CN110843984B - Man-machine combined balance car - Google Patents
Man-machine combined balance carInfo
- Publication number
- CN110843984B CN110843984B CN201911228048.7A CN201911228048A CN110843984B CN 110843984 B CN110843984 B CN 110843984B CN 201911228048 A CN201911228048 A CN 201911228048A CN 110843984 B CN110843984 B CN 110843984B
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- Prior art keywords
- vehicle
- swing
- balancing
- balance
- human
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62K—CYCLES; CYCLE FRAMES; CYCLE STEERING DEVICES; RIDER-OPERATED TERMINAL CONTROLS SPECIALLY ADAPTED FOR CYCLES; CYCLE AXLE SUSPENSIONS; CYCLE SIDE-CARS, FORECARS, OR THE LIKE
- B62K5/00—Cycles with handlebars, equipped with three or more main road wheels
- B62K5/02—Tricycles
- B62K5/027—Motorcycles with three wheels
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62K—CYCLES; CYCLE FRAMES; CYCLE STEERING DEVICES; RIDER-OPERATED TERMINAL CONTROLS SPECIALLY ADAPTED FOR CYCLES; CYCLE AXLE SUSPENSIONS; CYCLE SIDE-CARS, FORECARS, OR THE LIKE
- B62K5/00—Cycles with handlebars, equipped with three or more main road wheels
- B62K5/01—Motorcycles with four or more wheels
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62K—CYCLES; CYCLE FRAMES; CYCLE STEERING DEVICES; RIDER-OPERATED TERMINAL CONTROLS SPECIALLY ADAPTED FOR CYCLES; CYCLE AXLE SUSPENSIONS; CYCLE SIDE-CARS, FORECARS, OR THE LIKE
- B62K5/00—Cycles with handlebars, equipped with three or more main road wheels
- B62K5/02—Tricycles
- B62K5/05—Tricycles characterised by a single rear wheel
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62K—CYCLES; CYCLE FRAMES; CYCLE STEERING DEVICES; RIDER-OPERATED TERMINAL CONTROLS SPECIALLY ADAPTED FOR CYCLES; CYCLE AXLE SUSPENSIONS; CYCLE SIDE-CARS, FORECARS, OR THE LIKE
- B62K5/00—Cycles with handlebars, equipped with three or more main road wheels
- B62K5/02—Tricycles
- B62K5/06—Frames for tricycles
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Automatic Cycles, And Cycles In General (AREA)
- Motorcycle And Bicycle Frame (AREA)
Abstract
The patent provides a man-machine combined balance car, has borrowed from present tumblers and tricycle respective characteristics, has combined their advantage, has had the human body balance characteristic of tumblers, has the characteristics that tricycle/tumblers contacted with ground again. The vehicle can ensure the stable and upright state of the vehicle body without extending feet out of the carriage when the vehicle is in low speed and parking, realizes the full sealing of the carriage of the small vehicle, not only can reduce the size of the vehicle, but also has very high safety.
Description
Technical Field
The patent relates to the field of vehicles, in particular to a man-machine combined balance car.
Background
At present, small electric vehicles and motor vehicles (motorcycles) mainly comprise two wheels, small three wheels and four wheels. Cars (sedans), new energy automobiles are not within the scope of the discussion herein. The present situation and the problems of the two-wheeled and three-wheeled/four-wheeled vehicles (small-sized) were analyzed as follows.
1. Two-wheeled vehicle
The principle of the balance system of the traditional two-wheeled bicycle (hereinafter referred to as two-wheeled vehicle) is that the balance sensing and the balance control of people are essential, so that the bicycle does not need a complex structure and any electric equipment.
The front and rear directions of the bicycle have two fulcrums, and are stable, but only one fulcrum (the point O shown in figure 1) is arranged in the left and right directions, so that the balance in the left and right directions is needed, and the balance is realized by people. In the running process of the vehicle, a person alternates the resultant force F (extension line) of F Separation of and G to pass through the point O by fine turning (very small turning can be expressed by turning radius r) and the speed v, so that dynamic balance is realized. Therefore, the course of the two-wheeled vehicle is not a theoretical straight line, but an S-curve with fine fluctuation, and as such, the two-wheeled vehicle cannot stand at the O-point without falling down when at rest.
In addition to the periodic very fine swing of the bicycle body around the point O during running, the bicycle body has large macroscopic inclination (controlling swing angle theta) to overcome great centrifugal force and make resultant force F pass through the point O when the bicycle turns around a curve.
The analysis shows that the body of the two-wheeled vehicle continuously swings around the point O under the control of a person (v, r and theta are adjusted) in the whole running process, so that the body of the two-wheeled vehicle does not fall down under dynamic balance. However, the two-wheel vehicle can be kept upright without falling down under the assistance of the ground contact of the feet of a person when the two-wheel vehicle is parked at a lower speed. It is concluded that the two-wheeled vehicle has extremely high stability and safety during normal running because the two-wheeled vehicle keeps stable due to the self-balancing capability of the human body. However, at lower speeds and when parked, the two-wheeled vehicle requires a human foot as a fulcrum, so the two-wheeled vehicle cannot employ a closed compartment because of the lack of a fulcrum at lower speeds and when parked.
In recent years, there are self-balancing two-wheeled vehicles adopting gyroscope technology, which can realize the full closure of a carriage under the premise of safety, but the price is very expensive and has not been popularized, and also there are fully-closed two-wheeled vehicles with retractable auxiliary wheels, which are relatively safe and have not been popularized and applied.
Due to friction between the two-wheeled vehicle and the ground the force is not as good as that of three-wheel and four-wheel vehicles, therefore, during driving, the anti-sideslip capability of the bicycle is inferior to that of tricycles and quadricycles.
2. Tricycle/quadricycle
The current small-sized tricycle/quadricycle can be made into a fully-closed carriage, but the biggest problem is that the risk of turning over is large, the smaller the distance between two transverse wheels is, the easier the vehicle is to turn over, the larger the size is, the more heavy the vehicle is, the use is inconvenient and flexible, and the stress analysis is as shown in figure 2.
As can be seen from fig. 2, when the conventional three-wheel/four-wheel vehicle turns, if the intersection point P of the extension line of resultant force F and the ground falls between two wheel fulcra A, B (left diagram), the vehicle is stable and safe, the point A, B is a critical point, when F Separation of increases, the point P approaches to the point A, finally passes beyond the point A and falls outside AB (right diagram), and the vehicle can be overturned. The critical value of the included angle theta between the resultant force F and the gravity G is alpha, namely, the safety is realized when theta is less than or equal to alpha, otherwise, the vehicle is overturned, and the critical value alpha=arctan (L/2H).
From the above analysis, it can be seen that the contact of the tricycle and the ground is changed from a line to a surface due to the fact that the fulcrum is added on the left and right directions of the tricycle/quadricycle, so that the tricycle/quadricycle has the static stability and sideslip prevention capability of being 'congenital' when being parked. However, in comparison with two-wheelers, three-wheelers/four-wheelers are at risk of rollover, since they give up the balancing action of a person while driving. When three or four wheels are landed, it is of course considered that the self-balance of the person is not necessary, but rather the inherent support structure of the vehicle is completely relied upon, and thus the contradiction between the size and safety of the vehicle is created.
The characteristics of the two-wheel vehicle and the tricycle or the quadricycle cannot be combined in the traditional design thought, and the addition of wheels means that the balancing action of people is abandoned, which is the most fundamental defect of the traditional design thought.
Disclosure of Invention
The utility model discloses a through simple economic means, realize that the carriage of small-size car under safe driving, steady resident car front carry is totally enclosed to make the small-size car can totally shelter from wind and rain, sun-proof keep warm. Solves the problems that the carriage of the prior two-wheeled vehicle mentioned in the background art can not be fully sealed, the sideslip prevention capability is insufficient, and the small-sized tricycle/four-wheeled vehicle has the risk of rollover.
A man-machine combined balance car comprises a balance car body 1, a swinging device 2, a car chassis 3 and a swinging control device 4;
The balance car body 1 is connected with the car chassis 3 through the swinging device 2, and the balance car body 1 swings relative to the car chassis 3 in the vertical direction of car travelling, namely transversely swings, through the swinging device 2;
The swing control device 4 is used to control the lateral swing and/or swing amplitude of the balance body 1.
The man-machine combined balance car is characterized by that it utilizes the sensing and balancing capability of human body to implement dynamic balance of car body, and the driver can utilize the centrifugal force sensed by body to regulate swing angle, forward direction and running speed of car body, and can make the resultant force of centrifugal force and gravity pass through the fulcrum of swinging device so as to make the car body be stable in the balanced standing state, and when the car is low in speed and parked, the swinging control device 4 can be used for making the car body stand. The balance control of the person is realized in that the balance body 1 can swing freely with respect to the chassis 3.
The vertical balance state of the balance car body can also be realized by an electronic balance control device, such as a gyroscope and a control system thereof which are used by the existing balance car.
Further, the swing device 2 may be implemented as a revolute pair, a high revolute pair or a low revolute pair. The swing device 2 can be implemented in various forms, and a revolute pair is the most common one.
Further, when the swing device 2 adopts a revolute pair high pair, one of the modes is a rotating device formed by bearings, specifically, the bottom end of the balance body 1 is connected with a rotating shaft 22 into a whole, the two ends of the rotating shaft 22 are provided with bearings 23, the bearings 23 are arranged in bearing seats formed by a bearing base 24 and a bearing cover 21, the bearing base 24 is fixed on a chassis 3, the balance body 1 swings around the rotating shaft 22 as a rotation center, and when the swing device 2 adopts a revolute pair low pair, one of the modes is a rotating device of a hinge structure, specifically, the bottom end of the balance body 1 is connected with an upper member 26 into a whole, a lower member 28 is fixed on the chassis 3, a 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 a rotation center.
Further, the chassis 3 is a device provided with wheels for supporting the whole vehicle in at least two points in the transverse direction (the vertical direction in which the vehicle travels) with the road surface, and is matched with the wheels in the advancing direction of the vehicle to form the surface contact of the whole vehicle with the ground. The chassis does not necessarily include all wheels, which is determined according to circumstances, but it is a device that constitutes a cross-support of the entire vehicle to at least two points.
Further, when the chassis 3 adopts a two-wheel structure, wheels are respectively arranged at the left side and the right side in the transverse direction, the chassis 3 and the single wheel of the two-wheel structure form a front single wheel and rear two wheels, or a three-wheel structure of the front single wheel and 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 car adopts a three-wheel structure, a single wheel of the man-machine combined balance car is arranged on the balance car body 1, for example, a front single-wheel rear two-wheel car, a front wheel of the man-machine combined balance car is arranged on the balance car body, and a rear wheel of the man-machine combined balance car is arranged on the balance car body, when the man-machine combined balance car adopts a four-wheel structure, wheels are not arranged on the balance car body, and the car body is connected with a front chassis 3 and a rear chassis 3 of the car through a front swinging device 2 and a rear swinging device 2.
Further, the chassis 3 is composed of a support beam 31, a damper 32, a wheel frame 33, wheels 34, the wheels 34 being mounted on both right and left ends of the wheel frame 33, the support beam 31 being mounted above the wheel frame 33 through the damper 32. Only one specific structural form is given here, but not limited thereto, and there are many combinations of chassis forms that achieve the same effect.
Further, the balance body 1 includes a steering mechanism 11, a power unit of the vehicle or a battery 12, a saddle 13, a body frame and a housing 14, and the steering mechanism 11 is specifically a handle steering mechanism similar to the present electric bicycle. The components can adopt the prior art and products, and are necessary elements for forming the whole vehicle. The body frame and the housing 14 may be open or may be totally enclosed.
Further, 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 parked, the parking device 41 restricts the swing of the balance vehicle body 1 under the control of the parking control device 42 to keep the vehicle body upright.
Further, the swing control device 4 is an electronic balance control device, and is composed of a sensor, a controller and an actuator, the sensor can sense the balance state of the balance car body 1 and send the sensor to the controller, the controller processes according to the information returned by the sensor and then controls the actuator to work, and the balance car body 1 keeps a stable balance state by controlling the swing of the balance car body 1, controlling the car speed and controlling the turning radius of the car, and in particular, the electronic balance control device is a gyroscope sensing and balance control system of the current balance car.
Further, the parking device 41 is of a telescopic structure, and the driver controls the telescopic length of the device to be supported on the chassis 3, so that the required supporting force is obtained at low speed or in parking, the swing of the balance car body 1 is limited, and the car body is kept upright. Instead of the telescopic structure, the parking device 41 may also take the form of a lever structure, a locking structure, or the like.
Further, the telescopic parking device 41 has a specific structure that a cam and slide bar combination mechanism is adopted, a cam mechanism 411 fixed in the vehicle body is in contact with a parking support bar 414, the parking support bar 414 can slide in a slide rail 412, the slide rail 412 is fixed on the balance vehicle body 1, a spring 413 is arranged at the lower part of the support bar 414, when the cam mechanism 411 rotates, the parking support bar 414 clings to the cam and slides up and down along the slide rail under the action of the spring 413, so that telescopic action is realized, and when the parking support bar 414 is contracted to a limit position, the maximum angle of swing of the balance vehicle body 1 is limited.
Further, when the parking control device 42 is a force transmission mechanism, the driver can transmit the control force to the parking device 41 through the parking control device 42, so that the parking device 41 is operated to realize low-speed assistance or parking. The parking control device may be a signal control mechanism, and the driver may send a control signal to the parking control device, and the parking control device may control the parking device according to the control signal, so as to operate the parking device and realize low-speed assistance or parking.
Further, the parking control device 42 is of a pedal structure, and is composed of a pedal 421 and a transmission device 422, wherein the transmission device 422 can be a steel wire rope, a connecting rod force transmission mechanism or a hydraulic force transmission mechanism, and the like. When the person steps on the pedal 421, the transmission device 422 transmits the displacement to the cam mechanism 411 to rotate the same, and the parking support rod 414 moves up and down to realize the telescopic operation.
Further, the swing control device 4 further includes a vehicle body swing limiting device 43, and the vehicle body swing limiting device 43 is used for limiting the maximum swing angle of the balance vehicle body 1.
Further, the body swing limiting device 43 is a limiting block fixed at two sides of the bottom of the balance body 1, and as the swing angle of the balance body 1 increases, the body swing limiting device 43 is closer to the chassis 3 until the body is contacted with the chassis, so as to limit the maximum swing angle of the balance body 1.
Further, the man-machine combined balance car further comprises a forced speed reduction device 5, and when the car body swings to be close to the maximum position, the forced speed reduction device 5 is started to reduce the speed of the car. The aim of this is to increase the safety of the vehicle, since when the balancing body swings to a maximum angle, this means that the centrifugal force has reached a limit, and at this time the forced deceleration can effectively reduce the centrifugal force, preventing unsafe conditions caused by accidental errors during human operation.
Further, the forced speed reducer 5 is a mechanical brake handle device, a trigger rod 51 is installed between the bottom of the balance car body 1 and the chassis 3, the trigger rod is connected with a brake steel wire 53, a steel wire sheath base 52 is fixed on the balance car body, and the end of the brake steel wire 53 is connected with a brake device of a conventional wheel, such as a drum brake. When the balance car body swings to the vicinity of the limit position, the trigger rod starts to contact the car chassis, and under the action of the self lever principle, the other end of the trigger rod starts to leave the steel wire sheath base and pulls the brake steel wire, so that the brake device of the wheel starts to act to brake and decelerate; when the balance car body continues to swing to the limit position, the trigger rod continues to pull the brake steel wire, so that the braking action is further enhanced, and a stronger braking result is obtained. The added braking device does not affect the normal braking system of the whole vehicle, and the added braking device and the normal braking system are mutually complemented.
Further, when the man-machine combined balance car is electrically driven, the other structure of the forced speed reduction device 5 is an electronic brake, specifically an electronic brake system of the current electrically driven car, and a trigger switch of the electronic brake can be installed in the steel wire sheath base 52 or any other position capable of triggering the micro switch to act at the limit position of the swing of the balance car body. The electronic brake system is a ready-made product in the prior art and can be directly applied to the patent product.
The invention is characterized in that a smart method and a smart form for combining a traditional two-wheeled bicycle balance system with a traditional three-wheeled/four-wheeled vehicle are found, namely, the O point of a man-machine combined balance vehicle is moved from the ground to the chassis, the source of parking auxiliary force is also moved from the ground to the chassis, and the chassis is of a stable structure which is transversely provided with at least two points for supporting one ground, so that the combination of the two-wheeled vehicle and the three-wheeled/four-wheeled vehicle is realized. As shown in fig. 3.
Because the car body can still swing freely, the running speed and the running direction can still be controlled by people, namely, three parameters of v, r and theta are still controlled by people, the combination can not lose the dynamic balance control of the car by people.
The tricycle has the advantages that the tricycle combines the advantages of a traditional two-wheeled vehicle and a traditional three-wheeled vehicle, not only utilizes the balance function of a human body to ensure safety and stability during driving, but also has the sideslip prevention capability and the low-speed and parking stability of the three-wheeled vehicle/four-wheeled vehicle, so that the carriage of the small-sized vehicle is fully closed, the size of the vehicle can be reduced, and the tricycle has very high safety. Compared with a two-wheel vehicle, the two-wheel vehicle has the advantages that three-wheel or four-wheel modes are adopted, so that the two-wheel vehicle has larger gripping power to the ground than the two-wheel vehicle, the sideslip prevention capability and the braking capability of the two-wheel vehicle are greatly improved, and particularly the lateral antiskid and shock resistance performance of the two-wheel vehicle is higher than that of the two-wheel vehicle. The method has the following specific beneficial effects.
① Is safer than a two-wheeled vehicle. Intuitively, the transverse wheels are added, so that the motorcycle is safer than a two-wheel vehicle, and the theoretical analysis is also performed. The wheel is added to increase the friction between the vehicle and the ground, so that the sideslip resistance, braking capability, stability and impact resistance of the vehicle are greatly improved, and meanwhile, the vehicle cannot fall down completely or even just over due to the limit swing angle gamma, so that the vehicle is a three-wheel/four-wheel vehicle.
② Is safer and more steerable than a three-wheel/four-wheel vehicle. The dynamic balance of the person in the running process can be realized only on the car body capable of swinging freely, just like the person riding a bicycle, and the dynamic balance realizes the timely monitoring of the centrifugal force by the person. The traditional three-wheel/four-wheel vehicle can not swing, and people can not timely sense the centrifugal force, so that the accident of turning over can easily happen. Therefore, the balance car fundamentally solves the problem of control of the overturning risk, and meanwhile, the comparison of the stress analysis graphs of the traditional tricycle and the man-machine combined balance car (hereinafter referred to as the balance car) can show that the safety centrifugal force range during turning is far larger than that of the tricycle/quadricycle, namely, the balance car can have faster turning speed and safety. In the driving operation, the balance car is just the feel of the two-wheeled vehicle, and has excellent operation experience.
③ Has higher running speed. Firstly, because the balance car has the dynamic balance characteristic of the two-wheel car, the balance car has higher safety speed than the traditional three-wheel/four-wheel car, secondly, the balance car has relatively lower center of gravity (vertical distance between M point and O point) than the two-wheel car, and the balance car has better sideslip resistance because of the transverse wheels, so the balance car can have higher safety speed than the two-wheel car.
④ Has a more compact body size, as compared to a conventional three/four wheeled vehicle. From the previous force analysis graph, the critical value α=arctan (L/2H) of the conventional three-wheel/four-wheel vehicle, the critical angle β=arctan (L/2H) of the balance car, since H is much smaller than H, the balance car can have a smaller L value, i.e. the lateral wheel spacing, which means that the balance car can be more compact and small than the conventional three-wheel/four-wheel vehicle.
⑤ The carriage can be totally enclosed. Because the parking device is arranged, the balance car is not required to be assisted and supported by touching the ground by the feet in the running and parking processes, so that the carriage can be completely sealed, and the driver and the passengers can thoroughly get rid of the trouble and the injury of wind, rain and snow.
Drawings
FIG. 1 is a diagram showing a balance stress analysis of a two-wheeled vehicle according to the prior art.
FIG. 2 is a diagram showing a balance stress analysis of a tricycle and a quadricycle according to the prior art.
Fig. 3 is a diagram of the balance stress analysis of the man-machine balance car.
Fig. 4 is a schematic diagram (front view) of a main structure of the man-machine balance vehicle according to the embodiment.
FIG. 5 is a schematic view of a man-machine balance car according to an embodiment (left side view)
Fig. 6 is a schematic structural view (front view) of a swinging device (bearing form) of the man-machine balance car according to the embodiment.
Fig. 7 is a schematic view (B-B cross-sectional view) of a swing device (bearing form) of the man-machine balance vehicle according to the embodiment.
Fig. 8 is a schematic view (A-A cross-sectional view) of a swing device (bearing form) of the man-machine balance vehicle according to the embodiment.
Fig. 9 is a schematic structural view (front view) of a swing device (a low-side form of a revolute pair) of the man-machine balance vehicle according to the embodiment.
Fig. 10 is a schematic structural view (F-F cross-sectional view) of a swing device (low-pair form of a revolute pair) of the man-machine balance vehicle according to the embodiment.
Fig. 11 is a schematic structural view (E-E cross-sectional view) of a swing device (low-pair form of a revolute pair) of the man-machine balance vehicle according to the embodiment.
Fig. 12 is a schematic diagram of a chassis and parking device of the man-machine balance car according to an embodiment.
Fig. 13 is a schematic view of a balance car body structure of the man-machine balance car according to the embodiment.
Fig. 14 is a schematic diagram illustrating the swing control device of the man-machine balance car according to the embodiment.
Fig. 15 is a schematic structural diagram of a body swing limiting device and a forced speed reducing device of the man-machine balance car according to the embodiment.
Fig. 16 is a schematic structural view (C-C cross-sectional view) of a forced speed reducer of the man-machine balance car according to the embodiment.
The vehicle comprises a 1-balance vehicle body, a 2-swinging device, a 3-vehicle chassis, a 4-swinging control device, a 5-forced speed reduction device, a 11-direction mechanism, a power device or battery of a 12-vehicle, a 13-vehicle seat, a 14-vehicle body frame and a shell, a 21-bearing cover, a 22-rotating shaft, a 23-bearing, a 24-bearing base, a 26-upper component, a 27-pin, a 28-lower component, a 29-fastener, a 31-supporting beam, a 32-shock absorber, a 33-wheel carrier, 34-wheels, a 411-cam mechanism, a 412-sliding rail, 413-springs, a 414-parking supporting rod, a 421-pedal device, a 422-transmission device, a 43-vehicle body swinging limiting device, a 51-triggering rod, a 52-steel wire sheath base and 53-brake steel wires.
Detailed Description
The technical scheme of the patent is further described in detail below with reference to the attached drawings.
Fig. 4 to 16 show a man-machine combined balance car, the whole car adopts a three-wheel structure and is of a front single-wheel and rear two-wheel structure, and the structure is one of all possible conditions, and the principle of the structure is further described only in the condition.
Fig. 4 is a front view of a main structural schematic diagram of the man-machine balance car, and the whole car comprises a balance car body 1, a swinging device 2, a car chassis 3, a swinging control device 4 and a forced speed reduction device 5. The balance body 1 is connected to the chassis 3 by means of a swinging device 2, and the balance body 1 swings in a vertical direction along the vehicle travel, i.e. laterally, relative to the chassis 3 by means of the swinging device 2. The swing control device 4 is used to control the lateral swing and/or the swing amplitude of the balance body 1. The forced reduction means 5 is not necessary, and in this embodiment, the forced reduction means 5 functions to start the forced reduction means 5 to reduce the vehicle to increase the safety factor of the whole vehicle when the balance body 1 swings to near the maximum position.
Since the balance car body 1 swings freely, a driver must feel the centrifugal force of the car at any time to adjust the swing angle, the advancing direction and the running speed of the car in the running process, so that the resultant force of the centrifugal force and the gravity passes through the fulcrum of the swinging device to enable the car body to be in a dynamically balanced upright state. When the vehicle is at a low speed (less than 5 km/h) and parked, the swing control device 4 is used to limit the swing of the balanced vehicle body 1 to erect the vehicle body when the dynamic balance of the person gradually loses effect.
Fig. 5 is a left side view of the main structural schematic diagram of the man-machine balance car, in which it can be seen that in this embodiment, the swinging device 2 is at the rear lower part of the balance car body 1 for connecting the car chassis 3, and the corresponding swinging control device 4 and forced speed reduction device 5 are at the rear lower part of the balance car body, between the balance car body 1 and the car chassis 3.
Fig. 6 is a front view of a schematic structural diagram of the swinging device 2 (in the form of a bearing) of the man-machine balance car according to the embodiment. The swinging device 2 consists of a bearing cover 21, a rotating shaft 22, a bearing seat 23 and a bearing base 24, wherein the bottom end of the balance car body 1 and the rotating shaft 22 are connected into a whole (such as welded into a whole), the bearing 23 is arranged at the two ends of the rotating shaft 22, the bearing 23 is arranged in the bearing seat formed by the bearing base 24 and the bearing cover 21, the bearing base 24 is fixed (such as welded) on the car chassis 3, and the balance car body 1 swings by taking the rotating shaft 22 as a rotation center.
Fig. 7 is a B-B cross-sectional view of a schematic structural diagram of the swinging device 2 (in the form of a bearing) of the man-machine balance car according to the embodiment, and the connection relationship between the balance car body 1, the components of the swinging device 2 (the bearing cover 21, the rotating shaft 22, the bearing seat 23, and the bearing base 24) and the car chassis 3 can be seen.
Fig. 8 is a cross-sectional view A-A of a schematic structural diagram of a swinging device 2 (in the form of a bearing) of the man-machine balance car according to the embodiment.
Fig. 9 is a front view schematically showing the structure of the swing device 2 (low-pair form of the revolute pair) of the man-machine balance car according to the embodiment. The swinging device 2 consists of an upper member 26, a pin 27, a lower member 28 and a fastener 29, wherein the bottom end of the balance car body 1 is connected with the upper member 26 into a whole, the lower member 28 is fixed on the car chassis 3, the pin 27 penetrates through the upper member 26 and the lower member 28 and is axially fixed by the fastener 29, and the balance car body 1 swings by taking the pin 27 as a rotation center.
Fig. 10 is a F-F cross-sectional view of a schematic structural diagram of the swing device 2 (low-pair form of revolute pair) of the man-machine balance car according to the embodiment, and shows the connection relationship between the balance car body 1, the respective components of the swing device 2 (upper member 26, pin 27, lower member 28, fastener 29) and the car chassis 3.
Fig. 11 is an E-E sectional view of a schematic structural diagram of the swing device 2 (low-pair form of the revolute pair) of the man-machine balance vehicle according to the embodiment.
For the illustrated three-wheeled structure, the front wheel of the vehicle (the front wheel is mounted on the balance body, which is similar to the front wheel structure of a conventional electric vehicle or motorcycle) and the swinging means 2 at the rear lower end of the vehicle body constitute two fulcrums of the entire vehicle in the front-rear direction, about which the balance body 1 will swing laterally.
In general, both the usual revolute pair structure and the swinging structure can realize the function of the swinging device 2.
Fig. 12 is a schematic structural view of the chassis 3 and the parking device 41 of the man-machine balance car according to the embodiment. The chassis 3 is composed of a supporting beam 31, a damper 32, a wheel frame 33 and wheels 34, the wheels 34 are arranged at the left end and the right end of the wheel frame 33, and the supporting beam 31 is arranged above the wheel frame 33 through the damper 32. The chassis shown in the figure is a chassis of a tricycle with a single front wheel and two rear wheels, and the chassis and the front wheels form the whole tricycle ground contact. The chassis 3 is a device in which wheels are mounted so that the entire vehicle forms at least two-point support with the road surface in the lateral direction (the vertical direction in which the vehicle travels). When the front wheel and the rear wheel are both in the form of the chassis, a four-wheel structure can be formed.
In fig. 12, the parking device 41 is a cam and slide bar combination mechanism, and is composed of a cam mechanism 411, a slide rail 412, a spring 413 and a parking support bar 414, wherein the cam mechanism 411 fixed in the vehicle body is in contact with the parking support bar 414, the parking support bar 414 can slide in the slide rail 412, the slide rail 412 is fixed on the balance vehicle body 1, the spring 413 is arranged at the lower part of the support bar 414, when the cam mechanism 411 rotates, the parking support bar 414 clings to the cam and slides up and down along the slide rail under the action of the spring 413, so as to realize telescopic action, and when the parking support bar 414 is contracted to a limit position, the function of limiting the maximum angle of swinging of the balance vehicle body 1 is also realized. In general, the parking device 41 has a telescopic structure, and the driver controls the telescopic length thereof to be supported on the chassis 3 so as to obtain a desired supporting force at a low speed or in a parking state, to restrict the swing of the balance body 1 and keep the body upright, and the parking device 41 may have a lever structure, a locking structure, or the like, instead of the telescopic structure.
Fig. 13 is a schematic view of the structure of a balance car body 1 of the man-machine balance car according to the embodiment. The balance car body 1 comprises a steering mechanism 11, a power unit or a battery 12 of the car, a saddle 13, a car body frame and a shell 14, which are all prior art, and are existing products, which are necessary elements for forming the whole car. The body frame and the housing 14 may be open or may be fully enclosed.
Fig. 14 is a schematic diagram of the swing control device 4 of the man-machine balance car according to 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, the same as that shown in fig. 12, and the parking control device is composed of a pedal device 421 and a transmission device 422, wherein the transmission device 422 can be a steel wire rope, a connecting rod force transmission mechanism or a hydraulic force transmission mechanism, and the like. When the person steps on the pedal 421, the transmission device 422 transmits the displacement to the cam mechanism 411, and the parking support rod 414 is moved up and down to realize the telescopic operation. When the vehicle is at a low speed (less than 5 km/h) or parked, the parking device 41 restricts the swing of the balance body 1 under the control of the parking control device 42 to keep the body upright.
In general, the parking control device 42 is a force transmission mechanism, and a driver can transmit a control force generated by the parking control device 42 to the parking device 41 to actuate the parking device 41, thereby realizing low-speed assistance or parking. The parking control device 42 may also be a signal control mechanism that receives a parking control signal issued by a person and converts the signal into an execution action on the parking device 41 to realize parking control.
Fig. 15 is a schematic structural diagram of a body swing limiting device 43 and a forced speed reducer 5 of the man-machine balance vehicle according to the embodiment. The body swing limit device 43 is a part of the swing control device 4 for limiting the maximum angle of swing of the balance body 1. In the figure, limiting blocks on two sides of the bottom of the balance car body 1 are arranged, and as the swing angle of the balance car body 1 increases, the car body swing limiting device 43 is closer to the car chassis 3 until the car body is contacted with the car chassis, so that the maximum swing angle of the balance car body 1 is limited. Through analysis and calculation, the maximum swing angle is set to 25 degrees (0 degree when the vehicle body is upright), under the angle, the turning radius required by the vehicle speed of 60km/h is smaller than 20m and is smaller than the maximum value of the non-primary and secondary road turning radius design (the turning radius design range is that the urban main road is 20-30m, the secondary main road is 15-20m and the non-primary and secondary road is 10-20 m), and under the angle, the gravity center of the human vehicle is still between the left wheel and the right wheel in a static state, namely the vehicle cannot fall completely.
Besides the mechanical structure, the swing control device 4 can also adopt an electronic balance control device, and consists of a sensor, a controller and an actuator, wherein the sensor can sense the balance state of the balance car body and send the balance state to the controller, and the controller processes the balance state according to the information returned by the sensor and then controls the actuator to work, so that the balance car body can keep a stable balance state by controlling the swing of the balance car body, the speed of the car and the turning radius of the control car. The electronic balance control device can directly adopt a gyroscope sensing and balance control system of the existing balance car.
In fig. 15, the forced deceleration device 5 is a mechanical brake lever device, a trigger rod 51 is installed between the bottom of the balance car body 1 and the chassis 3, the trigger rod is connected with a brake wire 53, a wire sheath base 52 is fixed on the balance car body, and the end of the brake wire 53 is connected with a brake device of a conventional wheel, such as a drum brake. When the balance car body swings to the vicinity of the limit position, the trigger rod starts to contact the car chassis, and under the action of the self lever principle, the other end of the trigger rod starts to leave the steel wire sheath base and pulls the brake steel wire, so that the brake device of the wheel starts to act to brake and decelerate; when the balance car body continues to swing to the limit position, the trigger rod continues to pull the brake steel wire, so that the braking action is further enhanced, and a stronger braking result is obtained.
Fig. 16 is a C-C cross-sectional view showing a schematic structural diagram of the forced deceleration device 5 of the man-machine balance car according to the embodiment.
The forced speed reducer 5 can also adopt an electronic brake system, a trigger switch of the forced speed reducer is arranged near the limit position of the swing of the balance car body, and once the car body swings to the limit position, the trigger switch is caused to act so as to start the electronic brake system, and the electronic brake system is a ready-made product in the prior art and can be directly applied to the product of the patent.
Under the combined action of the parts, the man-machine combined balance car has the advantages of the traditional two-wheeled car and the three-wheeled/four-wheeled car, so that the carriage is fully sealed, and the operability and safety of the car are improved.
The above description is only one embodiment of the present patent, and the protection scope of the present patent is not limited to the above embodiments, but all equivalent modifications or variations according to the present disclosure by those skilled in the art should be included in the protection scope of the present patent.
Claims (19)
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811495692.6A CN109398550A (en) | 2018-12-07 | 2018-12-07 | A kind of totally-enclosed man-machine joint balance car |
| CN2018114956926 | 2018-12-07 |
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| CN110843984A CN110843984A (en) | 2020-02-28 |
| CN110843984B true CN110843984B (en) | 2025-07-25 |
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| CN201811495692.6A Pending CN109398550A (en) | 2018-12-07 | 2018-12-07 | A kind of totally-enclosed man-machine joint balance car |
| CN201911228048.7A Active CN110843984B (en) | 2018-12-07 | 2019-12-04 | Man-machine combined balance car |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201811495692.6A Pending CN109398550A (en) | 2018-12-07 | 2018-12-07 | A kind of totally-enclosed man-machine joint balance car |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN113942563B (en) * | 2021-11-01 | 2022-12-09 | 常州工程职业技术学院 | Rigid transmission type swinging steering device |
| CN114030548B (en) * | 2021-11-22 | 2023-04-07 | 常州工程职业技术学院 | Reverse three-wheel dynamic balance vehicle |
| CN114148441B (en) * | 2021-12-06 | 2023-10-27 | 常州工程职业技术学院 | A dynamic balancing vehicle with wheels arranged in a cross shape |
| CN114379685B (en) * | 2022-01-28 | 2023-11-17 | 常州工程职业技术学院 | Multi-wheel dynamic balance vehicle |
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| CN109398550A (en) | 2019-03-01 |
| CN110843984A (en) | 2020-02-28 |
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