CN110843984A - A man-machine combined balance car - Google Patents

Abstract

This patent proposes a man-machine combined balance vehicle, which draws on the respective characteristics of current two-wheeled vehicles and three-wheeled vehicles, and combines their advantages. Contact characteristics. During the driving process of the car, the balance of people ensures safety and stability, and at the same time enhances the anti-slip ability; when the car is at low speed and parking, people do not need to extend their feet out of the carriage to ensure that the car body is stable and upright, and The compartment of the small car is fully enclosed, which not only reduces the size of the car, but also has very high safety.

Description

A man-machine combined balance car

technical field

This patent relates to the field of vehicles, in particular to a man-machine combined balance car.

Background technique

At present, small electric vehicles and motor vehicles (motorcycles) are mainly two-wheeled, small three-wheeled and four-wheeled. Small cars (cars) and new energy vehicles are not within the scope of this article. The current situation and existing problems of two-wheeled and three-wheeled/four-wheeled vehicles (small) are analyzed as follows.

1. Two-wheeler

The essence of the balance system principle of traditional two-wheeled bicycles (hereinafter referred to as two-wheeled bicycles) is the balance perception and balance control of people, so it does not need a complex structure of the bicycle or any electrical equipment.

The two-wheeled vehicle has two fulcrums in the front and rear directions, which are stable, but there is only one fulcrum in the left and right directions (the O point as shown in Figure 1), so it needs balance in the left and right directions, which is achieved by people. When the car is running, people can make _the resultant force F (extension line) of F and G alternate back and forth through point O by fine-tuning the traveling direction of the car (very tiny turning, which can be expressed by turning radius r) and the vehicle speed v. achieve dynamic balance. Therefore, the traveling route of the two-wheeled vehicle is not a theoretical straight line, but a slightly undulating S-curve. Because of this, the two-wheeled vehicle cannot stand at point O without falling down when it is stationary.

In addition to microscopically the two-wheeled vehicle periodically swings around the O point during the driving process, the vehicle body has a relatively large inclination (controlling the swing angle θ) on the macroscopic level when the vehicle turns and turns. In order to overcome the large centrifugal force, the resultant force F passes through the O point; when the car decelerates until it stops, the person supports the ground with both feet to keep it upright.

It can be seen from the above analysis that during the whole driving process of the two-wheeled vehicle, the body of the two-wheeled vehicle continuously swings left and right around the O point under the control of people (adjusting v, r, θ), so that the body does not fall under the dynamic balance. However, because the two-wheeled vehicle needs to rely on the assistance of human feet to touch the ground at low speed and when parking, it can keep the vehicle upright and not fall down. From this, it is concluded that the two-wheeled vehicle has extremely high stability and safety during normal driving due to the use of the human body's own balance ability to keep the vehicle stable. However, at low speed and parking, the two-wheeled vehicle needs human feet as a fulcrum, so the fundamental reason why the two-wheeled vehicle cannot use a closed compartment is the lack of a fulcrum at low speed and parking.

In recent years, there are self-balancing two-wheeled vehicles using gyroscope technology, which can realize the fully enclosed compartment under the premise of safety, but they are very expensive and have not been popularized; there are also fully enclosed two-wheeled vehicles with retractable auxiliary wheels, which are relatively Safety has not been popularized and applied.

Since the friction between the two-wheeled vehicle and the ground is not as good as that of the three- and four-wheeled vehicles, its anti-slip ability is not as good as that of the three-wheeled and four-wheeled vehicles during driving.

2. Tricycle / Quad

At present, small tricycles/four-wheelers can be made into fully enclosed compartments, but their biggest problem is that the risk of turning and overturning is very high. The smaller the distance between the two lateral wheels, the easier it is to overturn. The use is not convenient and flexible enough, and the force analysis is shown in Figure 2.

As can be seen from Figure 2, when the traditional three-wheeled/four-wheeled vehicle turns, if the intersection point P between the extension line of the resultant force F and the ground falls between the two-wheel fulcrums A and B (the left picture), the vehicle is stable and safe, and the point A , B is the critical point; when the F _distance increases, the P point will approach the A point, and finally cross the A point and fall outside the AB (right picture), this situation will overturn. The critical value of the angle θ between the resultant force F and the gravity G is α, that is, when θ≤α, it is safe, otherwise the vehicle rolls over, and the critical value α=arctan(L/2H).

It can be seen from the above analysis that due to the addition of fulcrums in the left and right directions of the three-wheeled/four-wheeled vehicle, the contact between the vehicle and the ground has changed from "line" to "surface", which makes it "innate" when parking. static stability and anti-slip capability. But compared to two-wheeled vehicles, three-wheeled/four-wheeled vehicles have the risk of overturning because it gives up the balancing effect of a person while driving. When three or four wheels land on the ground, people take it for granted that people's own balance is no longer necessary, and rely entirely on the inherent support structure of the car, so the contradiction between the size of the car and the safety arises.

Traditional design ideas cannot always combine the characteristics of two-wheeled vehicles with three-wheeled or four-wheeled vehicles. Adding wheels means giving up the balancing effect of people, which is the most fundamental flaw of traditional design ideas.

SUMMARY OF THE INVENTION

This patent realizes that the compartment of the small car is fully enclosed under the premise of safe driving and stable parking by means of simple and economical means, so that the small car can be completely shielded from wind and rain, sun protection and warmth. It solves the problems mentioned in "Background Art" that the current two-wheeled vehicle compartment cannot be fully enclosed, the anti-slip capability is insufficient, and the small three-wheeled vehicle/four-wheeled vehicle has the risk of overturning.

A man-machine combined balance car, comprising a balance body 1, a swing device 2, a chassis 3, and a swing control device 4;

The balance body 1 is connected to the vehicle chassis 3 through the swing device 2 , and the balance body 1 swings relative to the vehicle chassis 3 in the vertical direction along the vehicle travel through the swing device 2 , that is, lateral swing. ;

The swing control device 4 is used to control the lateral swing and/or swing amplitude of the balance body 1 .

The biggest feature of the man-machine combined balance car is that it uses the human body's perception and balance ability to achieve the dynamic balance of the body. The driver adjusts the swing angle of the body, the direction of travel, and the speed of the car through the centrifugal force felt by the body, so that the centrifugal force can be adjusted. The resultant force with gravity passes through the fulcrum of the swing device, thereby stabilizing the vehicle body in a balanced upright state; when the vehicle is at low speed and in parking, the swing control device 4 is used to make the vehicle body upright. The condition for realizing human balance control is that the balance body 1 can swing freely relative to the chassis 3 .

The upright balance state of the balanced body can also be achieved by an electronic balance control device, such as a gyroscope and its control system currently used in a balance car.

Further, the implementation structure of the swing device 2 is a rotating pair, which may be a high rotating pair or a low rotating pair. There are many realization forms of the oscillating device 2, and the rotating pair is the most common form.

Further, when the swing device 2 adopts a rotating pair of high pairs, one of the ways is a rotating device composed of bearings. Bearings 23 are installed at both ends of 22, and the bearings 23 are installed in the bearing seat formed by the bearing base 24 and the bearing cover 21. The bearing base 24 is fixed on the vehicle chassis 3, and the balance body 1 swings with the rotating shaft 22 as the center of rotation; When the swinging device 2 adopts the rotating pair and the lower pair, one of the ways is the rotating device of the hinge structure. Specifically, the bottom end of the balance body 1 is connected with the upper member 26 into one body, and the lower member 28 is fixed on the chassis 3 On the upper side, the pin 27 passes through the upper member 26 and the lower member 28, and is axially fixed by the fastener 29, and the balance body 1 swings with the pin 27 as the rotation center.

Further, the vehicle chassis 3 is a device that is installed with wheels that enable the vehicle to form at least two points of support with the road in the lateral direction (the vertical direction of the vehicle's travel), and it cooperates with the wheels in the forward direction of the vehicle to form the vehicle-to-ground surface contact. The chassis of the vehicle does not necessarily include all the wheels, which should be determined according to the situation, but it is a device that constitutes at least two points of support in the lateral direction of the vehicle.

Further, when the vehicle chassis 3 adopts a two-wheel structure, one wheel is installed on the left and right sides in the lateral direction, and the vehicle chassis 3 of the two-wheel structure and the single wheel form the front single wheel and the rear two wheels, or the front two wheels. The three-wheel structure of the rear single wheel; or, the chassis 3 of the two-wheel structure is combined into a four-wheel structure of the front two wheels and the rear two wheels. When the man-machine combined balance vehicle adopts a three-wheel structure, its single wheel is arranged on the balance body 1, for example, the front single wheel and the rear two-wheel vehicle are arranged on the balance body at this time. At this time, the rear wheel is set on the balance body; when the man-machine combined balance car adopts a four-wheel structure, no wheels are set on the balance body, and the body passes through the two front and rear swinging devices 2 and the front and rear two chassis of the vehicle. 3 connections.

Further, the chassis 3 is composed of a support beam 31, a shock absorber 32, a wheel frame 33, and a wheel 34. The wheels 34 are installed on the left and right ends of the wheel frame 33, and the support beam 31 passes through the The shock absorber 32 is installed above the wheel frame 33 . Only one specific structural form is given here, but it is not limited to this. There are many combinations of chassis forms to achieve the same effect.

Further, the balance body 1 includes a steering mechanism 11, a power unit or battery 12 of the vehicle, a seat 13, a body frame and a housing 14. Specifically, the steering mechanism 11 is similar to the handle steering of the current electric bicycle. mechanism. The various components here can use existing technologies and products, and they are necessary elements to form a complete vehicle. The body frame and the shell 14 may be open or fully enclosed.

Further, the swing control device 4 is composed of a parking device 41 and a parking control device 42. When the vehicle is at low speed or parked, the parking device 41, under the control of the parking control device 42, makes The swing of the balanced body 1 is restricted to keep the body upright.

Further, the swing control device 4 is an electronic balance control device, which is composed of a sensor, a controller and an actuator. The sensor can sense the balance state of the balance body 1 and send it to the controller. The information returned by the sensor is processed, and then the actuator is controlled to work, by controlling the swing of the balance body 1, controlling the speed of the vehicle, and controlling the turning radius of the vehicle, so that the balance body 1 maintains a stable balance state. Specifically, the said The electronic balance control device is the gyroscope sensing and balance control system of the current balance car.

Further, the parking device 41 adopts a telescopic structure, and the telescopic length of the parking device 41 is controlled by the driver to be supported on the vehicle chassis 3, so as to obtain the required supporting force at low speed or when parking, and limit the Balance the body 1 swing and keep the body upright. In addition to adopting the telescopic structure, the parking device 41 may also adopt the form of a lever structure, a locking structure and the like.

Further, a specific structure of the telescopic parking device 41 is a cam and sliding rod combination mechanism: the cam mechanism 411 fixed inside the vehicle body is in contact with the parking support rod 414, and the parking support rod 414 can be mounted on the sliding rail 412. The sliding rail 412 is fixed on the balance body 1, and the lower part of the support rod 414 is provided with a spring 413. When the cam mechanism 411 rotates, under the action of the spring 413, the parking support rod 414 is close to the cam and It slides up and down along the slide rail to realize telescopic action; when the parking support rod 414 is retracted to the limit position, it also plays a role of limiting the maximum angle of swing of the balance body 1 .

Further, when the parking control device 42 is a force transmission mechanism, the driver can transmit the control force issued by the parking control device 42 to the parking device 41 to make the parking device 41 act to realize low-speed assistance. or park. When the parking control device can also be a signal control mechanism, the driver sends a control signal to the parking control device, and the parking control device converts the control signal into the control of the parking device according to the control signal, so that the parking device is activated, Enables low-speed assist or parking.

Further, the parking control device 42 is a pedal-type structure, which is composed of a pedal device 421 and a transmission device 422. The transmission device 422 can be a wire rope, a link force transmission mechanism or a hydraulic force transmission mechanism, etc. . When a person steps on the pedal device 421, displacement is generated, and the transmission device 422 transmits the displacement to the cam mechanism 411 to rotate, and then the parking support rod 414 moves up and down to realize the telescopic action.

Further, the swing control device 4 further includes a vehicle body swing limiter 43 , and the vehicle body swing limiter 43 is used to limit the maximum angle of swing of the balanced vehicle body 1 .

Further, the body swing limiter 43 is a limit block fixed on both sides of the bottom of the balance body 1 . As the swing angle of the balance body 1 increases, the body swing limiter 43 leaves the place. The vehicle chassis 3 gets closer and closer until it hits the vehicle chassis, which limits the maximum swing angle of the balanced body 1 .

Further, the man-machine combined balance car also includes a forced deceleration device 5, when the vehicle body swings to a position close to the maximum position, the forced deceleration device 5 is activated to decelerate the vehicle. The purpose of this is to increase the safety performance of driving, because when the balance body swings to the maximum angle, it means that the centrifugal force has reached the limit. At this time, forced deceleration can effectively reduce the centrifugal force and prevent accidental mistakes in human operation. resulting in insecurity.

Further, a structure of the forced deceleration device 5 is similar to a mechanical brake lever device, and its trigger rod 51 is installed between the bottom of the balance body 1 and the chassis 3, the trigger rod is connected with the brake wire 53, and the steel wire sheath base 52 is fixed on the balance body, and the end of the brake wire 53 is connected to the brake device of the conventional wheel, such as a drum brake. When the balance body swings to near the limit position, the trigger rod starts to contact the chassis of the vehicle. Under the action of its own lever principle, the other end of the trigger rod starts to leave the base of the wire sheath and pulls the brake wire, so that the brake device of the wheel starts to act. Carry out braking deceleration; when the balance body continues to swing to the limit position, the trigger lever continues to pull the brake wire, so that the braking action is further strengthened to obtain stronger braking results. The braking device added here does not affect the normal braking system of the whole vehicle, and they coexist and complement each other.

Further, when the man-machine combined balancing vehicle is driven by electricity, another structure of the forced deceleration device 5 is an electronic brake, which is specifically the electronic brake system of the current electric drive vehicle, and the trigger switch of the electronic brake can be installed in the electronic brake. The steel wire sheath base 52 can also be installed in any other position that can trigger the action of the micro switch at the limit position of the balance body swing. The electronic brake system is an existing technology and a ready-made product, which can be directly applied to the patented product.

The core of the present invention is to find an ingenious method and form to combine the traditional two-wheeled bicycle balance system with the traditional three-wheeled/four-wheeled vehicle: the O point of the man-machine combined balance vehicle is moved from the ground to the chassis of the vehicle , The source of the parking auxiliary force is also moved from the ground to the chassis, and the chassis is a stable structure with at least two points supporting one to the ground in the lateral direction, thus realizing the combination of two-wheeled vehicles and three-wheeled/four-wheeled vehicles. As shown in Figure 3.

Since the body can still swing freely, the driving speed and direction can still be controlled by people, that is, the three parameters of v, r, and θ are still controlled by people, so this combination will not lose the control of the dynamic balance of the car.

The beneficial effects are as follows: the patent combines the advantages of traditional two-wheeled vehicles and tricycles, and not only utilizes the balance function of the human body to ensure the safety and stability of driving, but also has the anti-slip capability of the tricycle/four-wheeled vehicle and the stability at low speed and parking. Therefore, the compartment of the small car is fully enclosed, which not only reduces the size of the car, but also has very high safety. Compared with two-wheeled vehicles, this patent adopts the form of three or four wheels, so it has greater grip on the ground than two-wheeled vehicles, which greatly improves the anti-slip ability and braking ability of the vehicle, especially the vehicle. The lateral anti-skid and impact resistance performance is higher than that of two-wheeled vehicles. The specific beneficial effects are as follows.

① Safer than two-wheeled vehicles. Intuitively, it adds lateral wheels, which must be safer than two-wheeled vehicles, and the same is true for theoretical analysis. Because the increase of wheels increases the friction between the car and the ground, the anti-slip ability, braking ability, stability and impact resistance of the car have been greatly improved; at the same time, due to the setting of the limit swing angle γ, It is impossible for a car to tip over completely, not even to mention a tipping over, because it is also a "three-wheeled/four-wheeled" vehicle.

② Safer and more maneuverable than three-wheeled/four-wheeled vehicles. A person needs a body that can swing freely to achieve dynamic balance during driving, just like a person riding a bicycle. This dynamic balance realizes the timely monitoring of centrifugal force. Because the traditional three-wheeled/four-wheeled vehicle cannot swing, people cannot perceive the centrifugal force in time, so the accident of overturning is prone to occur. Therefore, the balance car fundamentally solves the problem of controlling the risk of rollover. At the same time, from the comparison of the force analysis diagram of the traditional tricycle and the man-machine combined balance car (hereinafter referred to as the balance car), it can be seen that the safe centrifugal force when cornering The range of the balance car is much larger than that of the three-wheeled/four-wheeled vehicle, that is, the balance car can have a faster turning speed and safety. In terms of driving control, the balance car has the feeling of a two-wheeled vehicle and has an excellent control experience.

③ Has a higher driving speed. First of all, because the balance car has the dynamic balance characteristics of a two-wheeled vehicle, it has a higher safe speed than a traditional three-wheeled/four-wheeled vehicle; Vertical distance), plus the balance car has better anti-slip ability because of the lateral wheels, so the balance car can have a higher safe speed than the two-wheeled car.

④ It has a more compact body size, which is relative to traditional three-wheeled/four-wheeled vehicles. It can be seen from the previous force analysis diagram that the critical value of the traditional three-wheeled/four-wheeled vehicle is α=arctan(L/2H), and the critical angle of the balance vehicle is β=arctan(L/2h), because h is much smaller than H, Therefore, the balance car can have a smaller L value, that is, the lateral wheel spacing, which means that the balance car can be more compact and compact than traditional three-wheeled/four-wheeled vehicles.

⑤ The carriage can be completely closed. Due to the setting of the parking device, the self-balancing scooter no longer needs human feet to touch the ground for assistance and support during driving and parking, so the carriage can be completely enclosed, so that the driver and passengers can completely get rid of the troubles and injuries of wind, rain and snow .

Description of drawings

FIG. 1 is an analysis diagram of the balance force of a two-wheeled vehicle in the prior art.

FIG. 2 is an analysis diagram of a balanced force of a tricycle and a four-wheeled vehicle in the prior art.

Fig. 3 is a balance force analysis diagram of the man-machine balance car.

FIG. 4 is a schematic diagram (front view) of the main structure of the man-machine balance car in the embodiment.

FIG. 5 is a schematic diagram of the main structure of the man-machine balance car described in the embodiment (left side view)

FIG. 6 is a schematic structural diagram (front view) of the swing device (bearing form) of the man-machine balance car in the embodiment.

7 is a schematic structural diagram (B-B cross-sectional view) of the swing device (bearing form) of the man-machine balance car in the embodiment.

FIG. 8 is a schematic structural diagram (A-A cross-sectional view) of the swing device (bearing form) of the man-machine balance car in the embodiment.

FIG. 9 is a schematic structural diagram (front view) of the swing device (rotation pair and low pair form) of the man-machine balance car in the embodiment.

10 is a schematic structural diagram (F-F cross-sectional view) of the swing device (rotation pair low pair form) of the man-machine balance car in the embodiment.

FIG. 11 is a schematic structural diagram (E-E cross-sectional view) of the swing device (rotation pair low pair form) of the man-machine balance car described in the embodiment.

FIG. 12 is a schematic structural diagram of the chassis and the parking device of the man-machine balance car described in the embodiment.

FIG. 13 is a schematic diagram of a balanced body structure of the man-machine balance car described in the embodiment.

FIG. 14 is a schematic diagram showing the composition of the swing control device of the man-machine balance car described in the embodiment.

FIG. 15 is a schematic structural diagram of the body swing limiting device and the forced deceleration device of the man-machine balance car according to the embodiment.

FIG. 16 is a schematic structural diagram (C-C sectional view) of the forced deceleration device of the man-machine balance car in the embodiment.

Among them, 1- balance body, 2- swing device, 3- car chassis, 4- swing control device, 5- forced deceleration device, 11- steering mechanism, 12- car power device or battery, 13- car seat, 14- Body frame and shell, 21-bearing cap, 22-rotating shaft, 23-bearing, 24-bearing base, 26-upper member, 27-pin, 28-lower member, 29-fastener, 31-support beam, 32 - Shock absorber, 33-wheel frame, 34-wheel, 411-cam mechanism, 412-slide rail, 413-spring, 414-parking support rod, 421-pedal device, 422-transmission device, 43-body swing Limiting device, 51-trigger lever, 52-wire sheath base, 53-brake wire.

Detailed ways

The technical solution of the present patent will be further described in detail below with reference to the accompanying drawings.

Figures 4 to 16 show a man-machine combined balance car. The whole car adopts a three-wheel structure, and the front single wheel and the rear two-wheel structure. This structure is one of all possible situations. This situation further illustrates its principle.

4 is a front view of the main structural schematic diagram of the man-machine balance car. The whole car includes a balance body 1 , a swing device 2 , a chassis 3 , a swing control device 4 , and a forced deceleration device 5 . The balance body 1 is connected to the vehicle chassis 3 through the swing device 2 , and the balance body 1 swings relative to the vehicle chassis 3 in the vertical direction along the vehicle travel through the swing device 2 , ie, the lateral swing. The swing control device 4 is used to control the lateral swing and/or the swing amplitude of the balance body 1 . The forced deceleration device 5 is not necessary. In this embodiment, the function of the forced deceleration device 5 is to activate the forced deceleration device 5 when the balanced vehicle body 1 swings to a position close to the maximum position to decelerate the vehicle to increase the safety factor of the entire vehicle.

Since the balance body 1 is free to swing, the driver must feel the centrifugal force of the car at any time to adjust the swing angle, forward direction, and speed of the car so that the resultant force of the centrifugal force and gravity can pass through the fulcrum of the swing device. , so that the body is in an upright state of dynamic balance, and it is precisely because the balanced body can swing freely that the driver can achieve this dynamic balance. When the vehicle is at low speed (less than 5km/h) and when the vehicle is parked, when the dynamic balance of the person gradually loses its effect, the swing control device 4 is used to limit the swing of the balanced body 1 to make the body stand upright.

Fig. 5 is the left side view of the main structural schematic diagram of the man-machine balance car. In this view, it can be seen that in this embodiment, the swing device 2 is located at the rear lower part of the balance body 1, and is used to connect the vehicle chassis 3, and the corresponding swing The control device 4 and the forced deceleration device 5 are located at the rear lower part of the balance body, between the balance body 1 and the chassis 3 .

FIG. 6 is a front view of a schematic structural diagram of the swing device 2 (bearing form) of the man-machine balance car in the embodiment. The swing device 2 is composed of a bearing cover 21, a rotating shaft 22, a bearing seat 23, and a bearing base 24. The bottom end of the balance body 1 is connected with the rotating shaft 22 into one body (eg, welded into one body), and the two ends of the rotating shaft 22 are installed with bearings 23. The bearing 23 is installed in the bearing seat formed by the bearing base 24 and the bearing cover 21 . The bearing base 24 is fixed (eg welded) on the chassis 3 , and the balance body 1 swings with the shaft 22 as the rotation center.

7 is a B-B cross-sectional view of the schematic structural diagram of the swing device 2 (bearing form) of the man-machine balance car in the embodiment, and the components of the balance body 1 and the swing device 2 (bearing cap 21, rotating shaft 22, The connection relationship between the bearing seat 23, the bearing base 24) and the chassis 3.

FIG. 8 is an A-A cross-sectional view of a schematic structural diagram of the swing device 2 (bearing form) of the man-machine balance car in the embodiment.

FIG. 9 is a schematic front view of the structure of the swing device 2 (rotation pair low pair form) of the man-machine balance car in the embodiment. The swinging device 2 is composed of an upper member 26, a pin 27, a lower member 28, and a fastener 29. The bottom end of the balance body 1 is connected to the upper member 26 as a whole, and the lower member 28 is fixed on the chassis 3. The pin 27 passes through the upper member 26 and the lower member 28, and is axially fixed by a fastener 29, and the balance body 1 swings around the pin 27 as the center of rotation.

Fig. 10 is the F-F cross-sectional view of the structural schematic diagram of the swing device 2 (rotation pair low pair form) of the man-machine balance car in the embodiment, the figure shows the balance body 1 and each component of the swing device 2 (upper member 26, pin 27. The connection between the lower member 28, the fastener 29) and the chassis 3.

11 is an E-E cross-sectional view of a schematic structural diagram of the swing device 2 (rotating pair low pair form) of the man-machine balance car in the embodiment.

For the three-wheel structure shown in the figure, the front wheel of the car (the front wheel is installed on the balanced body, which is similar to the front wheel structure of conventional electric cars and motorcycles) and the swing device 2 at the rear and lower end of the car body constitute the whole vehicle in the Two fulcrums in the front-rear direction around which the balance body 1 will swing laterally.

Generally, both the common rotating pair structure and the swing structure can realize the function of the swing device 2 .

12 is a schematic structural diagram of the chassis 3 and the parking device 41 of the man-machine balance car in the embodiment. The chassis 3 is composed of a support beam 31 , a shock absorber 32 , a wheel frame 33 and a wheel 34 . The wheels 34 are installed on the left and right ends of the wheel frame 33 , and the support beam 31 is installed on the wheel frame 33 through the shock absorber 32 . above. The chassis shown in this figure constitutes the chassis of the tricycle with the front single wheel and the rear two wheels, which forms the surface contact of the whole vehicle to the ground with the front wheel. Therefore, in general, the vehicle chassis 3 is a device provided with wheels for supporting the entire vehicle with at least two points in the lateral direction (the vertical direction in which the vehicle travels) and the road surface. When both the front wheel and the rear wheel adopt the above-mentioned chassis form, a four-wheel structure can be formed.

In FIG. 12, the parking device 41 is a cam and slide bar combination mechanism, which is composed of a cam mechanism 411, a slide rail 412, a spring 413 and a parking support rod 414. The cam mechanism 411 and the parking support rod are fixed inside the vehicle body. 414 contact, the parking support rod 414 can slide in the slide rail 412, the slide rail 412 is fixed on the balance body 1, the lower part of the support rod 414 is provided with a spring 413, when the cam mechanism 411 rotates, under the action of the spring 413, the parking The support rod 414 is close to the cam and slides up and down along the slide rail to realize telescopic action; when the parking support rod 414 is retracted to the limit position, it also plays a role of limiting the maximum angle of the balance body 1 swinging. Generally, the parking device 41 is a telescopic structure, the length of which is controlled by the driver to be supported on the chassis 3, so as to obtain the required support force at low speed or when parking, and limit the balance of the vehicle body 1. Swing to keep the body upright; in addition to adopting a telescopic structure, the parking device 41 can also adopt a lever structure, a locking structure and the like.

FIG. 13 is a schematic structural diagram of the balance body 1 of the man-machine balance car in the embodiment. The balance body 1 includes a steering mechanism 11, a power unit or battery 12 of the vehicle, a seat 13, a body frame and a housing 14. The above parts are all in the prior art, and there are existing products, which constitute the whole vehicle. necessary elements. The body frame and the casing 14 may be open or fully enclosed.

FIG. 14 is a schematic diagram of the composition of the swing control device 4 of the man-machine balance car in the embodiment. The swing control device 4 is composed of a parking device 41 and a parking control device 42 . The parking device 41 is composed of four parts, which is the same as that shown in FIG. 12; the parking control device is composed of a pedal device 421 and a transmission device 422. The transmission device 422 can be a wire rope or a connecting rod force transmission mechanism. Or hydraulic force transmission mechanism and so on. When a person steps on the pedal device 421 to generate displacement, the transmission device 422 transmits the displacement to the cam mechanism 411 to rotate, and then moves the parking support rod 414 up and down to realize the telescopic action. When the vehicle is at low speed (less than 5km/h) or parked, the parking device 41 under the control of the parking control device 42 restricts the swing of the balanced body 1 to keep the body upright.

Generally, the parking control device 42 is a force transmission mechanism, and the driver can transmit the control force issued by the parking control device 42 to the parking device 41 to make the parking device 41 act to realize low-speed assistance or parking. . The parking control device 42 can also be a signal control mechanism, which accepts the parking control signal sent by a person, and converts the signal into an execution action on the parking device 41 to realize the parking control.

FIG. 15 is a schematic structural diagram of the body swing limiting device 43 and the forced deceleration device 5 of the man-machine balance car in the embodiment. The vehicle body swing limiting device 43 is a part of the swing control device 4 and is used to limit the maximum angle of the swing of the balance vehicle body 1 . The figure shows the limit blocks on both sides of the bottom of the balance body 1. As the swing angle of the balance body 1 increases, the body swing limiter 43 gets closer and closer to the vehicle chassis 3 until it hits the vehicle chassis. The maximum angle of swing acts as a limit. After analysis and calculation, it is most reasonable to set the maximum swing angle to 25° (0° when the body is upright). At this angle, the turning radius required for the vehicle speed of 60km/h is less than 20m, which is smaller than the maximum designed turning radius for non-primary and secondary roads. value, (design range of turning radius: urban main road 20-30m, secondary road 15-20m, non-primary and secondary road 10-20m), and at this angle, the center of gravity of people and vehicles is still between the left and right wheels in a stationary state , i.e. the car does not tip over completely.

In addition to the above-mentioned mechanical structure, the swing control device 4 can also use an electronic balance control device, which is composed of a sensor, a controller and an actuator. The sensor can sense the balance state of the balanced body and send it to the controller. According to the information returned by the sensor, it is processed, and then the actuator is controlled to work. By controlling the swing of the balance body, the speed of the vehicle, and the turning radius of the vehicle, the balance body is kept in a stable and balanced state. The electronic balance control device can directly use the current gyroscope sensing and balance control system of the balance car.

In FIG. 15 , the forced deceleration device 5 is similar to a mechanical brake lever device, and its trigger rod 51 is installed between the bottom of the balance body 1 and the chassis 3 , the trigger rod is connected with the brake wire 53 , and the wire sheath base 52 is fixed on the On the balance body, the end of the brake wire 53 is connected to the brake device of a conventional wheel, such as a drum brake. When the balance body swings to near the limit position, the trigger rod starts to contact the chassis of the vehicle. Under the action of its own lever principle, the other end of the trigger rod starts to leave the base of the wire sheath and pulls the brake wire, so that the brake device of the wheel starts to act. Carry out braking deceleration; when the balance body continues to swing to the limit position, the trigger lever continues to pull the brake wire, so that the braking action is further strengthened to obtain stronger braking results.

16 is a C-C cross-sectional view of a schematic structural diagram of the forced deceleration device 5 of the man-machine balance car in the embodiment.

The forced deceleration device 5 can also use an electronic braking system, and its trigger switch is installed near the limit position where the balance body swings. Once the body swings to the limit position, the trigger switch will be activated and the electronic braking system will be activated. The electronic braking system is an existing Technology and ready-made products can be directly applied to this patented product.

Under the joint action of the above parts, the man-machine combined balance vehicle has the advantages of traditional two-wheeled vehicles and three-wheeled/four-wheeled vehicles, which not only enables the carriage to be fully enclosed, but also increases the maneuverability and safety of the vehicle. .

The above is only an embodiment of the present patent, and the protection scope of the present patent is not limited to the above-mentioned embodiment, but any equivalent modifications or changes made by those of ordinary skill in the art according to the contents disclosed in the present invention shall be included in the within the scope of protection described in the claims.

Claims (19)

1. A man-machine combined balance vehicle, comprising a balance body (1), a swing device (2), a vehicle chassis (3), and a swing control device (4), characterized in that: The balancing body (1) is connected to the vehicle chassis (3) through the swinging device (2), and the balancing body (1) is relative to the vehicle chassis (3) through the swinging device (2). Swing in the vertical direction along which the vehicle travels, i.e. laterally; The swing control device (4) is used to control the lateral swing and/or swing amplitude of the balance body (1). 2 . The man-machine combined balance vehicle according to claim 1 , wherein the structure of the swing device ( 2 ) is a rotating pair. 3 . 3 . The man-machine combined balancing vehicle according to claim 2 , wherein the swing device ( 2 ) adopts a rotating pair high pair, which is a rotating device composed of bearings. Specifically, the balancing body The bottom end of (1) is integrally connected with the rotating shaft (22), the two ends of the rotating shaft (22) are mounted with bearings (23), and the bearings (23) are mounted on the bearing base (24) and the bearing cover (21). In the formed bearing seat, the bearing base (24) is fixed on the vehicle chassis (3), and the balance body (1) swings with the rotating shaft (22) as the rotation center. 4. A man-machine combined balance car according to claim 2, characterized in that: the swing device (2) adopts a rotating pair and a low pair, which is a rotating device with a hinge structure, specifically, the balancing body (1) ) is connected to the upper member (26) as a whole, the lower member (28) is fixed on the chassis (3), and the pin (27) passes through the upper member (26) and the lower member (28). ), and is axially fixed by fasteners (29), and the balance body (1) swings with the pin (27) as the center of rotation. 5 . The man-machine combined balance vehicle according to claim 1 , wherein the vehicle chassis ( 3 ) is a vehicle mounted so that the vehicle is horizontally, that is, the vehicle travels vertically, and the road surface is formed. 6 . A device for wheels supported at least at two points, which cooperates with the wheels in the traveling direction of the vehicle to form the surface contact of the whole vehicle to the ground. 6. The man-machine combined balance vehicle according to claim 5, characterized in that: the vehicle chassis (3) adopts a two-wheel structure, that is, one wheel is installed on each of the left and right sides in the lateral direction; The vehicle chassis (3) of the wheel structure and the single wheel form a front single wheel and a rear two wheels, or a three-wheel structure with a front two wheels and a rear single wheel; Four-wheel structure of the rear two wheels. 7 . The man-machine combined balance vehicle according to claim 6 , wherein the vehicle chassis ( 3 ) consists of a support beam ( 31 ), a shock absorber ( 32 ), a wheel frame ( 33 ), a wheel ( 34), the wheels (34) are installed on the left and right ends of the wheel frame (33), and the support beam (31) is installed on the wheel frame (33) through the shock absorber (32). above. 8. A man-machine combined balance car according to claim 6, characterized in that: a man-machine combined balance car with a three-wheel structure, the single wheel of which is arranged on the balance body (1); a human-machine combined balance car with a four-wheel structure A machine-integrated balancing car, the balancing body (1) is not provided with wheels, and the body is connected with the two front and rear chassis (3) of the car through the two front and rear swinging devices (2). 9 . The man-machine combined balance vehicle according to claim 1 , wherein the balance vehicle body ( 1 ) comprises a steering mechanism ( 11 ), a vehicle power unit or battery ( 12 ), a vehicle seat ( 13 ). 10 . ), a body frame and a housing (14), the steering mechanism (11) is specifically a handle steering mechanism of an electric bicycle. 10. A man-machine combined balance vehicle according to claim 1, characterized in that: the swing control device (4) is composed of a parking device (41) and a parking control device (42), and when the vehicle is at a low speed Or when parking, the parking device (41) limits the swing of the balanced body (1) under the control of the parking control device (42), so as to keep the body upright. 11. A man-machine combined balance vehicle according to claim 1, characterized in that: the swing control device (4) is an electronic balance control device, and the electronic balance control device is composed of a sensor, a controller and an actuator , the sensor can sense the balance state of the balance body (1), and send it to the controller. The controller processes the information returned by the sensor, and then controls the actuator to work. By controlling the balance The vehicle body (1) swings, the vehicle speed is controlled, and the turning radius of the vehicle is controlled, so that the balanced vehicle body (1) is kept in a stable balance state. Specifically, the electronic balance control device is the current gyroscope sensing and balance control system of the balance vehicle. 12 . The man-machine combined balance car according to claim 10 , wherein the parking device ( 41 ) adopts a telescopic structure, the length of which is controlled by the driver to be supported on the chassis of the vehicle. 13 . (3), in order to obtain the required support force at low speed or parking, limit the swing of the balance body (1), and keep the body upright. 13. A man-machine combined balance car according to claim 12, characterized in that: the telescopic parking device (41) is a combined mechanism of a cam and a sliding rod, specifically: a cam mechanism ( 411) is in contact with the parking support rod (414), the parking support rod (414) can slide in the sliding rail (412), and the sliding rail (412) is fixed on the balance body (1), so A spring (413) is arranged at the lower part of the parking support rod (414), and when the cam mechanism (411) rotates, under the action of the spring (413), the parking support rod (414) is in close contact with the cam and It slides up and down along the slide rail to realize the telescopic action; when the parking support rod (414) shrinks to the limit position, it also plays the role of limiting the maximum angle of the swing of the balance body (1). 14. A man-machine combined balance vehicle according to claim 10, characterized in that: the parking control device (42) is a force transmission mechanism, and the driver sends the issued The control force is transmitted to the parking device (41) to actuate the parking device (41). 15. A man-machine combined balance vehicle according to claim 14, characterized in that: the parking control device (42) is composed of a pedal device (421) and a transmission device (422). The pedaling device (421) generates displacement, and the transmission device (422) transmits the displacement to the cam mechanism (411) to rotate it, thereby causing the parking support rod (414) to move up and down , to realize the telescopic action. 16. The man-machine combined balance car according to claim 10, characterized in that: the swing control device (4) further comprises a body swing limiter (43), and the body swing limiter (43) It is used to limit the maximum angle of swing of the balance body (1). 17. A man-machine combined balance car according to claim 16, characterized in that: the body swing limiter (43) is a limit block fixed on both sides of the bottom of the balance body (1), As the swing angle of the balance body (1) increases, the body swing limiter (43) gets closer and closer to the vehicle chassis (3) until it hits the vehicle chassis, and the balance body (1) ) The maximum angle of swing acts as a limit. 18. A man-machine combined balance car according to claim 1, characterized in that: the man-machine combined balance car further comprises a forced deceleration device (5), when the body swings to a position close to the maximum position, the forced The deceleration device (5) is activated to decelerate the vehicle. 19. A man-machine combined balance vehicle according to claim 18, characterized in that: the forced deceleration device (5) is a mechanical brake lever device, and its trigger lever (51) is installed on the balance body (1). ) between the bottom and the chassis (3), the trigger lever (51) is connected with the brake wire (53), the wire sheath base (52) is fixed on the balance body (1), the brake wire (53) A brake device connected to a conventional wheel at the end, such as a drum brake; when the balance body swings to a position near the limit, the trigger rod (51) begins to contact the chassis (3), and the trigger rod ( 51) Under the action of its own lever principle, the other end starts to leave the wire sheath base (52) and pulls the brake wire (53), so that the brake device at the end of the brake wire (53) starts to act to brake and decelerate. When the balance body continues to swing to the limit position, the trigger rod (51) continues to pull the brake wire (53), so that the braking action is further strengthened to obtain a stronger braking effect.

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