction function makes the riding operation more stable and safe. In addition, 9-9 is a left rocker arm latch, 10-9 is a right rocker arm latch, when any one of the latches is pinned When the block is stuck and cannot swing, it will lock the movement of the connecting rod on the side, so that the front and rear wheels on the side will not jump up and down, forming two supporting points on the ground, which is convenient for parking, and can be opened or opened at one time when getting on or off. It is much more convenient to use the vehicle by closing the latch on one side, so that when getting on and off and temporarily parking, you can directly stand on the car to operate the opening and closing latch and switch the machine, and then get off the vehicle calmly.

Figure 4-1 is a schematic diagram of the vehicle passing through the obstacle road shown in Figure 4. It can be seen from the figure that when the vehicle travels on an Lc slope road, all four wheels are attached to the Lc slope and are inclined, but the frame 2 can still be maintained. In the state of being approximately parallel to the horizontal reference plane L, the handle is also nearly upright, showing the function of the automatic balance correction mechanism on the road surface of the vehicle passing the obstacle shown in Figure 4.

Figure 4-2 is a schematic diagram of the rear fork installed on the vehicle shown in Figure 4. The left rear wheel 7-2 and the right rear wheel 6-2 are respectively connected by the pivots on the left rear fork 7-21 and the right rear fork 6-21. The connecting shafts 6-22 are pivotally connected, and the left and right rear wheels can swing freely on the pivot axis. In the figure, the two pivoting shafts 6-22 are connected to the left rear cranks 9-51 and 9-51 on the corresponding sides through a connecting body. Above the right rear crank 10-51, the rear fork and its corresponding rear wheel move up and down with the swing of the rocker arm. In addition, when the vehicle turns, the two rear wheels will automatically adjust the wheel orientation to make the vehicle turn more smoothly. smooth.

Claims (2)

1. A wheel damping and balance compensating mechanism for self-balancing vehicle is composed of a two-wheel self-balancing vehicle with more than one frame, more than two wheels with axles, a left four-link rod group with a left wheel supporter and a right four-link rod group with a right wheel supporter, two transverse connecting rods with inward ends pivoted to said frame, two left and right symmetrical four-link rod structures pivoted to said wheel supporter, and a left and right vibration dampers with one ends pivoted to the central position of frame, the other end of the central connecting rod group is respectively pivoted to the input force pivoting points of the transverse connecting rods to provide proper pre-pressure to the left and right four-connecting rod groups so as to keep the balance and the right position of the bicycle frame, the central connecting rod group is axially provided with a pre-pressure spring and a stretching limiting block which can generate axial stretching when the pre-pressure force is exceeded, the central connecting rod group can be used for shock absorption and buffering when two wheels are simultaneously stressed and jacked, and the two ends of the central connecting rod group are respectively pivoted to the input force pivoting points of the transverse connecting rods so as to connect the left and right four-connecting rod groups to form a linkage mechanism.

2. The wheel shock absorbing and balancing and correcting mechanism of self-balancing vehicle as claimed in claim 1, wherein the left and right shock absorbers are pivotally connected to the central portion of the frame at one end thereof with oil passages communicating with each other, so that the oil chambers of the left and right shock absorbers form a communicating pipe structure to replace the central connecting rod set.

Images