CN110843988B

CN110843988B - Balance swing car

Info

Publication number: CN110843988B
Application number: CN201911054724.3A
Authority: CN
Inventors: 应佳伟
Original assignee: Hangzhou Qike Kuhang Trade Co ltd
Current assignee: Zhejiang Qike Robot Technology Co ltd
Priority date: 2019-10-31
Filing date: 2019-10-31
Publication date: 2021-12-07
Anticipated expiration: 2039-10-31
Also published as: CN110843988A

Abstract

The application discloses a balance swing car, which comprises two side frames connected through a rotary joint, wherein the two side frames are provided with driving wheels at one side far away from the rotary joint, the rotary joint comprises two structural members which are mutually inserted and rotationally matched, and the two structural members are respectively connected with one corresponding side frame; the peripheries of the two structural members are respectively provided with radial extending parts, the radial extending parts are distributed around the periphery of the structural member, and the radial extending parts of the two structural members are directly or indirectly abutted along the direction parallel to the rotating axes of the two structural members; the technical scheme that this application discloses radial extension through two structures leans on along being on a parallel with the axis of rotation side, thereby has reduced revolute joint atress deformation and has guaranteed revolute joint's cooperation effect, can both realize stable, long-term normal running fit effect under various operating modes, and the multiple design of cooperation side bearer to and the combination form can satisfy different use scenes and design demand, has expanded the design thinking greatly.

Description

Balance swing car

Technical Field

The invention relates to the field of carriers, in particular to a balance swing car.

Background

The operation principle of the electric balance swing car, also called a body sensing car and a thinking car, is mainly based on a basic principle called dynamic stability, a gyroscope and an acceleration sensor in the car body are utilized to detect the change of the posture of the car body, and a servo control system is utilized to accurately drive a motor to carry out corresponding adjustment so as to keep the balance of the system.

The inventor finds that a rotary joint is needed to realize the rotary installation of the left frame and the right frame in the technical scheme that the left frame and the right frame can be mutually twisted, and the distance between the rotary joint and the driving wheels at two sides is far. Therefore, when a user stands on the balance car, a large moment is generated on the rotating joint and the frame component connected with the rotating joint. In addition, the balance car may be affected by rough road, further worsen the working condition of the rotary joint, and easily cause the deformation of the frame and the abnormal abrasion of parts. In order to overcome the problem in the conventional technical means, the design is often carried out by thickening the stress parts in the frame, but the design can increase the weight of the balance car and has adverse effects on the endurance mileage, the control feeling and the like.

Disclosure of Invention

The application discloses balance swing car, which comprises two side frames connected through a rotary joint, wherein a driving wheel is installed on one side of each side frame far away from the rotary joint, the rotary joint comprises two structural members which are mutually inserted and rotationally matched, and the two structural members are respectively connected with one corresponding side frame;

the periphery of the two structural members is respectively provided with a radial extension part, the radial extension parts are distributed around the periphery of the structural member, and the radial extension parts of the two structural members are directly or indirectly abutted along the direction parallel to the rotation axes of the two structural members.

Several alternatives are provided below, but not as an additional limitation to the above general solution, but merely as a further addition or preference, each alternative being combinable individually for the above general solution or among several alternatives without technical or logical contradictions.

Optionally, at least one of the side frames is an integrated box structure, and the integrated box structure includes:

a first force receiving member for mounting the driving wheel;

the second stress element is used for installing a structural element on the corresponding side in the rotary joint;

a third force-receiving member integrally connected between the first force-receiving member and the second force-receiving member;

the force-bearing members enclose a mounting area for receiving a circuit component, the mounting area being internal to the unitary box structure.

Optionally, the integrated box structure is provided with an installation opening for installing the circuit element, and the installation opening is formed in the first stressed member, the second stressed member or the third stressed member.

Optionally, a bearing surface for bearing the load is arranged on the third stress piece, the mounting opening is formed in the bearing surface, a dustproof piece is arranged on the bearing surface, and the dustproof piece is used for isolating the mounting area from the external environment.

Optionally, the dust-proof part is a flexible part and covers the whole installation opening.

Optionally, the mounting opening is provided on the first force-bearing member and/or the second force-bearing member.

Optionally, a dustproof member is arranged on the first stressed member and/or the second stressed member, and the dustproof member is used for isolating the installation area from the external environment.

Optionally, the integral box structure is flat with a chamfered edge, and the top surface in the thickness direction is a bearing surface for bearing load.

Optionally, the integrated box structure is a cuboid box body or a special-shaped box body, a partition plate is arranged inside the integrated box structure, and the partition plate isolates the installation area into a plurality of independent installation cavities.

Optionally, the baffles comprise longitudinal and/or transverse baffles.

Optionally, the partition is a longitudinal partition and divides the mounting area into a plurality of mounting cavities in the length direction.

Optionally, the extension direction of the partition plate is perpendicular to the rotation axis.

Optionally, the partition is a transverse partition and divides the mounting region into a plurality of mounting cavities in the thickness direction.

Optionally, the extending direction of the partition is horizontal to the rotation axis.

Optionally, the integrated box structure is a rectangular box body, the first stress element and the second stress element are two side walls of the integrated box structure, and the third stress element is a side plate connected between the two side walls.

Optionally, the second stressed member is a plate, and the outer edge of the second stressed member is connected to the third stressed member, and the second stressed member is provided with a joint seat for mounting one structural member of the rotary joint.

Optionally, the joint seat is connected with one of the two structural members separately or integrally.

Optionally, the joint seat is mounted with one of the two structural members by interference fit.

Optionally, the revolute joint further comprises an axial tensioning member acting between the two structural members.

Optionally, the axial tension member is a locking pin or a card or a fastener provided on the structural member.

Optionally, the joint seat and one of the two structural members are of an integral structure.

Optionally, the two side frames are of an integral box structure.

Optionally, one or two frame members are included in a single sideframe, and one of the frame members is a first frame member including:

a wheel seat for mounting the driving wheel;

a joint seat for mounting one of the two structural members;

and the bearing part is connected with the wheel seat and the joint seat.

Optionally, in a single side frame, the wheel seat, the joint seat and the bearing portion are independent and relatively fixed, or two of them are integrated structures, or three are integrated structures.

Optionally, the wheel seat and the joint seat are independent from each other in structure and are one of the following modes:

all provided by the first frame member;

or a part is provided by the first frame member and the remaining part is provided by another frame member;

or a part is provided by the first frame member and the remaining part is provided by the auxiliary fixing member.

Optionally, the wheel seat and the joint seat are configured in the same manner.

Optionally, at least one side frame has a mounting area therein for receiving a circuit component and the side frame includes only the first frame member, the mounting area being arranged in one of the following ways:

the bearing part in the side frame is a plate-shaped structure, and at least one side of the plate-shaped structure in the thickness direction is the mounting area;

or the bearing part in the side frame is of a single-rod structure, and the periphery of the single-rod structure is the installation area;

or the bearing parts in the side frames are of coplanar multi-rod structures, the plane where the multi-rod structures are located is a reference plane, and the relation between the orthographic projection A of the installation area on the reference plane and the orthographic projection B of the multi-rod structures on the reference plane is that A belongs to B or at least one part of A and B is overlapped.

Optionally, the supporting portion is in a closed or non-closed annular shape, a plane where the annular supporting portion is located is a reference plane, and at least a part of an orthographic projection of the installation area for accommodating the circuit component on the reference plane is located inside the annular supporting portion.

Optionally, two frame pieces are included in a single side frame, one of the two frame pieces is the first frame piece, the other frame piece is the second frame piece, at least a part of areas of the first frame piece and the second frame piece are overlapped at intervals in the thickness direction of the first frame piece, and the interval part is a mounting area for accommodating a circuit element.

Optionally, at least one frame element is provided with a cladding element on a side facing away from the mounting region.

Optionally, the two side frames are symmetrically arranged.

Optionally, the revolute joint further includes:

an axial tensioning member acting between the two structural members;

and the rotating antifriction structure is arranged between the radial extension parts of the two structural parts and comprises antifriction parts which are butted between the two structural parts in a rolling way or a labyrinth structure used for storing antifriction fluid.

Optionally, an axial tensioning member is disposed between the two structural members.

Optionally, the radial extension portion surrounds the outer periphery of the structural member by 60 degrees to 360 degrees, and at least a part of the radial extension portion is located in the upper half of the gravity direction of the structural member.

Optionally, the two structural members are pre-tensioned by the axial tensioning member when the radial extension portions of the two structural members abut against each other.

Optionally, a rotational anti-friction structure is arranged between the radial extension parts of the two structural members along a direction parallel to the rotational axis.

Optionally, the rotating anti-friction structure is a labyrinth structure for storing an anti-friction fluid.

Optionally, the labyrinth structures of the two structural members are complementary in shape.

Optionally, the rotating anti-friction structure comprises an anti-friction element which is in rolling contact with and abutted against the two structural elements.

Optionally, the friction reducing member is a cylinder or a truncated cone or a sphere.

Optionally, the friction reducing member is provided in plurality.

Optionally, a limiting structure for maintaining the positions of the friction reducing members is arranged between the adjacent friction reducing members.

Optionally, the two structural members realize clearance fit through a first clearance in the axial direction of the rotation axis, the rotation antifriction structure is arranged in the first clearance and realizes indirect offset of the two structural members at the first clearance.

Optionally, the two structural members are indirectly abutted through the rotating antifriction structure, and a first gap is reserved between the two structural members; the rotary joint also comprises a shielding piece which is arranged on the periphery of the two structural parts and used for shielding the first gap.

Optionally, the shielding member is fixedly connected with one of the two structural members; or

The radial extension part of one of the two structural members has a radial size slightly larger than that of the other structural member, and is provided with a step which is arranged on the outer peripheral surface of the other structural member, and the step is used as the shielding member.

Optionally, the step is arranged around the extension of the radial extension of the structure, and the central angle of the step with respect to the rotation axis is 60 degrees to 360 degrees.

Optionally, the two structural members are a first structural member and a second structural member penetrating through the first structural member, and the two structural members are rotatably matched through a penetrating portion, the second structural member is provided with a radial extension portion and a tensioning portion at two ends of the first structural member, respectively, and the axial tensioning member is mounted on the tensioning portion.

Optionally, the axial tension member is a threaded member or an elastic member.

Optionally, the two structural members are respectively an annular first structural member and a second structural member passing through and rotatably fitted in the first structural member, and the second structural member penetrates through the first structural member and is rotatably fitted with the first structural member through a penetrating part.

Optionally, the radial extensions of the two structural members have a central angle of at least 90 degrees with respect to the axis of rotation.

Optionally, the radial extensions of the two structural members have a central angle of 360 degrees with respect to the rotational axis.

Optionally, one of the two structural members is provided with the step, the periphery of the other structural member is provided with a yielding groove complementary to the step in shape, and the peripheries of the two structural members at the connecting position are flush with each other.

Optionally, the two structural members include a first structural member and a second structural member penetrating through the first structural member, and the two structural members are rotatably matched through a penetrating part;

the radial extension part of the second structural part is positioned on one side of the first structural part, the second structural part penetrates to the other side of the first structural part to form a tensioning part, and the axial tensioning part is arranged on the tensioning part and is abutted against the first structural part.

Optionally, the radial extension parts of the two structural members are disc structures with central holes, annular mounting grooves corresponding to the positions are formed in opposite sides of the two structural members, and the antifriction members are distributed in the annular mounting grooves.

The middle hole of the first structural member is used as a shaft hole, a rotating shaft is fixed in the middle hole of the second structural member, and one end, penetrating through the shaft hole, of the rotating shaft is used as the tensioning part;

the axial tension member is in threaded engagement with the tension portion, or

The axial tension member is an elastic member that acts between the tension portion and the first structural member.

The technical scheme that this application discloses radial extension through two structures leans on along being on a parallel with the axis of rotation side, thereby has reduced revolute joint atress deformation and has guaranteed revolute joint's cooperation effect, can both realize stable, long-term normal running fit effect under various operating modes, and the multiple design of cooperation side bearer to and the combination form can satisfy different use scenes and design demand, has expanded the design thinking greatly.

Specific advantageous technical effects will be explained in conjunction with specific structures in the detailed description.

Drawings

Fig. 1 is a schematic diagram of a balancing swing car according to an embodiment;

fig. 2 is a schematic view of another embodiment of a balancing swing car;

fig. 3 is a schematic diagram of an internal structure of the balance swing car of fig. 1;

fig. 4 is an interior view of a balancing swing car with longitudinal partitions;

fig. 5 is an interior schematic view of a balancing swing car with longitudinal and transverse bulkheads;

fig. 6 is an internal schematic view of two side frames of the balancing swing car provided with different bulkheads;

FIG. 7 is an enlarged view taken at A in FIG. 3;

fig. 8-9 are schematic views of different engagement schemes of the side frames and the rotary joints of the balancing swing car;

fig. 10 is an exploded view of the balanced swing car of fig. 2;

FIG. 11 is an enlarged view of FIG. 10 at B;

FIG. 12 is a schematic view of the internal structure of a balancing swing car with two side frames of different configurations;

fig. 13 is a schematic view of a balancing swing car according to yet another embodiment;

fig. 14 is a schematic view of another embodiment of a side frame of a balancing swing car (with portions of the frame omitted);

fig. 15 is a schematic diagram of an internal structure of a balancing swing car;

fig. 16 is a schematic view of the mounting of the auxiliary mounts of the balance swing car (with portions of the frame omitted);

fig. 17 a-17 g are schematic interior views of first and second frame members of a balancing swing car;

fig. 18 is a schematic view of another embodiment of a frame member for a balanced swing car (with portions of the frame omitted);

FIG. 19 is a schematic view of the internal structure of a balancing swing car with two different sideframe configurations;

fig. 20 is another side frame schematic of the swing car shown in fig. 14;

fig. 21 is an exploded view of the balanced swing car of fig. 13;

FIG. 22 is an enlarged view at C of FIG. 21;

FIG. 23a is an enlarged view of FIG. 15 taken at D;

fig. 23 b-23 c are schematic views of different engagement schemes of the side frames and the rotary joints of the balancing swing car;

fig. 24 is a schematic view of a balancing swing car in yet another embodiment;

fig. 25 is an exploded view of the balanced swing car of fig. 24;

FIG. 26 is an enlarged view at E in FIG. 25;

fig. 27 is a schematic view of an internal structure of a balancing swing car;

FIG. 28a is an enlarged view at F of FIG. 27;

FIGS. 28 b-28 e are schematic views of different arrangements of the first and second structural members;

fig. 29-30 are schematic views of different combinations of side frames of a swing car.

The reference numerals in the figures are illustrated as follows:

1. a side frame; 11. a first force-receiving member; 12. a second force-receiving member; 13. a third force-receiving member; 14. an installation area; 15. a bearing surface; 16. a partition plate; 171. a first frame member; 172. a second frame member; 173. a bearing part; 174. a wheel seat; 175. a joint seat; 18. an auxiliary fixing member; 19. a shaft body;

2. a revolute joint; 211. a first structural member; 212. a second structural member; 2121. a tension section; 213. a first gap; 22. a radial extension; 23. an axial tension member; 24. a limiting step; 25. a friction reducing member; 251. a radial ball; 26. a gasket; 27. an end face fixing ring; 28. a friction reducing fluid; 29. a limiting structure;

3. and a driving wheel.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

It will be understood that when an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may also be present. When a component is referred to as being "disposed on" another component, it can be directly on the other component or intervening components may also be present.

Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. The terminology used in the description of the invention herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. As used herein, the term "and/or" includes any and all combinations of one or more of the associated listed items.

Referring to fig. 1 to 3, in an embodiment, the present application discloses a balance swing car, including two side frames 1 connected by a rotating joint 2, wherein a driving wheel 3 is installed on one side of the two side frames 1 far from the rotating joint 2, the rotating joint 2 includes two structural members inserted into each other and rotationally matched with each other, and the two structural members are respectively connected with the corresponding side frame 1;

the peripheries of the two structural members are respectively provided with a radial extending part 22, the radial extending parts 22 extend for at least 180 degrees around the periphery of the structural member, and the radial extending parts 22 of the two structural members are directly or indirectly abutted along the direction parallel to the rotating axes of the two structural members.

In this embodiment, at least one side frame 1 is an integral box structure including:

a first force receiving member 11 for mounting the driving wheel 3;

a second force-receiving member 12 for mounting a structural member on a corresponding side in the revolute joint 2;

a third force receiving member 13 integrally connected between the first force receiving member 11 and the second force receiving member 12;

the force-receiving members enclose a mounting area 14 for accommodating the circuit components, the mounting area 14 being located inside the integrated box structure.

In this embodiment, the driving wheel 3 and the rotary joint 2 are connected by an integrated box structure. Compared with the scheme in the related art, the integrated box type structure can transmit the load of the balance swing car to the wheel shaft of the driving wheel 3 and the rotating joint 2 through the first stress piece 11, the second stress piece 12 and the third stress piece 13, and the conditions of frame distortion and the like caused by self deformation are greatly reduced. The revolute joint 2 is located at the farthest position from the support surface (ground) in the vehicle frame, and therefore has a large stress. The second stress element 12 in this embodiment can ensure stable connection of the rotary joint 2, and disperse stress through an integral box structure, thereby improving dynamic performance of the vehicle frame.

In the present embodiment, the revolute joint 2 itself is also structurally strengthened against a design requirement for structural stability. For example, the radial extensions 22 are distributed over a small half-circumference around the outer circumference of the structure in which they are located. The small half-cycles are numerically represented by central angles of 60 to 180 degrees (none). The design can improve the mechanical property of the rotary joint 2 in a space as small as possible, and provides realization possibility for products with compact structure and tense space.

For another example, the radial extension 22 thus extends a half or full circumference around the outer circumference of the structure in which it is located. The majority of the circumference is numerically represented by a central angle of 180 degrees (inclusive) to 360 degrees (exclusive). The design can provide better mechanical performance and product appearance. But the requirements on the production and assembly accuracy are high. The extent of the distribution of the particular radial extensions 22 about the periphery of the structure may be as desired depending on the actual design requirements of the balancing swing car. In the scope of the existing materials and designs, the mechanical structure that is pressed is easier to handle than the mechanical structure that is pulled, so that the radial extensions 22 of the two structural members abut directly or indirectly in a direction parallel to the axis of rotation. Wherein the direct or indirect abutting can flexibly adjust the design according to different design requirements. Specific principles can be referred to the following description of the revolute joint, which is not repeated here.

The overall configuration of the side frame 1 can be variously selected. In one embodiment, the integrated box structure is a rectangular box body or a special-shaped box body. Referring to fig. 1, the rectangular box has the advantages of convenient processing and forming, regular product, and convenient arrangement of the inner installation area 14. But with the improvement of living standard of people, there is higher requirement to the product outward appearance that uses, under the prerequisite that satisfies the atress performance, integrative box structure also can be designed into various shapes, refer to fig. 2, in this application, understand the dysmorphism box in unison.

The integrated box structure can optimize the mechanical properties of the side frame 1, but is not conducive to the installation of circuit components in the internal installation area 14, so in one embodiment, the integrated box structure is provided with an installation opening (not shown) for installing circuit components, and the installation opening is provided on the first force receiving member 11, the second force receiving member 12 or the third force receiving member 13.

The setting of installing port is mainly convenient for circuit element's installation, can set up on integrative box structure's different parts as required according to use scene of difference and design demand, and different positions also can bring different technological effects.

For example, in an embodiment, the third force receiving member 13 facing upward is provided with a bearing surface 15 for bearing a load, the mounting opening is opened on the bearing surface 15, and the bearing surface 15 is provided with a dust-proof member (not shown) for isolating the mounting area 14 from the external environment.

Bearing surface 15 is conventionally designed in the field of balancing scooters to install a sensing device for sensing whether a load (i.e., a user) is on the balancing scooter, i.e., a person-in-the-middle test. Therefore, the mounting opening is arranged on the bearing surface 15 and can be arranged together with the detection device, the number of openings on the integrated box-type structure is reduced, and the influence of the openings on the strength of the integrated box-type structure is avoided. Under the prerequisite of same material and structure, the dead weight of the less integrative boxed structure of opening can be lighter to bring lighter dead weight and more nimble controlling for balanced swing car, promote user experience. Meanwhile, the opening is shared by the detection device, so that the processing procedures can be reduced, the production cost is reduced, and the production efficiency is improved. Further, offer the installing port on installation face up, can realize the wholeness of integrative box structure on other faces to realize waterproof dustproof taking precautions against earthquakes more easily, all have beneficial effect to the overall stability and the life-span of balanced swing car product.

For another example, in an embodiment, the mounting opening is provided in the first force receiving member 11 and/or the second force receiving member 12. Compared with other positions, the first force-bearing part 11 and the second force-bearing part 12 are used for fixing the driving wheel 3 and the rotating joint 2, and the original design needs to be provided with openings and reinforced design, so that the reinforced structure and the mechanical property are comprehensively designed, and the influence of the openings on the strength of the integrated box-type structure can be reduced as much as possible in the design level. Meanwhile, in the assembly process, the circuit element needs to be installed in sequence with the driving wheel 3 and is arranged at the position, so that the installation and the operation are convenient. On the whole protective performance of a product, the balance swing car is easily affected by precipitation from the upper part of the gravity direction, foreign matters in the running direction of the balance swing car, and foreign matters or accumulated water on the ground below the gravity direction and the like entering the shell in the using process, and the first stress piece 11 and the second stress piece 12 are easily staggered in the direction in the design, so that the stability of the interior of the side frame 1 is improved.

In a specific product, the sealing effect of the mounting port can be further improved by the dust-proof member. In one embodiment, the dust guard is a flexible member and covers the entire mounting opening.

The dust shield serves to isolate the mounting area 14 from the environment. The mounting opening is not necessarily fixedly arranged in some special scenes, and various changes such as torsion, deformation and the like can be generated along with different running states of the balance swing car. In order to stably prevent external foreign matters from entering the side frame 1 under different working conditions, the dustproof member is preferably a flexible member. Rubber is a reasonable preference given the materials and production conditions available. The rubber part has the advantages of flexibility, waterproofness, ageing resistance, production cost and the like which are greater than those of other materials. There are also various options for fixing the dust-proof component, for example, the dust-proof component is fixed to the side frame 1 by a fastener to achieve a sealed or approximately sealed state, the dust-proof component can be clamped by a special structure arrangement on the side frame 1, the dust-proof component can be clamped together with the side frame 1 by a component independent of the side frame 1, and the specific arrangement can be adjusted according to actual needs.

The side frame 1 is an integral box structure as a whole, and can be deformed in various ways in actual products.

In the embodiment disclosed with reference to fig. 2, the one-piece box structure is flat with chamfered edges and the top surface in the thickness direction is a bearing surface 15 for bearing loads.

The flat structure is favorable for the arrangement of the internal structure, and simultaneously reduces the overall gravity height of the balance swing car, thereby being convenient to control. Functionally, the design of the edge chamfer can improve the stability of the balance swing car; the balance swing car is preferably designed with the edge chamfer because the driving wheel 3 is small in size and low in ground clearance, and the side frame 1 can interfere with the ground, particularly on a rugged road, so that the friction force can be reduced even if the side frame interferes with the ground, and the running stability of the balance swing car is ensured. Structurally, the mechanical property of the side frame 1 can be improved through the design of the edge chamfer, stress concentration is easy to occur on each edge of the integrated box-type structure under the stress condition, material fatigue failure is easy to occur in long-term high-load use, and the chamfer edge in smooth transition can effectively relieve the phenomenon. In the production process of the side frame 1, integral forming or sectional assembly can be selected, the integral forming can be conveniently made of metal materials or plastic materials, and a smooth transition chamfer is easily formed in the integral forming process; the metal material which is convenient for sectional assembly can be welded connection, wherein the welded part is easy to have connection failure, and the stress is dispersed by the chamfer.

In a specific product, circuit elements have different functional areas due to different functions, and are required to be installed relatively independently in an integrated box-type structure, for example, a battery pack needs to be protected seriously. In the embodiment disclosed with reference to fig. 4, a partition 16 is provided within the unitary box structure, the partition 16 separating the mounting area 14 into a plurality of separate mounting cavities. Each installation cavity is independent, the protection performance of the side frame 1 to the external environment can be further improved, and the intrusion of external foreign matters to internal circuit elements is avoided. In doing so, partitions 16 act as firewalls, reducing the amount of interference between installation cavities.

In particular arrangements, in one embodiment, the partitions 16 include longitudinal and/or transverse partitions 16.

The installation cavity is different in shape due to different arrangement of the partition plate 16. In the field of balancing the swing car, for example, when the side frame 1 is in the form of a flat box with a long length and a thin height, the partition 16 is preferably a longitudinal partition 16, and in the embodiment disclosed in fig. 4, the partition 16 is a longitudinal partition 16 and divides the mounting area 14 into a plurality of mounting cavities in the length direction. When the mounting region 14 is divided into a plurality of regions in the longitudinal direction, the longitudinal partition plates 16 may function as reinforcing ribs to improve the mechanical properties of the integrated box structure. In some embodiments, the partitions 16 in the left and right side frames 1 may be positioned differently to meet different design requirements. In the particular arrangement of the partition 16, in one embodiment, the partition 16 extends in a direction perpendicular to the axis of rotation. The partition 16 perpendicular to the axis of rotation can divide the mounting area 14 into more regular mounting cavities. Meanwhile, the accurate geometric angle facilitates the arrangement of each sensor in the circuit element. Since the balance swing car needs to detect the spatial posture of the side frame 1 during operation, the partition 16 as a partition for mounting various sensors is preferably arranged as described above.

In some solutions, referring to the embodiment disclosed in fig. 5, the partition 16 is a transverse partition 16 and divides the mounting area 14 into a plurality of mounting cavities in the thickness direction. The advantage of the transverse selection of the partition 16 is that it facilitates the layered arrangement of circuit components above and below the mounting region 14, and the independent mounting cavities formed by the partition 16 can further enhance the sealing performance of the mounting region 14, and when a single mounting cavity is in communication with the outside, the remaining mounting cavities can still be kept in a stable state. In some embodiments, a combination of longitudinal and

transverse bulkheads

16, 16 may also be present in a single sideframe 1 (e.g., the right sideframe 1 in fig. 5). In the particular arrangement of the partition 16, in one embodiment, the partition 16 extends in a direction parallel to the axis of rotation. The partition 16, which is horizontal to the axis of rotation, can divide the mounting area 14 into more regular mounting cavities. Meanwhile, the accurate geometric angle facilitates the arrangement of each sensor in the circuit element. Since the balance swing car needs to detect the spatial posture of the side frame 1 during operation, the partition 16 as a partition for mounting various sensors is preferably arranged as described above.

In general, the design of the baffle 16 is very flexible and can be adjusted as desired. For example, in the embodiment disclosed in fig. 6, the partition 16 in the right side frame 1 has both longitudinal and lateral uses, and the partitions 16 in the left and right side frames 1 are arranged differently.

In one embodiment, the integrated box structure is a rectangular box, the first force-receiving member 11 and the second force-receiving member 12 are two side walls of the integrated box structure, and the third force-receiving member 13 is a side plate connected between the two side walls.

In an actual product, the thickness of the side wall may vary, and as shown in fig. 3, the side wall may be a thick member in order to enhance the strength of the mounting with the revolute joint 2 and the drive wheel 3. It is understood from the principle that the first force-bearing part 11 is the force-bearing part of the driving wheel 3, the second force-bearing part 12 is the force-bearing part on the side of the rotating joint 2, and the third force-bearing part 13 has a span force-bearing connection between the two parts, so that when the integrated box-type structure is a rectangular box body, the first force-bearing part 11 and the second force-bearing part 12 are two side walls of the integrated box-type structure; when the integrated box structure is a special-shaped box body, the first stress piece 11, the second stress piece 12 and the third stress piece 13 are of an integrated structure without obvious boundaries in appearance.

In the connection relationship between the force receiving member and the rotary joint, in the embodiment disclosed with reference to fig. 10 and 11, the second force receiving member 12 is a plate member and the outer edge thereof is connected to the third force receiving member 13, and the second force receiving member 12 is provided with a joint seat (not numbered) for mounting one of the structural members of the rotary joint 2.

The connection mode of the second force-bearing part 12 and the outer edge with the third force-bearing part 13 can be in various modes according to different production processes. For example, when the integrated box structure is integrally formed, referring to fig. 7, the second force-bearing part 12 has a plate part and no obvious boundary between the outer edge and the third force-bearing part 13, and is integrally formed; when the second force-receiving member 12 and the third force-receiving member 13 are separately manufactured and later connected, for example, welded, the boundary between the two can be observed, but the two are still in an integral structure in terms of mechanical properties. The core point of the design is to stably connect the second force-bearing part 12 and the third force-bearing part 13, so as to ensure the overall rigidity of the side frame 1.

In the set relationship of the joint seat and the revolute joint 2, in the embodiment disclosed in fig. 7 and 8, the joint seat is connected to one of the two structural members, either separately or integrally. Split type mounting means makes things convenient for the later maintenance, but intensity is not as good as integrative connected mode, and the connected mode of integral type has higher required precision simultaneously. Both can thus be selected as desired in the actual product, for example, the arrangement of the revolute joint 2 shown in fig. 7 and 8 is one-piece on both sides, wherein the two structural parts of the revolute joint 2 shown in fig. 7 pass throughRotating shaftAnd the rotation fit is realized.

In the mating relationship of the joint seat and the revolute joint 2, in one embodiment, the joint seat is mounted with one of the two structural members by interference fit. Because the stroke of the rotary motion of the two side frames 1 is released by the two structural members of the rotary joint 2, the joint seat and the rotary joint 2 can be fixedly installed. Compared with the technical scheme in the related art, the design transfers the rotating abrasion from the side frame 1 to the rotating joint 2, so that the problems of abrasion and precision reduction of the side frame 1 after long-term use can be greatly reduced, and the overall service life of the balance swing car can be effectively prolonged by matching with the orientation optimization of the rotating joint 2.

In the mounting of the revolute joint 2, in the embodiment disclosed with reference to figures 7 to 9, the revolute joint also comprises an axial tension member 23 acting between the two structural members. In order to improve the stability of the side frame 1, the rotary joint 2 itself is also structurally strengthened in response to the design requirement for structural stability. The provision of the radially extending portion 22 can serve as a flange in the shaft connection. To achieve the function of a flange, the radial extensions 22 need to abut against each other for good results. An axial tension member 23 is therefore required to achieve axial tension of the two structural members.

Referring to fig. 7 and 8, the two structural members are rotatably engaged by the rotating shaft, and the axial tension member 23 is located on the rotating shaft and at the side of the two structural members. The axial tensioning piece 23 exerts an axial force on the rotating shaft, the rotating shaft exerts an acting force on one of the two structures under the action of the axial force, and the rotating shaft and the axial tensioning piece 23 are mutually matched to realize tensioning of the two structural parts.

The technical scheme shown in fig. 8 is different from the technical scheme shown in fig. 7 in that one of the two structural members is integrated with the rotating shaft and force transmission is realized, an axial limiting structure is arranged between the rotating shaft and the structural member in the technical scheme shown in fig. 7, and the rotating shaft applies acting force to the structural member through the axial limiting structure.

In connection with the specific machining process and precision requirements, the axial tension member 23 is in one embodiment a locking pin or a card or a fastener provided on the structural member.

It is to be noted that different mounting operations may be performed depending on the design of the axial tension member 23 during a particular mounting process. In the embodiment disclosed with reference to fig. 7, the axial tension member 23 is a threaded fastener engaged with the rotating shaft, and can achieve the tension and the limit of the two structural members by itself. In some other embodiments, the axial tightening member 23 may be a locking pin or a locking card, and in this embodiment, an external device is required to limit the tightening of the two structural members by the axial tightening member 23, and at this time, the axial tightening member 23 only serves to maintain the tight state of the two structural members.

Referring to fig. 7 to 9, the fitting relationship between the rotary joint 2 and the second force receiving member 12 is very tight in an actual product. In order to simplify the assembly relationship and reduce the axial volume of the revolute joint 2, there may be a case where one structure assumes a plurality of functions. The second force-receiving element, the joint seat, the structural element, etc. mentioned in the present application are all functional concepts. Therefore, in an actual product, a case where the same component is a plurality of concepts at the same time may occur. For example, in the embodiment disclosed in fig. 7, the two structural members of the rotary joint 2 are integrally connected to the second force-receiving member 12 of the corresponding side frame 1, and the radially extending portion 22 in fig. 7 also functions as a joint seat and has no distinct structural limitation with respect to the second force-receiving member 12. Therefore, in the technical scheme shown in fig. 7, the two structural members can be understood to be in rotating fit through independent rotating shafts, and in the embodiment disclosed in fig. 8, the rotating shaft and one of the structural members can be understood to be integrally formed on the basis of fig. 7. In a practical product, there are more deformations in order to reduce the volume and facilitate assembly. Optimized designs of the partial revolute joint 2 are also disclosed in the present application, for example in several ways as shown in figures 7 to 9.

It should be noted that the above side frame 1 configurations are all single side frame 1 configurations, and in practical products, the two side frames 1 of the unified balancing swing car may adopt different arrangements. For example, in the embodiment shown in fig. 12, the left side frame 1 is an integral box structure as described above, and the right side frame 1 is two frame members which are openable up and down. This design can be flexibly arranged for different circuit element arrangements of the left and right side frames 1, but this design also causes problems such as complicated production processes, and therefore in one embodiment, both the side frames 1 are of an integral box structure. The greater structural rigidity of the unitary box structure is a primary reason for preference. The left and right side frames 1 of the balance swing car can be in similar working conditions in the using process, and different designs can cause different stress performances of the left and right side frames 1, so that different abrasion conditions are caused, and the overall stability of the balance swing car is not facilitated.

In the embodiment disclosed with reference to fig. 7, the two structural parts of the revolute joint 2 are pressed against each other by friction-reducing members 25. The specific arrangement of the friction reducing members 25 can be referred to in the following detailed description of the revolute joint and will not be described in detail.

Referring to fig. 7 and 8, compared with the technical solution shown in fig. 7, the embodiment disclosed in fig. 8 has a difference of the limiting step 24 in addition to the difference of the split and integral structure of the rotating shaft and the structural member, and one of the two structural members has the limiting step 24 matched with the other of the two structural members, so that the function of the radial extending portion 22 is further enhanced, and the strength of the rotating joint 2 is improved. Meanwhile, the limiting step 24 can also solve the problem of sealing the fit clearance between the two structural members, so that the weather resistance of the rotary joint 2 is greatly improved.

Referring to fig. 9, the embodiment disclosed in fig. 9 is different from other embodiments in that the pressing medium between two structural members is replaced, the technical solutions in fig. 7 and 8 achieve the function of reducing friction through rolling elements, the technical solution in fig. 9 forms a labyrinth structure between two structural members to hermetically store the friction-reducing fluid 28, and the friction-reducing fluid 28 may be a common lubricating grease. In the technical scheme, the antifriction fluid 28 needs to be stored in a sealing mode, so that the requirement on precision is higher, and better lubricating and maintenance-free effects can be achieved.

In the embodiment disclosed with reference to fig. 13 to 16, the present application discloses a flexibly arranged balance swing car, which includes two side frames 1 connected with each other by a rotary joint 2, wherein a driving wheel 3 is installed on one side of each side frame 1 far away from the rotary joint 2, the rotary joint 2 includes two structural members inserted into each other and rotatably matched around a rotary axis, and the two structural members are respectively connected with the corresponding side frame 1;

the peripheries of the two structural members are respectively provided with radial extending parts 22, the radial extending parts 22 are distributed around the peripheries of the structural members, and the radial extending parts 22 of the two structural members are directly or indirectly abutted along the direction parallel to the rotation axis;

in the present embodiment, one or two frame members are included in a single sideframe 1, and one of them is a first frame member 171, and the first frame member 171 includes:

a wheel seat 174 for mounting the drive wheel 3;

a joint seat 16 for mounting one of the two structural members;

and a support part 173 connecting the wheel seat 174 and the joint seat 16.

The frame member in this application is a structural component that is designed to functionally bear balanced swing car loads, and the relative concept is a cladding that is a decorative component, protective component, functional component, etc. that is not designed to functionally bear balanced swing car loads. The technical scheme of this application passes through frame construction and connects drive wheel 3 and revolute joint 2. Frame construction compares in the scheme among the correlation technique, can transmit the load of balanced swing car to the shaft of drive wheel 3 and revolute joint 2 through the frame member to reduced the atress condition of cladding piece, avoided because balanced swing car when the atress is great, the condition of deformation or distortion appears in the product outward appearance. Meanwhile, the frame piece serving as the structural component can be strengthened as required, and compared with a design scheme that the boundary of a stressed component and a non-stressed component is not obvious in the related technical scheme, the technical scheme disclosed by the embodiment can be used for carrying out targeted optimization on materials, design and structure, and the production and assembly cost is reduced. After the coating piece is free from the design requirement of stress, the coating piece can be designed and installed more freely, and therefore flexible arrangement on structure and appearance is achieved.

The rotary joint 2 is used as the position farthest away from the supporting surface (ground) in the frame, and the rotary joint 2 can be stably connected with the frame component, so that the stress is dispersed, and the dynamic performance of the frame is improved.

The basis of the flexible arrangement of the balancing swing car is that the structural rigidity is good, so in this embodiment, the revolute joint 2 itself is also structurally strengthened to the design appeal of the structural rigidity. The radial extension part 22 can play a role of a flange plate in shaft connection, and the matching stability of two structural parts in the rotary joint 2 is enhanced. In the practical application scene, the balanced swing car only can bear the downward load of gravity direction, therefore revolute joint 2 only can produce both ends upwards, the downward deformation trend in middle part. This tendency to deform is reflected in the radial extensions 22, as the radial extensions 22 of the two structural members located above the direction of gravity are closer to each other, and the radial extensions 22 of the two structural members located below the direction of gravity are farther from each other. Therefore, in the design principle, the strength of the rotary joint 2 can be improved as long as the radial extension of the two structural members on one side in the gravity direction can restrict the corresponding movement tendency; while in the range of existing materials and designs the mechanical structure that is pressed is easier to handle than a mechanical structure that is pulled, the radial extension 22 extends around the periphery of the structural member at least the upper half of the gravity direction. The radial extensions 22 of the two components thus abut directly or indirectly in a direction parallel to the axis of rotation, wherein the direct or indirect abutment enables a flexible design adjustment according to different design requirements.

The frame members may be provided separately in order to take into account the overall weight of the frame. The bearers 173 are primarily used to carry loads from the balancing swing car and may be implemented differently in different designs. Such as directly carrying the load or transferring the load from the cladding. The bearers 173 connect the wheel mount 174 and the joint mount 16 and form a span therebetween, which is determined primarily by the number of non-coplanar bearers 173 in determining the number of frame structures.

The frame member itself has a variety of forms. Referring to fig. 15, in the single side frame 1, the wheel seat 174, the joint seat 16 and the supporting portion 173 are integrally formed. In principle, the wheel seat 174, the joint seat 16 and the supporting portion 173 may be designed to be independent and relatively fixed, or may be designed to be a separate structure, or may be designed to be an integrated structure.

The specific design of the integral body or the split body can be specifically set according to the technical parameter requirements of the frame. For example, the structure integrating the three components has better mechanical property performance, but the production cost is higher; the split design facilitates assembly and design, but requires additional reinforcement design for strength.

In actual product design, there are various arrangements of the wheel seat 174 or the joint seat 16. The wheel seat 174 and the joint seat 16 are configured independently of each other, and are one of the following:

all provided by the first frame member 171;

or a portion is provided by a first frame member 171 and the remainder is provided by another frame member;

or a portion is provided by the first frame member 171 and the remaining portion is provided by the auxiliary fixing member 18.

Since the design changes of the joint seat 15 and the wheel seat 16 may cause the overall assembly of the frame to change, the advantages brought by the designs will be specifically explained below with reference to the drawings and the structures.

In the embodiment disclosed with reference to fig. 15, the wheel seat 174 is provided by a first frame member 171. The first frame member 171 forms an annular mounting seat to realize the wheel seat 174. The design has the advantages of less assembly procedures and easier maintenance of precision.

In the embodiment disclosed with reference to fig. 16, the frame structure further comprises an auxiliary fixture 18, the auxiliary fixture 18 being adapted to cooperate with the first frame member 171 to form a wheel seat 174.

The advantage of designing the auxiliary fixture 18 is that the design can be adjusted for different assembly situations, but the assembly process is correspondingly increased, and therefore the adjustment is needed according to different products and design requirements. The auxiliary fixing member 18 may be connected to the first frame member 171 by a fastener or other connection means.

It should be noted that the wheel seat 174 and the joint seat 16 may be designed in different manners, but for reasons of assembly, maintenance, etc., in one embodiment, the wheel seat 16 and the joint seat 15 are constructed in the same manner. When different designs are explained below, the wheel base 16 and the joint base 15 may be constructed in the same or different ways, and are not emphasized.

Accordingly, the wheel seat 174 and the joint seat 16 may be provided with the auxiliary fixing member 18, and when the bearing portion 173 having a span is provided between the auxiliary fixing members 18 of both, the auxiliary fixing member 18 and the bearing portion 173 constitute the second frame member 172 in a practical sense hereinafter, and therefore the auxiliary fixing member 18 in this case is out of the discussion of the present embodiment.

In particular embodiments, the auxiliary fastener 18 on one of the wheel mount 174 and the joint mount 16 may extend toward the other without forming a force connection, and the auxiliary fastener 18 is not intended to be part of the second frame member 172 as described below. I.e. herein single-layer frames and multi-layer frames are distinguished by the number of force-bearing parts of the vehicle frame in the direction of the load.

To facilitate installation of the revolute joint 2, in one embodiment, the joint seat 16 is mounted with one of the two structural members by an interference fit. The design can install the rotating joint 2 by extrusion, and the operation is convenient; and can restrict the cooperation distance through design such as spacing shoulder to improve the installation accuracy, improve the installation effectiveness.

There are also many alternatives in the manner of connection between the joint support 16 and the two structural members. In one embodiment, the joint seat 16 is connected to one of the two structural members separately or integrally. Split type mounting means makes things convenient for the later maintenance, but intensity is not as good as integrative connected mode, and the connected mode of integral type has higher required precision simultaneously. Therefore, both can be selected as required in practical products, for example, the joint seat 16 and the two structural members are integrally mounted in the embodiment disclosed in fig. 15, wherein the two structural members of the revolute joint 2 are rotatably engaged through the rotating shaft.

Referring to fig. 23a, in one embodiment, there is an axial tension member 23 between the joint seat 16 and one of the two structural members to limit the relative positions of the two on the axis of rotation. The principle of the axial tension member 23 is the same as that of the axial tension member 23 shown in fig. 7 to 9, and the description thereof is omitted.

The frame element can be designed to protect the mounting area 14 in addition to carrying the load of the vehicle frame. In one embodiment, at least one sideframe 1 has a mounting area 14 for receiving circuit components therein and the sideframe 1 includes only a first frame member 171, the mounting area 14 being arranged in one of the following ways:

the receiver 173 in the side frame 1 is a plate-like structure, at least one side in the thickness direction of which is the mounting region 14;

or the bearing part 173 in the side frame 1 is of a single-rod structure, and the periphery of the single-rod structure is the installation area 14;

or the bearing part 173 in the side frame 1 is a coplanar multi-rod structure, the plane where the multi-rod structure is located is a reference surface, and the relation between the orthographic projection A of the installation area on the reference surface and the orthographic projection B of the multi-rod structure on the reference surface is that A belongs to B or at least part of A and B is overlapped.

Wherein the conventional design of the plate-shaped structure can be shown in fig. 13, the conventional design of the single-rod structure can be shown in fig. 18, the conventional design of the coplanar multi-rod structure can be shown in fig. 14, and in the actual product, the structure is more various, for example, the coplanar multi-rod structure can be a net, etc.

The specific arrangement of the mounting region 14 will be explained below with reference to the structure shown in the specific drawings. For example, in the embodiment disclosed in fig. 18, the frame member is a rod member, which penetrates through the mounting region 14, and at this time, the frame member cannot play a role of protecting the mounting region 14, and a cladding member or a separate protection structure is required to protect the mounting region 14, but the design can reduce the weight of the vehicle frame and improve the dynamic response of the vehicle frame; in the embodiment disclosed in, for example, fig. 14, the frame member is ring-shaped, and the mounting region 14 is arranged in the ring shape, so that the frame member can play a role of protecting the mounting region 14, and the overall stress performance of the frame is better; in fig. 13, for example, the frame member is a plate member, the mounting region 14 is disposed on one side of the frame member, and the frame member can protect the mounting region 14 from one direction, and the protection from the other direction can be achieved by a cladding member or other protective structure, which can optimize the performance of the vehicle frame in a certain direction; in actual products, a plurality of design forms exist, and can be adjusted as required.

In the design of the supporting portion 173, in one embodiment, the supporting portion 173 has a strip shape. The bearing 173 is mainly used for bearing the load of the vehicle frame, and needs to realize span connection in the axial direction of the rotating joint 2. Accordingly, in one embodiment, the mounting region 14 is provided at the bottom of the retainer 173. During use of the vehicle frame, the normal load is from above the direction of gravity, so that the mounting region 14 provided at the bottom of the support 173 can be effectively protected from the failure of the circuit elements due to the deformation of the vehicle frame.

In a practical product, the bearers 173 may also be adjusted, in an embodiment the bearers 173 are arranged around the mounting area 14. The support 173 surrounds the mounting region 14, enabling a total protection of the mounting region 14. The "enclosure" referred to in this embodiment may be in multiple dimensions, such as an enclosure in the axial plane shown in fig. 14, or in a three-dimensional space, where the enclosure of the mounting area 14 is achieved by the frame members connected by the reinforcing members in the arrangement shown in fig. 14. In the deformation process of different designs, the reinforcing part may form a multi-layer stress part in the load direction of the vehicle frame, so that the specific vehicle frame belongs to a single-layer frame structure or a multi-layer frame structure by confirming the number of the stress parts in the load direction of the vehicle frame. For example, in the embodiment of fig. 14, the reinforcement itself is not overlapped with the frame member in the load direction of the vehicle body frame, and therefore the side frame 1 as a whole has a single-layer frame structure, and the reinforcement is understood to be a part of the frame member.

In particular variants, the reinforcement element may extend from the joint seat and the wheel seat and be adjacent to each other but not connected to each other and overlap the frame element in the load direction of the frame, in which case the reinforcement element, because it does not constitute a force-receiving component, is not counted in the counting of the number of force-receiving components of the frame in the load direction.

There are also various designs for the surrounding arrangement of the frame element. In one embodiment, the cross section of the supporting portion 173 in the loading direction (i.e. gravity direction) of the vehicle frame is a closed or non-closed ring shape, the plane where the ring-shaped supporting portion 173 is located is a reference plane, and an orthographic projection of the mounting region 14 for accommodating the circuit component on the reference plane is at least partially located inside the ring-shaped supporting portion 173.

The ring-shaped surround of the bearing 173 in the axial plane enables protection of the mounting region 14, as shown, for example, in fig. 14. As another example, in fig. 20, the retainer 173 can be non-closed around the formed ring, and the connection is made by material rigidity of the retainer. This design lie in can be according to the setting of difference in service behavior adjustment frame to liberation design thinking provides more odd product experience, and this is very important in balanced swing car field.

The vehicle frame can be provided with a multi-layered frame structure in addition to the single first frame member 171. In the embodiment disclosed with reference to fig. 17a, the frame structure further comprises a second frame element 172, at least a section of the first frame element 171 and the second frame element 172 being arranged on top of each other at a distance, the mounting area 14 being arranged between the first frame element 171 and the second frame element 172.

The stress of the vehicle frame in multiple dimensions can be achieved by the cooperation of the second frame member 172 and the first frame member, and the effective protection of the installation area 14 can be achieved by the enclosure of the first frame member 171 and the second frame member 172.

In particular, in cooperation with the first and

second frame members

171, 172, in one embodiment, the second and

first frame members

172, 171 enclose the wheel seat 174 and/or the joint seat 16.

This design balances the load of the first frame member 171 and the second frame member 172, thereby providing a stable frame. In a specific option, in an embodiment, two ends of the first frame member 171 and two ends of the second frame member 172 respectively surround the wheel seat 174 and the joint seat 16. The load of the joint seat 16 and the wheel seat 174 is achieved by the respective bearing portions 173 of the first frame member 171 and the second frame member 172, and accordingly, a reinforcing member may be further designed between the first frame member 171 and the second frame member 172, thereby further optimizing the overall performance of the vehicle frame.

In the mounting configuration of the wheel seat 174 and the joint seat 16, in one embodiment, the joint seat 16 is connected to one of the two structural members separately or integrally. Split type mounting means makes things convenient for the later maintenance, but intensity is not as good as integrative connected mode, and the connected mode of integral type has higher required precision simultaneously. Therefore, both can be selected as required in actual products, for example, the installation mode of the rotary joint 2 shown in fig. 15 is integrated on both sides, and the two structural members of the rotary joint 2 are in rotating fit through the rotating shaft.

In one embodiment, the joint seat 16 is mounted with one of the two structural members by an interference fit.

The design has the advantages of less assembly procedures and easier maintenance of precision. The rotary joint 2 can be installed by extrusion, and the operation is convenient; and can restrict the cooperation distance through design such as spacing shoulder to improve the installation accuracy, improve the installation effectiveness.

In one embodiment, there is an axial tension member 23 between the joint seat 16 and one of the two structural members to limit the relative positions of the two on the axis of rotation. The principle of the axial tension member 23 is the same as that of the axial tension member 23 shown in fig. 7 to 9, and the description thereof is omitted.

However, the encircling formation of the wheel seat 174 or the joint seat 16 may impose high requirements on the tolerance of the two, and thus may be adjusted accordingly in some product designs with less strict requirements on strength.

For example, fig. 17b discloses an embodiment wherein the first frame member 171 alone forms the wheel seat 174 and encloses the second frame member 172 to form the joint seat 16; fig. 17c discloses an embodiment wherein the first frame member 171 alone forms the joint seat 16 and surrounds the second frame member 172 to form the wheel seat 174; for example, fig. 17f discloses an embodiment in which the first frame member 171 forms the joint seat 16 and the wheel seat 174 separately, and the second frame member 172 is attached to the joint seat 16 and the wheel seat 174.

It is noted that in an actual product, the following may occur:

in the embodiment disclosed in fig. 17e, the second frame member 172 alone forms the joint seat 16, and surrounds the first frame member 171 to form the wheel seat 174;

or fig. 17d discloses an embodiment in which the second frame member 172 alone forms the wheel seat 174, and surrounds the first frame member 171 to form the joint seat 16;

or fig. 17g discloses an embodiment in which the second frame member 172 separately forms the joint seat 16 and the wheel seat 174, and the first frame member 171 is attached to the joint seat 16 and the wheel seat 174;

in the above three solutions, the second frame element 172 plays the role and function of the first frame element in other embodiments, so in the process of comparing features, it should be understood that the first frame element mentioned above in this application is equivalent to other concepts, and will not be described in detail.

The above various combination forms have respective advantages and disadvantages, for example, the integrated joint seat 16 or the wheel seat 174 has better strength and precision, and accordingly, certain difficulty is caused to production and assembly; the joint seat 16 or the wheel seat 174, which are formed as separate bodies by enclosing the two, are convenient to assemble, but have higher requirements on the manufacturing precision, so the joint seat can be selected as required.

The effect of the different wheel seat 174 and joint seat 16 arrangements will be explained below in connection with various embodiments.

In the embodiment disclosed with reference to fig. 17a, the wheel seat 174 is enclosed by a first frame member 171 and a second frame member. Compared with the joint seat 16, the wheel seat 174 only provides a fixing effect, and the actual rotation axis of the driving wheel 3 is maintained by the wheel seat bearing of the wheel seat, so that the precision requirement can be relaxed. The axis of rotation of the joint base 16 needs to be maintained by the joint base 16, and therefore the accuracy requirement is high. The wheel seat 174 is surrounded by the first frame member 171 and the second frame member to improve the assembling efficiency while ensuring the use effect of the frame, thereby reducing the production cost.

In some product designs, the axis of rotation of the revolute joint 2 is maintained by two structural members, so that in one embodiment the joint seat 16 is defined by the first frame member 171 and the second frame member, and the wheel seat 174 is formed by the first frame member 171 or the second frame member 172 alone.

Thus, the particular pattern of frame structure combinations forming the knuckle mount 16 and the wheel mount 174 may be arranged as desired.

In the embodiment disclosed with reference to fig. 17b, the first frame member 171 and the second frame member 172 are connected separately or integrally.

The specific connection manner of the first frame member 171 and the second frame member 172 has various forms according to the product design requirements. Such as metal welding, plastic welding, etc., or separately by fasteners, etc. In selecting the coupling position, the coupling portion of the first frame member 171 and the second frame member 172 should be close to the joint seat or the wheel seat in the axial direction of the rotation axis. The concept of proximity is in terms of distance in the axial direction of the axis of rotation. The distance between the joint seat and the wheel seat is the distance of the single side frame in the axial direction of the rotation axis, and in principle, the closer the joint of the first frame member 171 and the second frame member 172 is to the joint seat or the wheel seat, the longer the equivalent length of the two members participates in the stress when the frame is stressed. In terms of numerical preference, the distance between the joint base and the wheel base is divided into three equal parts, and the joint portion of the first frame member 171 and the second frame member 172 is preferably located at both side portions. This design can reduce the stress arm of the load at the joint of the first frame member 171 and the second frame member 172 to improve the coupling effect and the frame rigidity.

In other details, in the embodiment shown, the joint base 16 is formed by the first frame member 171 or the second frame member 172 alone, so that the other one only needs to maintain a force connection with the joint base 16. In other embodiments, the coupling portions of the first frame member 171 and the second frame member 172 are provided similarly.

In this embodiment, the wheel seat 174 is formed by the first frame member 171 or the second frame member 172 alone, so that the other need only remain in forced connection with the wheel seat 174. The specific connection mode has various forms according to the design requirement of the product. Such as metal welding, plastic welding, etc., or separately by fasteners, etc.

In the case where the first frame member 171 and the second frame member 172 surround to form the joint seat 16, the proportions of the two in the circumferential direction of the joint seat 16 may be different. In an embodiment, one of the first frame member 171 and the second frame member 172 occupies at least 60% or more of the circumference of the joint seat 16.

In an actual product, the parts of the joint base 16 located at the upper portion in the gravity direction are close to each other, so that the parts of the first frame member 171 and the second frame member 172 located at the upper side in the gravity direction occupy more of the circumferential direction of the joint base 16, and the frame performance can be better optimized. The value is preferably selected to account for 60% or more of the circumferential direction of the joint seat 16.

In one embodiment, the joint seat 16 is connected to one of the two structural members separately or integrally.

Split type mounting means makes things convenient for the later maintenance, but intensity is not as good as integrative connected mode, and the connected mode of integral type has higher required precision simultaneously. Therefore, both can be selected as required in actual products, for example, the installation mode of the rotary joint 2 shown in fig. 15 is integrated on both sides, and the two structural members of the rotary joint 2 are in rotating fit through the rotating shaft.

In the embodiment disclosed with reference to fig. 17c, the wheel seat 174 is enclosed by a first frame member 171 and a second frame member, and the joint seat 16 is formed by the first frame member 171 alone.

In the embodiment disclosed with reference to fig. 17e, the wheel seat 174 is enclosed by a first frame member 171 and a second frame member, and the joint seat 16 is formed by a second frame member 172 alone. The design of the wheel seat 174 is the same as the principle of fig. 17a, and the description thereof is omitted.

In one embodiment, the first frame member 171 and the second frame member 172 are formed as a unitary structure or as separate pieces joined. In this embodiment, the joint and arrangement of the first frame element 171 and the second frame element 172 are the same as those in the embodiment of fig. 17b, and are not described again.

Referring to fig. 17f and 17g, in an embodiment, one of the first frame member 171 and the second frame member 172 is a strip provided with a wheel seat 174 and a joint seat 16 at both ends, and is connected to the other separately or integrally.

The design of the strip enables the span between the wheel seat 174 and the joint seat 16 to be formed, so as to fulfill the function of the bearing 173. In the solution shown in fig. 17f, the first frame member 171 is itself of unitary construction, with the wheel seat 174 and the joint seat 16 formed at both ends, and the second frame member 172 is attached to the first frame member 171. In other embodiments, the frame structure may be a single layer structure, and only includes the first frame member 171, and the strip member may be served by the first frame member 171.

In the embodiment disclosed with reference to fig. 18, the strip is a shaft body 19, one end of the shaft body 19 forms a wheel seat 174, and the other end forms a joint seat 16. In the field of balance swing cars, because the interior of the sideframe 1 is tight, it is desirable to take into account the placement and interference of the various components, and the axle 19 is a preferred solution for both strength and bulk.

In the spatial arrangement of the first frame member 171 and the second frame member 172, in one embodiment, the first frame member 171 is not coplanar with at least a portion of the second frame member 172.

The multi-layer frame structure is essentially different from the single-layer frame structure in that the frame members are not coplanar. The non-coplanar frame members can provide multi-dimensional force bearing performance for the side frame 1, thereby improving the mechanical performance of the side frame 1. In an embodiment, at least one frame element is provided with a covering on the side facing away from the mounting region 14. The cladding can function to protect the mounting area 14 so that the cladding may be provided on each frame member. In addition to the covering element arranged opposite the mounting region 14, the frame element can also be provided with a lining element facing the mounting region 14 in order to avoid interference between the circuit elements in the mounting region 14 and the frame element. The cladding element blocks external foreign objects from the outside of the frame element, and the lining element flexibly protects the mounting area 14 from the inside of the frame element, improving the stability of the frame.

It should be noted that the above side frame 1 configurations are all single side frame 1 configurations, and in practical products, the two side frames 1 of the unified balancing swing car may adopt different arrangements. For example, as shown in fig. 19, the right side frame 1 in the figure has a double-layer frame structure as described above, and the left side frame 1 has an integral single-layer frame structure. This design can be flexibly set for different circuit element arrangements of the left and right side frames 1, but this design also causes problems such as complicated production processes, and therefore in one embodiment, the structures of the two side frames 1 are symmetrically set. The structures of the two same side frames 1 can ensure that the left and right side frames 1 can be in similar working conditions in the using process of the balance swing car, and different designs can cause different stress performances of the left and right side frames 1, so that different abrasion conditions are caused, and the stability of the whole balance swing car is not facilitated.

Optimized designs of the partial revolute joint 2 are also disclosed in the present application, for example several designs as shown in fig. 21 to 23 b.

In the embodiment disclosed with reference to fig. 21 to 22, the two structural parts of the revolute joint 2 are pressed against each other by friction reducing members 25. The specific arrangement of the friction reducing members 25 can be referred to in the following detailed description of the revolute joint and will not be described in detail.

In the embodiment disclosed with reference to fig. 23b and 23c, compared with the technical solution shown in fig. 23a, the technical solution in fig. 23b has a difference of the limiting step 24 in addition to the difference of the joint seat 16 and the structural member being separated and integrated, and one of the two structural members has the limiting step 24 matched with the other of the two structural members, so as to further enhance the function of the radial extension portion 22 and improve the strength of the rotary joint 2. Meanwhile, the limiting step 24 can also solve the problem of sealing the fit clearance between the two structural members, so that the weather resistance of the rotary joint 2 is greatly improved.

In the embodiment disclosed in fig. 23c, the technical solution in fig. 23c is characterized in that the pressing medium between the two structural members is replaced, the technical solution in fig. 23a and 23b achieves the function of reducing friction through the rolling elements, and the technical solution in fig. 23c forms a labyrinth structure between the two structural members to hermetically store the friction-reducing fluid 28, where the design of the friction-reducing fluid 28 can refer to the above friction-reducing fluid 28.

With reference to the embodiment disclosed in fig. 24 to 29, the present application discloses a balance swing car comprising two side frames 1 connected by a rotary joint 2, the two side frames 1 being provided with a driving wheel 3 at a side remote from the rotary joint 2, the rotary joint 2 comprising a first structural member 211 and a second structural member 212 inserted into each other and rotatably engaged about a rotation axis (not shown), and an axial tension member 23 acting between the first structural member 211 and the second structural member 212;

the first structural member 211 and the second structural member 212 are respectively connected to the corresponding side frames 1;

the outer peripheries of the first structural member 211 and the second structural member 212 are respectively provided with a radial extending part 22, the radial extending part 22 extends around the outer periphery of the structural member at least for the upper half circle of the gravity direction, and the radial extending parts 22 of the first structural member 211 and the second structural member 212 are directly or indirectly abutted along the direction parallel to the rotation axis.

The axial tension member 23 serves to keep the radial extensions 22 of the first and second

structural members

211 and 212 compact in a direction parallel to the rotational axis.

The revolute joint 2 is structurally reinforced in response to a design demand for structural rigidity. The radial extension 22 is arranged to function as a flange in the shaft connection, so as to enhance the stability of the first structural member 211 and the second structural member 212 in the rotary joint 2. In the practical application scene, the balanced swing car only can bear the downward load of gravity direction, therefore revolute joint 2 only can produce both ends upwards, the downward deformation trend in middle part. This tendency of deformation is reflected to the radially extending portions 22, and is manifested in that the radially extending portions 22 of the first structural member 211 and the second structural member 212 located above the direction of gravity are close to each other, and the radially extending portions 22 of the first structural member 211 and the second structural member 212 located below the direction of gravity are far from each other. Thus, in the embodiment disclosed in fig. 26, the radial extension 22 extends 360 degrees around the outer periphery of the structure. In principle, the radial extensions 22 are distributed around the outer circumference of the structure in a range of 60 degrees to 360 degrees. When the distribution range of the radial extension parts 22 around the outer periphery of the structural member is less than or equal to 60 degrees, at least a part of the radial extension parts 22 is located at the upper half circumference of the structural member in the gravity direction, so that the two structural members are abutted through the radial extension parts 22. When the radial extension 22 has less parts located in the upper half of the structural member in the gravity direction, the radial extension 22 located in the lower half of the structural member in the gravity direction may be provided with a corresponding tensile structure to improve the torsion resistance of the revolute joint 2.

From another point of view, the strength of the revolute joint 2 can be increased as long as the radial extensions 22 of the first structural member 211 and the second structural member 212 on one side in the direction of gravity abut against each other to suppress the corresponding tendency of movement, so that the radial extensions 22 extend at least a small half-turn around the outer circumference of the structural members. The small half circle is numerically expressed by a central angle of 60 degrees to 180 degrees (not included), and in principle, the radial extension 22 extending the small half circle can achieve suppression of the tendency of the rolling joint 2 to deform. However, to provide both aesthetic and assembly benefits, the radial extension 22 extends a half or full circumference around the outer periphery of the structure. The majority of the circumference is numerically represented by a central angle of 180 degrees (inclusive) to 360 degrees (exclusive).

Meanwhile, in the range of existing materials and designs, the mechanical structure pressed against is easier to handle than the mechanical structure pulled against, so that the radial extension portions 22 of the first structural member 211 and the second structural member 212 directly or indirectly abut against each other along the direction parallel to the rotation axis, wherein the direct or indirect abutment can flexibly adjust the design according to different design requirements.

The design of the axial tensioning piece 23 realizes positive pressure of the radial extension part 22 of the first structural piece 211 and the second structural piece 212 along the direction parallel to the rotation axis, so that the matching effect of the rotary joint 2 is ensured, stable and long-acting rotary matching effect can be realized under various working conditions, and various design forms and combination forms of the side frame 1 are matched, so that different use scenes and design requirements can be met, and the design idea is greatly expanded.

The axial tensioning element 23 serves to keep the radial extensions 22 of the first structural part 211 and the second structural part 212 close to each other in a direction parallel to the axis of rotation, i.e. to keep the first structural part 211 and the second structural part 212 free of pretensioning in the direction of the axis of rotation, if necessary. In one embodiment, the radial extensions 22 of the two structural members abut without squeezing each other or pre-tensioning the two structural members with an axial tension member 23.

When balanced swing car product design load is great, when the abominable operating mode such as twist reverse probably appears between the frame 1 of both sides, can realize that radial extension 22 of two structures has mutual of pretightning force to support and lean on through axial tensioning 23 to optimize the performance of car frame under the abominable operating mode. However, the pretension has certain disadvantages, such as increased resistance to rotation of the two structures relative to each other, so that in a balanced swing car intended for road paving applications, the axial tension member 23 can be used to hold the first structural member 211 and the radially extending portion 22 of the second structural member 212 against each other, but not against each other. The mounting mode can be realized by technical means such as the assembling moment of the fastener.

Each side frame 1 is formed with a wheel seat 174 and a joint seat 175 at two ends, wherein the joint seat 175 of the two side frames 1 is used for mounting the first structural member 211 and the second structural member 212, and actually, the relationship between the joint seat 175 and the structural member may be designed in various forms, such as an integral form as shown in the embodiment disclosed in fig. 28b, or a separate form as shown in the embodiment disclosed in fig. 28 c.

During the use of the balance swing car, the first structural member 211 and the second structural member 212 of the rotary joint 2 rotate relatively, so that when the balance swing car is loaded, the rotation resistance caused by deformation may occur. In one embodiment, the radial extensions 22 of the first and second

structural members

211, 212 are provided with a rotational anti-friction structure between them in a direction parallel to the rotational axis.

The rotational anti-friction structure may reduce the friction between the first structural member 211 and the second structural member 212 of the rotational joint 2, thereby providing a smooth rotational effect and further ensuring a balanced swing car feel in use. In particular implementations, the rotating anti-friction structure has multiple forms.

For example, in the embodiment shown in fig. 28d, the rotating anti-friction structure is a labyrinth structure (not shown) for storing the anti-friction fluid 28. The friction between the first structure 211 and the second structure 212 is reduced by the friction reducing fluid 28. The labyrinth structure refers to a form that the first structural component 211 and the second structural component 212 are buckled with each other to form the sealed antifriction fluid 28, which can also be realized by a sealing element (not shown) in an actual product.

In a specific arrangement of the labyrinth structure, in one embodiment, the labyrinth structures of the first structural member 211 and the second structural member 212 are complementary in shape. The labyrinth structures are complementarily shaped to engage each other to contain the anti-friction fluid 28, so that the anti-friction fluid 28 not only reduces the friction between the first structure 211 and the second structure 212, but also builds up the pressure to achieve indirect contact between the first structure 211 and the second structure 212. The selection of the material of the antifriction fluid 28 can realize more functions, for example, the antifriction fluid 28 which is not easy to flow is selected, and the damping of the rotation of the two side frames 1 is provided on the premise of ensuring the lubricating effect, so that the user experience is improved.

Alternatively, the rotating antifriction structure may be a solid component. For example, in the embodiment shown in fig. 28a, the rotating anti-friction structure comprises anti-friction elements 25 arranged to roll against the first structural element 211 and the second structural element 212.

The friction reducing member 25 converts sliding friction of the first structural member 211 and the second structural member 212 into rolling friction of the friction reducing member 25 by rolling itself, thereby reducing friction. Meanwhile, the friction reducing element 25 can indirectly abut against the first structural element 211 and the second structural element 212, so that the rigidity of the rotary joint 2 is ensured.

In particular the friction reducing elements 25, in one embodiment the friction reducing elements 25 are cylinders or cones or spheres.

The anti-friction member 25 needs to satisfy two conditions, namely, the anti-friction member can rotate around the rotation axis to reduce the friction between the first structural member 211 and the second structural member 212, and the anti-friction member needs to be able to realize the force balance between the first structural member 211 and the second structural member 212, thereby realizing the function.

In the embodiment disclosed with reference to fig. 26, the friction reducing member 25 is provided in plurality. The larger the number of the anti-friction members 25 is, the better stress performance and smooth rotation effect can be provided; correspondingly, the increase in number may increase the mass of revolute joints 2, thereby affecting the dynamic performance of the balance swing car, so that specific numbers may be adjusted according to the product design requirements of the balance swing car.

In the mounting of the friction reducing elements 25, in the embodiment disclosed with reference to fig. 26, between adjacent friction reducing elements 25 there is provided a stop 29 for maintaining the position of each other. The limiting structure 29 is used for keeping the distance between the anti-friction members 25 and preventing the anti-friction members 25 from gathering or distancing in the rotating direction, thereby ensuring the stability under complex working conditions. The spacing structure 29 may be formed by a first structure 211 and a second structure 212, such as a groove that limits the displacement of the friction reducing element 25; or may be a separate component such as a limit stop or the like disposed about the friction reducing member 25.

On the mutual cooperation of the first structural element 211 and the second structural element 212, in the embodiment disclosed with reference to fig. 28a, the first structural element 211 and the second structural element 212 are indirectly abutted in the direction of the rotation axis by means of a rotational friction reducing structure, leaving a first gap 213 between the two structural elements; the revolute joint 2 further comprises a shield around the two components to shield the first gap 312.

The first structural component 211 and the second structural component 212 are in clearance fit in the axial direction of the rotation axis through a first clearance 213, and the rotation anti-friction structure is arranged in the first clearance 213 and realizes indirect mutual abutment of the two structural components at the first clearance 213.

The first gap 213 functions to provide a space for disposing the friction reducing mechanism. In an actual product, in order to prevent foreign objects from entering the first gap 213, it is possible to reduce the rotation friction reducing structure or to accommodate the rotation friction reducing structure inside the first structure 211 and the second structure 212, but in principle, there must be a first gap 213 between the first structure 211 and the second structure 212 of the rotary joint 2 for releasing the rotational stroke.

The presence of the first gap 213 causes a steady drop of the revolute joint 2, and therefore requires the provision of a shield, as in the embodiment disclosed in fig. 28b, which is fixedly connected to one of the two structural elements; or

The radial extension part 22 of one of the first structural member 211 and the second structural member 212 has a radial dimension slightly larger than that of the other and is provided with a step overlapping the outer peripheral surface of the other, and the limit step 24 serves as a shield.

The shielding piece is arranged on one of the two structural parts, and the shielding piece is simple in form and easy to assemble and produce; the design of the stop step 24 enables the shield to serve other functions. The limiting step 24 can further improve the rigidity of the rotary joint 2 in terms of mechanical properties, and reduce deformation under a load condition.

In some embodiments, which are sensitive to the radial dimension of the rotary joint 2, in one embodiment, one of the first structural member 211 and the second structural member 212 is provided with a limiting step 24, the outer periphery of the other is provided with an offset groove (not numbered) with a shape complementary to the limiting step 24, and the outer peripheries of the two structural members at the connecting position are flush with each other.

Like the radial extension 22, the limit step 24 in principle only needs to be provided in the upper half of the rotation joint 2 in the direction of gravity.

In one embodiment, the balance swing car comprises two side frames 1 connected through a rotary joint 2, wherein the two side frames 1 are provided with driving wheels 3 at one side far away from the rotary joint 2, the rotary joint 2 comprises a first structural member 211 and a second structural member 212 which are inserted into each other and are in rotary fit around a rotary axis (not shown), and an axial tension piece 23 acting between the first structural member 211 and the second structural member 212;

The axial tension member 23 is used for keeping the radial extensions 22 of the first structural member 211 and the second structural member 212 compact in a direction parallel to the rotation axis;

one of the first structural member 211 and the second structural member 212 is provided with a stop step 24, the stop step 24 being provided around the radial extension 22 for an entire circumference.

In other embodiments, the retention step 24 is disposed around the outer extent of the radially extending portion 22 of the structure and occupies at least 1/2 of the outer periphery of the radially extending portion 22. The specific length and size of the limiting step 24 can be adjusted as needed according to the design requirements of the balance swing car.

The stop step 24 can also serve an additional function. In an embodiment, the stop step 24 shields the first gap 213 in the radial direction of the axis of rotation. Shielding the first gap 213 can prevent foreign objects from entering the first gap 213. Thereby effectively prolonging the maintenance period of the revolute joint 2.

Referring to fig. 28b, in the arrangement of the axial tension member 23, in an embodiment, the two structural members are a first structural member 211 and a second structural member 212 penetrating the first structural member 211, and the two structural members are rotatably matched through a penetrating portion, and the second structural member 212 is a radial extension 22 and a tension portion 2121 of the second structural member 212 at two ends of the first structural member 211, wherein the axial tension member 23 is mounted on the tension portion 2121.

The through fit enables the torsional resistance of the revolute joint 2 to be increased. The tightening part 2121 is located in the area of the first structural element 211 facing away from the rotation engagement, so that the axial tightening element 23 is arranged on the tightening part 2121 so as to avoid interference with the rotation process. At the same time, the tightening part 2121 also has more space for installing, setting and adjusting the axial tightening element 23.

In terms of spatial configuration, in an embodiment, the two structural members include a first structural member 211 and a second structural member 212 penetrating through the first structural member 211, and the two structural members are rotatably engaged through a penetrating portion;

the radial extension 22 of the second structure 212 is on one side of the first structure 211, and the second structure 212 is threaded to the other side of the first structure 211 as a tension portion 2121, wherein the axial tension member 23 is mounted on the tension portion 2121 and abuts against the first structure 211.

In the actual shape shown in the drawings, the first structural member 211 is annular, the second structural member 212 has a T-shaped main body, and a part of the second structural member 212 protrudes into the annular shape of the first structural member 211, so that the first structural member 211 and the second structural member are rotatably fitted to each other. The ring shape of the first structural member 211 is self-expanded to form the radial extension 22, and the portion of the second structural member 212 not protruding into the ring shape of the first structural member 211 is self-expanded to form the radial extension 22, and the radial extensions 22 of the two are against each other. In a practical product, the radial extension 22 may be integrated with a part of the side frame 1, for example as shown in fig. 28a, in order to reduce the axial volume of the revolute joint 2.

In one embodiment, the axial tension member 23 is a threaded member or an elastic member.

The threaded part has the advantages that two functions of fastening and tensioning can be synchronously realized in the assembling process, the installation is convenient, but the loosening condition can be correspondingly generated in the using process; the elastic piece has relatively more processes in the assembly process, but is more stable after the installation. The concrete form of setting can be according to the different use scenes and the demand adjustment of balanced swing car.

In one embodiment, the radial extensions 22 of the two structural members are at least 90 degrees from the central angle of the axis of rotation.

From the realization principle, the radial extension 22 only needs to be arranged on the side above the gravity of the axis of rotation. If the rotation angle of the first structural member 211 and the second structural member 212 is 60 degrees, the radial extension portions 22 of the first structural member 211 and the second structural member 212 only need to be arranged to be kept against each other within the rotation angle of 60 degrees, and in order to improve the aesthetic appearance and the applicability of the product, it is preferable that the radial extension portions 22 are small semicircles in the axial section of the rotation axis, and the central angle value is at least 90 degrees. In some embodiments, the radial extensions 22 of the two structural members are at a 360 degree central angle with respect to the axis of rotation. I.e. the radial extension 22 is the entire circumference in a section in the axial direction of the axis of rotation.

Referring to fig. 28e, in an embodiment, in order to further reduce the deformation of the rotary joint 2, a radial ball 251 is further disposed between the first structural member 211 and the second structural member 212, and the radial ball 251 abuts between the limit step 24 and the radial extension 22 of the first structural member 211. The first structural member 211 and the second structural member 212 can be secured in contact with each other with a sufficient strength, and the wear can be reduced.

In terms of assembly, taking the scheme shown in fig. 28a as an example, in one embodiment, the radially extending portions 22 of the two structural members are both disc structures with central holes, and opposite sides are provided with annular mounting grooves corresponding in position, and the anti-friction members 25 are distributed in the annular mounting grooves;

wherein, the middle hole of the first structural member 211 is used as a shaft hole, the middle hole of the second structural member 212 is internally fixed with a rotating shaft, and one end of the rotating shaft which passes through the shaft hole and penetrates out is used as a tension part 2121;

the axial tension member 23 is threadedly engaged with the tension portion 2121, or

The axial tension member is an elastic member (not shown) which acts between the tension portion and the first structural member.

Referring to fig. 26, there are some auxiliary components, such as a matching gasket 26 and an end face fixing ring 27, which can effectively overcome the influence of the machining precision on the assembling effect during the assembling process of the rotary joint 2.

Referring to fig. 29 to 30, the rotary joint 2 of the present invention can be matched with different types of side frames 1, for example, in fig. 29, the left side frame 1 is an integrated side frame, and the right side frame is a double-layer frame structure; in fig. 30, the left side frame 1 has a single-layer frame structure, and the right side frame has a double-layer frame structure. Fig. 29 and 30 only illustrate the combination, and in actual products, it is more necessary to flexibly adjust the arrangement form of the respective side frames 1.

The technical features of the embodiments described above may be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the embodiments described above are not described, but should be considered as being within the scope of the present specification as long as there is no contradiction between the combinations of the technical features. When technical features in different embodiments are represented in the same drawing, it can be seen that the drawing also discloses a combination of the embodiments concerned.

The above-mentioned embodiments only express several embodiments of the present invention, and the description thereof is more specific and detailed, but not construed as limiting the scope of the invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the inventive concept, which falls within the scope of the present invention. Therefore, the protection scope of the present patent shall be subject to the appended claims.

Claims

1. The balance swing car comprises two side frames connected through a rotary joint, wherein a driving wheel is arranged on one side of each side frame far away from the rotary joint;

the peripheries of the two structural members are respectively provided with radial extending parts, the radial extending parts are distributed around the periphery of the structural member, and the radial extending parts of the two structural members are directly or indirectly abutted along the direction parallel to the rotating axes of the two structural members; an axial tensioning piece is arranged between the two structural members, and the radial extension parts of the two structural members are abutted against each other with pretightening force by the axial tensioning piece.

2. The balanced swing car of claim 1, wherein at least one of the side frames is a unitary box structure comprising:

a first force receiving member for mounting the driving wheel;

3. The balanced swing car of claim 2, wherein the unitary box structure defines a mounting opening for mounting the circuit element, the mounting opening defined in the first or second or third force-receiving member.

4. The balance swing car according to claim 3, wherein a bearing surface for bearing a load is provided on the third upward-facing force-bearing member, the mounting opening is provided on the bearing surface, and a dust-proof member for isolating the mounting area from an external environment is provided on the bearing surface.

5. The balanced swing car of claim 2, wherein the unitary box structure is flat with chamfered edges and a top surface in a thickness direction is a bearing surface for bearing loads.

6. The balanced swing car of claim 2, wherein the integrated box structure is a rectangular box or a shaped box, and wherein partitions are provided inside the integrated box structure and separate the mounting area into a plurality of independent mounting cavities.

7. The balanced swing car of claim 6, wherein the unitary box structure is a rectangular box, the first and second force-bearing members are two side walls of the unitary box structure, and the third force-bearing member is a side panel connected between the two side walls.

8. The balanced swing car of claim 2, wherein the second force receiving member is a plate member and has an outer edge connected to the third force receiving member, and wherein the second force receiving member is provided with a joint seat for mounting one of the structural members of the revolute joint.

9. The balanced swing car of claim 8, wherein the joint seat is separately or integrally connected to one of the two structural members.

10. The balanced swing car of claim 2, wherein both side frames are of a unitary box construction.

11. The balanced swing car of claim 1, wherein one or both of the frame members is included in a single sideframe, and one of the frame members is a first frame member including:

a wheel seat for mounting the driving wheel;

a joint seat for mounting one of the two structural members;

and the bearing part is connected with the wheel seat and the joint seat.

12. The balanced swing car of claim 11, wherein the wheel seat, the knuckle seat, and the bearing portion of a single side frame are separate structures that are independent and relatively fixed, or wherein the wheel seat, the knuckle seat, and the bearing portion are integral structures.

13. The balanced swing car of claim 11, wherein the wheel mount and the joint mount are each independently configured and are one of:

all provided by the first frame member;

14. The balanced swing car of claim 13, wherein the wheel mount and the knuckle mount are identically configured.

15. The balanced swing car of claim 11, wherein at least one side frame has a mounting area therein for receiving circuit components and the side frame includes only the first frame member, the mounting area being arranged in one of:

16. The balance swing car according to claim 11, wherein the receptacle portion is in the form of a closed or non-closed loop, the plane of the loop-shaped receptacle portion is a reference plane, and an orthographic projection of the mounting area for receiving the circuit component onto the reference plane is at least partially within the loop-shaped receptacle portion.

17. The balanced swing car of claim 12, wherein two frame members are included in a single sideframe, one of the frame members being the first frame member and the other of the frame members being the second frame member, at least a portion of the first and second frame members being spaced apart from one another in a thickness direction of the first frame member, the spaced apart portions being mounting areas for receiving circuit components.

18. The balanced swing car of claim 15 or 17, wherein at least one frame member is provided with cladding.

19. The balanced swing car of claim 11, wherein the two sideframes are symmetrically configured.

20. The balanced swing car of claim 11, wherein the revolute joint further comprises:

21. The balanced swing car of claim 1, wherein the radial extension is 60 to 360 degrees around the outer periphery of the structure, and wherein at least a portion of the radial extension is located in an upper half of the gravity direction of the structure.

22. The balanced swing car of claim 1, wherein the radially extending portions of the two structural members are pre-tensioned against one another by the axial tension member.

23. The balanced swing car of claim 1, wherein a rotational friction reducing structure is provided between the radially extending portions of the two structural members, the rotational friction reducing structure comprising friction reducing members for rolling against between the two structural members or a labyrinth structure for storing friction reducing fluid.

24. The balanced swing car of claim 23, wherein the friction reducing members are cylinders or cones or spheres with a spacing structure between adjacent friction reducing members to maintain the position of the friction reducing members relative to each other.

25. The balanced swing car of claim 24, wherein the two structures are indirectly abutted by the rotational friction reducing structure with a first gap therebetween; the rotary joint also comprises a shielding piece which is arranged on the periphery of the two structural parts and used for shielding the first gap.

26. The balanced swing car of claim 25, wherein the shield is fixedly connected to one of the two structural members; or

27. The balanced swing car of claim 26, wherein one of the two structural members is provided with the step, the outer periphery of the other structural member is provided with a relief groove complementary in shape to the step, and the outer peripheries of the two structural members at the connection location are flush with each other.

28. The balanced swing car of claim 23, wherein the two structures include a first structure and a second structure extending through the first structure and rotatably engaged by the extending portion;

the radial extension part of the second structural part is positioned on one side of the first structural part, the second structural part penetrates to the other side of the first structural part to form a tensioning part, and the axial tensioning part is installed on the tensioning part and is abutted against the first structural part.

29. The balanced swing car of claim 28, wherein the radially extending portions of the two structural members are each a disk structure with a central aperture, and opposing sides are provided with correspondingly positioned annular mounting slots, the friction reducing members being distributed within the annular mounting slots;

the axial tension member is in threaded engagement with the tension portion, or