CN1817725A - Automatic-balanced closed motorcycle with two-wheels - Google Patents

Abstract

A fully enclosed automatic self-balancing motorcycle is composed of a motorcycle body, a motorcycle balance measurer (gyroscope) and a motorcycle posture regulator controlled by said gyroscope. Its advantages are high balance performance, high speed, and able to run back.

Description

A fully enclosed automatic self-balancing two-wheeled motorcycle

technical field

The invention relates to machinery and control technology, and in particular provides a fully enclosed automatic self-balancing two-wheeled motorcycle.

Background technique

The traditional two-wheeled motorcycle is maintained by the driver's control, which has many obvious disadvantages, such as: easy to roll over, unable to automatically balance and stand, unable to shelter from wind and rain, unable to resist cold and heat, and unable to reverse. Difficulty etc.

People look forward to a two-wheeled motorcycle with good balance and stability, reversing, good comfort, and more convenient handling.

Contents of the invention

The purpose of the present invention is to provide a fully enclosed automatic self-balancing two-wheeled motorcycle with excellent balance and stability performance, which can realize reversing, has good comfort and is more convenient to control.

The invention is a fully enclosed automatic self-balancing two-wheeled motorcycle, which is characterized in that it consists of a motorcycle body (1), a vehicle body balance measuring device (2) and a motorcycle attitude adjustment device (3); wherein:

The vehicle body balance measuring device (2) is a gyroscope; the motorcycle attitude adjustment device (3) is directly connected with the vehicle body balance measuring device (2); the vehicle body balance measuring device (2) measures the motorcycle body ( 1) The attitude of the motorcycle is adjusted so that the motorcycle attitude adjustment device (3) controls the attitude of the motorcycle body (1) according to the measurement results, so that the motorcycle is running or the running speed is zero to maintain the best driving attitude. According to the design principle, the correction moment that the motorcycle attitude adjustment device (3) can provide to act on the motorcycle body (1) to ensure its attitude should be at least greater than the gravity moment when the car body is tilted.

The motorcycle body (1) includes the frame, wheels, power and transmission device, control device, etc. of a conventional two-wheeled motorcycle except all parts of the motorcycle bottom docking bracket, and also includes a The fixed bracket of the balance measuring device (2) and the motorcycle attitude adjustment device (3).

The motorcycle attitude adjustment device (3) is composed of a controller (301), a power and transmission device (302) and a motorcycle attitude correction mechanism (303); wherein: the controller (301) is respectively connected to the vehicle body balance measuring device (2) and the power and transmission device (302), the power and transmission device (302) is also connected to the motorcycle posture correction mechanism (303); the controller (301) is based on the measurement results of the vehicle body balance measuring device (2) , the motorcycle attitude correction mechanism (303) is controlled through the power and transmission device (302), so as to complete the attitude control of the motorcycle body (1).

Preferred version of the present invention has following three kinds:

1. The motorcycle attitude correction mechanism (303) is composed of the following parts: a deviation correction member (3031), a deviation correction rod (3032), a deviation correction member limit mechanism (3033); ) movement range of the correcting component limit mechanism (3033) is connected with the correcting component (3031), and the correcting rod (3032) is connected with the power and transmission device (302); when the attitude control of the motorcycle body (1) is required, The deviation correction rod (3032) is driven by the power and transmission device (302), and controls the attitude of the motorcycle body (1) by applying force to the deviation correction member (3031) in direct contact with it;

The axis of the correction rod (3032) usually maintains a posture basically pointing to the center of the earth, but considering practical requirements, when the motorcycle is on a road with a certain turning radius or a certain inclination angle and a certain driving speed, the correction rod (3032) ) needs to form a certain angle with the direction pointing to the center of the earth, and the entire motorcycle attitude adjustment device (3) performs attitude control based on the deviation correction rod (3032), so as to ensure that the motorcycle maintains the best driving attitude under various driving conditions .

The power and transmission device (302) of the fully enclosed automatic self-balancing two-wheeled motorcycle is composed of a motor (3021) and a gearbox (3022); ) and drive and control it;

There are two pairs of deviation correcting parts (3031), and there are two deviation correcting parts (3031) in each pair. The axes of the correcting parts (3031) are basically coincident;

There is a reverse baffle (3034) in the motorcycle posture correction mechanism (303), and the reverse baffle (3034) is fixedly connected on the motorcycle body (1); the reverse baffle (3034) is installed on the paired Between the two correction parts (3031);

The position-limiting mechanism (3033) of the deviation correction part is specifically: the hinge mechanism (30331) that connects the deviation correction part (3031) to the car body in a hinged manner, and the two deviation correction parts ( 3031) fixed-connected balance mechanism (30332) fixed together, two deviation-correction parts (3031) on the same side of the deviation-correction rod (3032) are fixed together and the deviation-correction horizontal plate (30333) is in direct contact with the deviation-correction rod (3032) ; The fixed balance mechanism (30332) is connected to the motorcycle body (1), and its connection part preferably uses a damping device that can allow deformation within a certain range and has a shock-absorbing effect.

The deviation-correcting member limiting mechanism (3033) used to limit the range of movement of the deviation-correcting member (3031) is connected to the deviation-correcting member (3031), and the deviation-correcting rod (3032) is connected to the power and transmission device (302); When the attitude control of body (1) is performed, the deviation correction rod (3032) is driven by the power and transmission device (302), and by applying force to the deviation correction member (3031) on the side where the deviation correction rod (3032) is biased, the motorcycle body (1) for attitude control. In terms of specific structural design: the reverse baffle (304) can be used to ensure that the deviation correction rod (3032) is only stressed in one direction, that is, when the deviation correction action is required, only the one that is compressed (the axial length tends to shrink) The deviation-correcting member (3031) on one side acts on the deviation-correcting rod (3032) to provide deviation so as to ensure that the posture of the motorcycle body (1) is controlled and balanced.

2. The fully enclosed automatic self-balancing two-wheeled motorcycle is characterized in that:

The motorcycle attitude correction mechanism (303) is composed of the following parts: a deviation correction member (3031), a deviation correction rod (3032), a deviation correction member limit mechanism (3033); The deviation-correcting part limiting mechanism (3033) of the range is connected with the deviation-correcting part (3031), and the deviation-correcting rod (3032) is connected with the power and transmission device (302); when the attitude control of the motorcycle body (1) is required, the The deviation correction rod (3032) is driven by the power and transmission device (302), and controls the attitude of the motorcycle body (1) by applying force to the deviation correction member (3031) in direct contact with it;

There are two pairs of deviation correcting parts (3031), and there are two deviation correcting parts (3031) in each pair. The axes of the deviation correcting parts (3031) are basically coincident;

There is a reverse baffle (3034) in the motorcycle attitude correction mechanism (303), the reverse baffle (3034) is fixedly connected on the motorcycle body (1), and the reverse baffle (3034) is installed on the paired Between the two correction parts (3031); the motorcycle posture correction mechanism (303) is composed of the following parts: the correction part (3031), the limit mechanism of the correction part (3033), and the correction actuator (3035);

The motorcycle posture correction mechanism (3035) is composed of the following parts: a screw (30351), a nut (30352), and a screw fixing member (30353); wherein: the screw (3035) is directly connected to the power and the transmission device (302); The screw (30351) and the nut (30352) are installed in pairs. It is required that the nut (30352) cannot rotate around the axis of the screw (30351). Preferably, an outwardly protruding partial structure can be provided on the outer side of the nut (30352) , this structure cooperates with a slideway fixed on the motorcycle body (1) to ensure the radial positioning of the nut (30352) along the screw rod (30351), and driven by the screw rod (30351), the nut (30352) can Relative to the screw rod (30351), it moves axially; when the attitude control of the motorcycle body (1) is required, the screw rod (3035) is driven by the power and transmission device (302) to rotate at a certain speed and direction to drive the nut ( 3036) move along the axis, and then apply force to the structure fixed on the motorcycle body (1) to control the attitude of the motorcycle body (1);

The position-limiting mechanism (3033) of the deviation-correcting part is specifically: the hinge mechanism (30331) that fixes the deviation-correcting part (3031) on the vehicle body in a hinged manner, fixes the two deviation-correcting parts (3031) on the same side of the nut (30352) A fixedly connected balance mechanism (30332), a deflection correcting horizontal plate (30333) that fixes two deflection correcting parts (3031) on the same side of the nut (30352) together and directly contacts the nut (30352);

The deviation correcting member (3031), the motorcycle attitude deviation correction mechanism (3035) and the power and transmission device (302) are respectively fixed on the same hinged mechanism (30331) with a fixed structural shape, and the hinged mechanism (30331) is fixedly connected in a hinged manner The hinged mechanism (30331) on the car body (1) ensures that the hinged mechanism (30331), the deviation correcting member (3031), the motorcycle attitude correction mechanism (3035) and the power and transmission device (302) can simultaneously use the hinged mechanism (30331 ) is connected to the hinged shaft of the car body (1) as the axis, and rotates together within a certain range.

3. The fully enclosed automatic self-balancing two-wheeled motorcycle is characterized in that:

The motorcycle posture correction mechanism (303) is composed of the following parts: a rod body (3037) fixedly connected to the motorcycle body (1), and a power and transmission device (302) directly connected with a variable axial length Deviation correction ejector rod (3036); there are two motors (3021) in the power and transmission device (302), two rod bodies (3037) and two deviation correction ejector rods (3036); one motor (3021), one rod body (3037) and a correction push rod (3036) together form a set of relatively independent linkage mechanisms; the two sets of linkage mechanisms used for deviation correction operations are directly connected to the controller (301) respectively; when attitude adjustment is required The motor (3021) drives the deflection correction ejector rod (3036) to act on the rod body (3037) to control the attitude of the motorcycle so as to ensure the stable attitude of the motorcycle that can automatically self-balance.

In the present invention, the internal structure of the rod body (3037) allows the damping device whose length can be varied within a certain range along the axial direction; The damping device that changes within the range; the parts that are connected to the motorcycle body (1) on the fixed balance mechanism (30332) can also be composed of a damping device; the above-mentioned damping device is preferably a spring.

The fully enclosed automatic self-balancing two-wheeled motorcycle of the present invention also has an auxiliary bracket (4) that can land on the motorcycle body (1) and support the motorcycle body (1). According to the actual situation, it can be set that the auxiliary bracket (4) is put down artificially or the auxiliary bracket (4) automatically falls after the motorcycle is turned off for a period of time (for example, 2 minutes) and rigidly supports the motorcycle body (1); put down the auxiliary bracket (4) rear motorcycle posture adjustment device (3) just can stop working.

The fully enclosed automatic self-balancing two-wheeled motorcycle can also have a fully enclosed shell (5), and an air-conditioning system can be installed inside; the motorcycle attitude adjustment device (3) is preferably installed on the lower half of the motorcycle body (1) Or the second half, so as to guarantee the best effect and do not take up the effective space inside the fully enclosed shell (5) of motorcycle. For enhancing the safety of the present invention, we can arrange the structure with buffering or anti-collision function outside the fully enclosed casing (5), preferred scheme is: 1, close to the motorcycle head or both sides of the fully enclosed casing (5) outside A hollow anti-collision shield made of inflatable rubber is installed on the middle part of the side or the tail of the motorcycle, and the anti-collision shield can be disassembled or installed independently in blocks; A continuous anti-collision structure wrapping the fully enclosed shell (5) for one week is arranged at the middle height.

The fully enclosed automatic self-balancing two-wheel motorcycle of the present invention also uses the speedometer (6) connected to the controller (301); the power part in the power and transmission device (302) is preferably forward and reverse can be switched at will , adjustable speed, short response time servo motor. According to actual conditions, it can be set that when the speed of the motorcycle is lower than a certain speed (for example: 5km/h), the motorcycle attitude adjustment device (3) just works; or at various speeds, the motorcycle attitude adjustment device ( 3) both work. In order to improve comfort and handling performance, an air-conditioning system and a motorcycle rear monitoring system can be installed inside the fully enclosed shell (5).

The invention has the advantages of solving the problems of poor balance performance, difficult control, poor comfort, and inability to reverse the traditional two-wheeled motorcycles, and at the same time has the advantages of energy saving, high-speed flexibility, It has the characteristics of small space occupation, simple operation and novel and unique shape. The invention can take 1 to 4 people; the wind resistance is small, and the high speed that is difficult to be achieved by four-wheeled vehicles can be easily realized under the same fuel consumption condition.

Description of drawings

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

Fig. 1 is a schematic diagram of system installation of the present invention;

Fig. 2 is a schematic diagram of the principle of partial composition and logical connection relationship of the present invention;

Fig. 3 is a top view (partial cutaway) of one of the structural schematic diagrams of the motorcycle attitude adjustment device (3);

Fig. 4 is the second top view (partial cutaway) of the structural representation of the motorcycle attitude adjustment device (3);

Fig. 5 is the second front view (partial section of the middle part) of the structure diagram of the motorcycle attitude adjustment device (3);

Figure 6 is a partially enlarged view of Figure 5;

Fig. 7 is the third schematic diagram of the structural composition of the motorcycle attitude adjustment device (3).

Detailed ways

The specific technical scheme of the present invention is described below through the specific implementation manner:

Embodiment 1 (referring to accompanying drawing 1,2,4,5,6)

A fully enclosed automatic self-balancing two-wheeled motorcycle with excellent balance and stability, capable of reversing, good comfort, and more convenient handling, characterized in that it consists of a motorcycle body (1), a body balance measuring device (2) and a motorcycle attitude adjustment device (3); wherein:

The vehicle body balance measuring device (2) is a gyroscope; the motorcycle attitude adjustment device (3) is directly connected with the vehicle body balance measuring device (2); the vehicle body balance measuring device (2) measures the motorcycle body ( 1) so that the motorcycle attitude adjustment device (3) can control the attitude of the motorcycle body (1) according to its measurement results. According to the design principle, the correction moment that the motorcycle attitude adjustment device (3) can provide to act on the motorcycle body (1) to ensure its attitude should be at least greater than the gravity moment when the car body is tilted.

The motorcycle body (1) includes the frame, wheels, power and transmission device, control device, etc. of a conventional two-wheeled motorcycle except all parts of the motorcycle bottom docking bracket, and also includes a The fixed bracket of the balance measuring device (2) and the motorcycle attitude adjustment device (3).

The motorcycle attitude adjustment device (3) is composed of a controller (301), a power and transmission device (302) and a motorcycle attitude correction mechanism (303); wherein: the controller (301) is respectively connected to the vehicle body balance measuring device (2) and the power and transmission device (302), the power and transmission device (302) is also connected to the motorcycle posture correction mechanism (303); the controller (301) is based on the measurement results of the vehicle body balance measurement device (2) , the motorcycle attitude correction mechanism (303) is controlled through the power and transmission device (302), so as to complete the attitude control of the motorcycle body (1).

The motorcycle attitude correction mechanism (303) is composed of the following parts: a deviation correction member (3031), a deviation correction rod (3032), a deviation correction member limit mechanism (3033); The deviation-correcting part limiting mechanism (3033) of the range is connected with the deviation-correcting part (3031), and the deviation-correcting rod (3032) is connected with the power and transmission device (302); when the attitude control of the motorcycle body (1) is required, the The deviation correction rod (3032) is driven by the power and transmission device (302), and controls the attitude of the motorcycle body (1) by applying force to the deviation correction member (3031) in direct contact with it; the axis of the deviation correction rod (3032) Usually maintain a posture pointing to the center of the earth, but considering the practical requirements, when the motorcycle is on a road with a certain turning radius or a certain inclination angle and a certain driving speed, the correction rod (3032) needs to be aligned with the direction pointing to the center of the earth. At a certain angle, the entire motorcycle attitude adjustment device (3) performs attitude control based on the deviation correction rod (3032), so as to ensure that the motorcycle maintains the best driving attitude under various driving conditions.

The power and transmission device (302) of the fully enclosed automatic self-balancing two-wheeled motorcycle described in this embodiment is composed of a motor (3021) and a gearbox (3022); Correcting the deviation rod (3032) and carrying out drive control to it;

There are two pairs of deviation correcting parts (3031), and there are two deviation correcting parts (3031) in each pair. The axes of the correcting parts (3031) are basically coincident;

There is a reverse baffle (3034) in the motorcycle posture correction mechanism (303), and the reverse baffle (3034) is fixedly connected on the motorcycle body (1); the reverse baffle (3034) is installed on the paired Between the two correction parts (3031);

The position-limiting mechanism (3033) of the deviation correction part is specifically: the hinge mechanism (30331) that connects the deviation correction part (3031) to the car body in a hinged manner, and the two deviation correction parts ( 3031) fixed-connected balance mechanism (30332) fixed together, two deviation-correction parts (3031) on the same side of the deviation-correction rod (3032) are fixed together and the deviation-correction horizontal plate (30333) is in direct contact with the deviation-correction rod (3032) ; The fixed balance mechanism (30332) is connected to the motorcycle body (1), and its connection part preferably uses a damping device that can allow deformation within a certain range and has a shock-absorbing effect. The deviation-correcting horizontal plate (30333) is a part similar to an axle, and there are two bearings in the middle axial direction.

The deviation-correcting member limiting mechanism (3033) used to limit the range of movement of the deviation-correcting member (3031) is connected to the deviation-correcting member (3031), and the deviation-correcting rod (3032) is connected to the power and transmission device (302); When the attitude control of body (1) is performed, the deviation correction rod (3032) is driven by the power and transmission device (302), and by applying force to the deviation correction member (3031) on the side where the deviation correction rod (3032) is biased, the motorcycle body (1) for attitude control. In terms of specific structural design: the reverse baffle (304) can be used to ensure that the deviation correction rod (3032) is only stressed in one direction, that is, when the deviation correction action is required, only the one that is compressed (the axial length tends to shrink) The deviation-correcting member (3031) on one side acts on the deviation-correcting rod (3032) to provide deviation so as to ensure that the posture of the motorcycle body (1) is controlled and balanced.

In this embodiment, the inside of the correction member (3031) preferably also has a damping device that allows its length along the axial direction to vary within a certain range; the fixed balance mechanism (30332) is connected to the motorcycle body (1 ) can also be by a damping device; the above-mentioned damping device is preferably a spring.

The fully enclosed automatic self-balancing two-wheeled motorcycle also has an auxiliary bracket (4) that can land on the motorcycle body (1) and support the motorcycle body (1). According to the actual situation, it can be set that the auxiliary bracket (4) is put down manually or the auxiliary bracket (4) automatically falls after the motorcycle is turned off for a period of time (for example, 2 minutes) and provides rigid support for the motorcycle body (1); only when the auxiliary bracket is put down Motorcycle posture adjusting device (3) just can stop working after support (4).

The fully enclosed automatic self-balancing two-wheeled motorcycle also has a fully enclosed shell (5), and an air-conditioning system is installed inside; the motorcycle attitude adjustment device (3) is installed on the second half of the lower half of the motorcycle body (1). part, in order to ensure the best effect and not occupy the effective space inside the fully enclosed shell (5) of the motorcycle. In order to enhance the safety of this embodiment, a structure with a buffer or anti-collision function is arranged outside the fully enclosed casing (5): the outer side of the fully enclosed casing (5) is installed near the head of the motorcycle, the middle part of both sides and the tail of the motorcycle A hollow anti-collision guard made of inflatable rubber, the anti-collision guard can be disassembled or installed independently in blocks. The fully enclosed casing (5) in this embodiment has a total length of about 4 meters and a height of about 1.6 meters; the outer width is about 1 meter, and the inner effective space width is about 0.8 meters; the motorcycle attitude adjustment device (3) is installed At the rear lower part of the motorcycle body (1). In order to improve comfort and handling performance, an air-conditioning system and a motorcycle rear monitoring system are installed inside the fully enclosed shell (5).

The fully enclosed automatic self-balancing two-wheeled motorcycle also has a speedometer (6) connected to the controller (301); the power part in the power and transmission device (302) can be switched at will, and the speed can be adjusted. Servo motors with high tuning and short response time. According to actual conditions, it can be set that when the speed of the motorcycle is lower than a certain speed (for example: 5km/h), the motorcycle attitude adjustment device (3) just works; or at various speeds, the motorcycle attitude adjustment device ( 3) both work. In order to improve comfort and handling performance, air-conditioning system, buffer shockproof system and motorcycle rear monitoring system (camera plus the monitor of wired connection mode) are installed inside the fully enclosed shell (5).

The advantage of this embodiment is that it solves the problems of poor balance performance, difficult control, poor comfort, and inability to reverse the traditional two-wheeled motorcycle, and at the same time it has energy-saving and high-speed flexibility compared with general four-wheeled vehicles. , Small space occupation, simple operation, novel and unique shape and so on. The invention can take 1 to 4 people; the wind resistance is small, and the high speed that is difficult to be achieved by four-wheeled vehicles can be easily realized under the same fuel consumption condition.

Embodiment 2 (referring to accompanying drawing 1,2,3)

This embodiment is a fully enclosed automatic self-balancing two-wheeled motorcycle, which is characterized in that it is composed of a motorcycle body (1), a vehicle body balance measuring device (2) and a motorcycle attitude adjustment device (3); wherein: The vehicle body balance measuring device (2) is a gyroscope; the motorcycle attitude adjustment device (3) is directly connected with the vehicle body balance measuring device (2); the vehicle body balance measuring device (2) measures the motorcycle body (1 ) so that the motorcycle attitude adjustment device (3) can control the attitude of the motorcycle body (1) according to the measurement result. According to the design principle, the correction moment that the motorcycle attitude adjustment device (3) can provide to act on the motorcycle body (1) to ensure its attitude should be at least greater than the gravity moment when the car body is tilted.

The motorcycle body (1) includes the frame, wheels, power and transmission device, control device, etc. of a conventional two-wheeled motorcycle except all parts of the motorcycle bottom docking bracket, and also includes a The fixed bracket of the balance measuring device (2) and the motorcycle attitude adjustment device (3).

The motorcycle attitude adjustment device (3) is composed of a controller (301), a power and transmission device (302) and a motorcycle attitude correction mechanism (303); wherein: the controller (301) is respectively connected to the vehicle body balance measuring device (2) and the power and transmission device (302), the power and transmission device (302) is also connected to the motorcycle posture correction mechanism (303); the controller (301) is based on the measurement results of the vehicle body balance measuring device (2) , the motorcycle attitude correction mechanism (303) is controlled through the power and transmission device (302), so as to complete the attitude control of the motorcycle body (1).

The fully enclosed automatic self-balancing two-wheeled motorcycle described in this embodiment is characterized in that:

The motorcycle attitude correction mechanism (303) is composed of the following parts: a deviation correction member (3031), a deviation correction rod (3032), a deviation correction member limit mechanism (3033); The deviation-correcting part limiting mechanism (3033) of the range is connected with the deviation-correcting part (3031), and the deviation-correcting rod (3032) is connected with the power and transmission device (302); when the attitude control of the motorcycle body (1) is required, the The deviation correction rod (3032) is driven by the power and transmission device (302), and controls the attitude of the motorcycle body (1) by applying force to the deviation correction member (3031) in direct contact with it;

There are two pairs of deviation correcting parts (3031), and there are two deviation correcting parts (3031) in each pair. The axes of the deviation correcting parts (3031) are basically coincident;

There is a reverse baffle (3034) in the motorcycle attitude correction mechanism (303), the reverse baffle (3034) is fixedly connected on the motorcycle body (1), and the reverse baffle (3034) is installed on the paired Between the two correction parts (3031); the motorcycle posture correction mechanism (303) is composed of the following parts: the correction part (3031), the limit mechanism of the correction part (3033), and the correction actuator (3035);

The motorcycle posture correction mechanism (3035) is composed of the following parts: a screw (30351), a nut (30352), and a screw fixing member (30353); wherein: the screw (3035) is directly connected to the power and the transmission device (302); The screw (30351) and the nut (30352) are installed in pairs. It is required that the nut (30352) cannot rotate around the axis of the screw (30351). Preferably, an outwardly protruding partial structure can be provided on the outer side of the nut (30352) , this structure cooperates with a slideway fixed on the motorcycle body (1) to ensure the radial positioning of the nut (30352) along the screw rod (30351); driven by the screw rod (30351), the nut (30352) can Relative to the screw rod (30351), it moves axially; when the attitude control of the motorcycle body (1) is required, the screw rod (3035) is driven by the power and transmission device (302) to rotate at a certain speed and direction to drive the nut ( 3036) move along the axis, and then apply force to the structure fixed on the motorcycle body (1) to control the attitude of the motorcycle body (1);

The position-limiting mechanism (3033) of the deviation-correcting part is specifically: the hinge mechanism (30331) that fixes the deviation-correcting part (3031) on the vehicle body in a hinged manner, fixes the two deviation-correcting parts (3031) on the same side of the nut (30352) The fixed balance mechanism (30332) together, the deviation correction horizontal plate (30333) that fixes the two deviation correction parts (3031) on the same side of the nut (30352) together and directly contacts the nut (30352); the fixed balance mechanism The concrete structure of (30332) is identical with accompanying drawing 4,5.

The deviation correcting member (3031), the motorcycle attitude deviation correction mechanism (3035) and the power and transmission device (302) are respectively fixed on the same hinged mechanism (30331) with a fixed structural shape, and the hinged mechanism (30331) is fixedly connected in a hinged manner The hinged mechanism (30331) on the car body (1) ensures that the hinged mechanism (30331), the deviation correcting member (3031), the motorcycle attitude correction mechanism (3035) and the power and transmission device (302) can simultaneously use the hinged mechanism (30331 ) is connected to the hinged shaft of the car body (1) as the axis, and rotates together within a certain range.

In this embodiment, there is a damping device inside the correction member (3031) that allows its length along the axial direction to change within a certain range: a spring; ) may also consist of a damping device: a spring.

In this embodiment, there is also an auxiliary support (4) that can support the motorcycle body (1) on the ground. Present embodiment also has closed the fully enclosed shell (5) of motorcycle body (1) middle part and top, interior installation air-conditioning system, air-conditioning system and motorcycle rear monitoring system are installed inside fully enclosed shell (5); The car attitude adjustment device (3) is installed in the lower half of the motorcycle body (1). The outside of the fully enclosed shell (5) is provided with a structure with a buffer or anti-collision function: a continuous anti-collision structure (rubber material, and the inner hollow can be filled with an appropriate type of gas), and the crash guard can be disassembled or installed independently in blocks. The fully enclosed shell (5) in this embodiment has a total length of 2.5 meters and a height of 1.4 meters; the outer width is about 1 meter, and the inner effective space width is about 0.75 meters.

The fully enclosed automatic self-balancing two-wheel motorcycle is also connected with the speedometer (6) of the controller (301); Servo motors with high tuning and short response time. The present embodiment sets the motorcycle posture adjustment device (3) to work at various speeds.

Embodiment 3 (referring to accompanying drawing 1,2,7)

A fully enclosed automatic self-balancing two-wheeled motorcycle, characterized in that it consists of a motorcycle body (1), a vehicle body balance measuring device (2) and a motorcycle attitude adjustment device (3); wherein:

The vehicle body balance measuring device (2) is a gyroscope; the motorcycle attitude adjustment device (3) is directly connected with the vehicle body balance measuring device (2); the vehicle body balance measuring device (2) measures the motorcycle body ( 1) so that the motorcycle attitude adjustment device (3) can control the attitude of the motorcycle body (1) according to its measurement results. According to the design principle, the correction moment that the motorcycle attitude adjustment device (3) can provide to act on the motorcycle body (1) to ensure its attitude should be at least greater than the gravity moment when the car body is tilted.

The motorcycle body (1) includes the frame, wheels, power and transmission device, control device, etc. of a conventional two-wheeled motorcycle except all parts of the motorcycle bottom docking bracket, and also includes a The fixed bracket of the balance measuring device (2) and the motorcycle attitude adjustment device (3).

The motorcycle attitude adjustment device (3) is composed of a controller (301), a power and transmission device (302) and a motorcycle attitude correction mechanism (303); wherein: the controller (301) is respectively connected to the vehicle body balance measuring device (2) and the power and transmission device (302), the power and transmission device (302) is also connected to the motorcycle posture correction mechanism (303); the controller (301) is based on the measurement results of the vehicle body balance measuring device (2) , the motorcycle attitude correction mechanism (303) is controlled through the power and transmission device (302), so as to complete the attitude control of the motorcycle body (1).

The fully enclosed automatic self-balancing two-wheeled motorcycle is characterized in that the motorcycle posture correction mechanism (303) is composed of the following parts: a rod body (3037) fixedly connected to the motorcycle body (1), and power and The transmission device (302) is directly connected to the deviation correction ejector rod (3036) with variable axial length; the power and transmission device (302) has two motors (3021), the rod body (3037) and the deviation correction ejector rod (3036) There are two each; a motor (3021), a rod body (3037) and a deviation correction ejector rod (3036) together form a set of relatively independent linkage mechanisms; the two sets of linkage mechanisms for deviation correction operations are directly connected respectively On the controller (301); when attitude adjustment is required, the motor (3021) drives the deflection correction push rod (3036) to act on the rod body (3037) to control the attitude of the motorcycle so as to ensure the stable attitude of the motorcycle that can automatically self-balance.

In this embodiment, the internal structure of the rod body (3037) allows its length to vary within a certain range along the axial direction; The damping device that changes within the range; the parts that are connected to the motorcycle body (1) on the fixed balance mechanism (30332) can also be composed of a damping device; the above-mentioned damping device is preferably a spring.

The fully enclosed automatic self-balancing two-wheeled motorcycle also has an auxiliary bracket (4) that can land on the motorcycle body (1) to support the motorcycle body (1) after the motorcycle is turned off. The fully enclosed automatic self-balancing two-wheeled motorcycle can also have a fully enclosed shell (5), and an air-conditioning system and a motorcycle rear monitoring system are installed inside; the motorcycle attitude adjustment device (3) is installed on the motorcycle body (1 ) of the second half; a structure with a buffer or anti-collision function is arranged outside the fully enclosed shell (5): a rubber material is installed on the outside of the fully enclosed shell (5) close to the motorcycle head or the middle part of both sides or the motorcycle tail. The anti-collision shield with a hollow structure can be inflated, and the anti-collision shield can be disassembled or installed independently in blocks. The fully enclosed shell (5) in the embodiment has a total length of 3.5 meters and a height of 1.5 meters; the outer width is about 1 meter, and the inner effective space width is about 0.8 meters.

The fully enclosed automatic self-balancing two-wheel motorcycle is also connected with the speedometer (6) of the controller (301); Servo motors with high tuning and short response time. When the motorcycle speed is set, the motorcycle posture adjustment device (3) all works at various speeds.

Claims (10)

1. A fully enclosed automatic self-balancing two-wheeled motorcycle, characterized in that it consists of a motorcycle body (1), a vehicle body balance measuring device (2) and a motorcycle attitude adjustment device (3); wherein: The vehicle body balance measuring device (2) is a gyroscope; the motorcycle attitude adjustment device (3) is directly connected with the vehicle body balance measuring device (2); the vehicle body balance measuring device (2) measures the motorcycle body ( 1) so that the motorcycle attitude adjustment device (3) can control the attitude of the motorcycle body (1) according to its measurement results. 2. According to the fully enclosed automatic self-balancing two-wheel motorcycle according to claim 1, it is characterized in that: the motorcycle attitude adjustment device (3) is composed of a controller (301), a power and transmission device (302) and a motorcycle attitude adjustment device (3). Correction mechanism (303) is formed; Wherein: The controller (301) is respectively connected to the vehicle body balance measuring device (2) and the power and transmission device (302), and the power and transmission device (302) is also connected to the motorcycle attitude correction mechanism (303); The controller (301) controls the motorcycle attitude correction mechanism (303) through the power and transmission device (302) according to the measurement result of the vehicle body balance measuring device (2), so as to complete the adjustment of the motorcycle body (1) attitude control. 3. According to the fully enclosed automatic self-balancing two-wheeled motorcycle according to claim 2, it is characterized in that: the motorcycle posture correction mechanism (303) is composed of the following parts: a correction member (3031), a correction rod (3032), Correcting device limit mechanism (3033); wherein: The deviation-correcting member limiting mechanism (3033) used to limit the range of movement of the deviation-correcting member (3031) is connected to the deviation-correcting member (3031), and the deviation-correcting rod (3032) is connected to the power and transmission device (302); When the body (1) performs attitude control, the deviation correction rod (3032) is driven by the power and transmission device (302), and applies force to the deviation correction member (3031) in direct contact with it to control the attitude of the motorcycle body (1). control. 4. The fully enclosed automatic self-balancing two-wheeled motorcycle according to claim 3, characterized in that: The power and transmission device (302) is composed of a motor (3021) and a gearbox (3022); the motor (3021) is connected to the deviation correction rod (3032) through the gearbox (3022) and is driven and controlled; There are two pairs of deviation correcting parts (3031), and there are two deviation correcting parts (3031) in each pair. The axes of the correcting parts (3031) are basically coincident; There is a reverse baffle (3034) in the motorcycle posture correction mechanism (303), and the reverse baffle (3034) is fixedly connected on the motorcycle body (1); the reverse baffle (3034) is installed on the paired Between the two correction parts (3031); The position-limiting mechanism (3033) of the deviation correction part is specifically: the hinge mechanism (30331) that connects the deviation correction part (3031) to the car body in a hinged manner, and the two deviation correction parts ( 3031) fixed-connected balance mechanism (30332) fixed together, two deviation-correction parts (3031) on the same side of the deviation-correction rod (3032) are fixed together and the deviation-correction horizontal plate (30333) is in direct contact with the deviation-correction rod (3032) ; The fixed balance mechanism (30332) is connected on the motorcycle body (1). 5. The fully enclosed automatic self-balancing two-wheeled motorcycle according to claim 2, characterized in that: There are two pairs of deviation correcting parts (3031), and there are two deviation correcting parts (3031) in each pair. The axes of the deviation correcting parts (3031) are basically coincident; There is a reverse baffle (3034) in the motorcycle posture correction mechanism (303), and the reverse baffle (3034) is fixedly connected on the motorcycle body (1); the reverse baffle (3034) is installed on the paired Between the two correction parts (3031); The motorcycle attitude correction mechanism (303) is composed of the following parts: a deviation correction member (3031), a deviation correction member limit mechanism (3033), and a deviation correction actuator (3035); The motorcycle posture correction mechanism (3035) is composed of the following parts: a screw (30351), a nut (30352), and a screw fixing member (30353); wherein: the screw (3035) is directly connected to the power and the transmission device (302); The screw (30351) and the nut (30352) are installed in pairs, requiring that the nut (30352) cannot rotate around the axis of the screw (30351), driven by the screw (30351), the nut (30352) can move relative to the screw ( 30351) moves in the axial direction; when the attitude control of the motorcycle body (1) is required, the screw (3035) is driven by the power and transmission device (302) to rotate at a certain speed and direction, and then drives the nut (3036) along the axis action, and then apply force to the structure fixed on the motorcycle body (1) to control the attitude of the motorcycle body (1); The position-limiting mechanism (3033) of the deviation-correcting part is specifically: the hinge mechanism (30331) that fixes the deviation-correcting part (3031) on the vehicle body in a hinged manner, fixes the two deviation-correcting parts (3031) on the same side of the nut (30352) A fixedly connected balance mechanism (30332), a deflection correcting horizontal plate (30333) that fixes two deflection correcting parts (3031) on the same side of the nut (30352) together and directly contacts the nut (30352); The deviation correcting member (3031), the motorcycle attitude deviation correction mechanism (3035) and the power and transmission device (302) are respectively fixed on the same hinged mechanism (30331) with a fixed structural shape, and the hinged mechanism (30331) is fixedly connected in a hinged manner The hinged mechanism (30331) on the car body (1) ensures that the hinged mechanism (30331), the deviation correcting member (3031), the motorcycle attitude correction mechanism (3035) and the power and transmission device (302) can simultaneously use the hinged mechanism (30331 ) is connected to the hinged shaft of the vehicle body (1) as the axis, and the rotation action is performed within a certain angle range, and the angle range is ≤ 20°. 6. The fully enclosed automatic self-balancing two-wheeled motorcycle according to claim 2, characterized in that: The motorcycle posture correction mechanism (303) is composed of the following parts: a rod body (3037) fixedly connected to the motorcycle body (1), and a power and transmission device (302) directly connected with a variable axial length Deviation correction ejector rod (3036); there are two motors (3021) in the power and transmission device (302), two rod bodies (3037) and two deviation correction ejector rods (3036); one motor (3021), one rod body (3037) and a correction push rod (3036) together form a set of relatively independent linkage mechanisms; the two sets of linkage mechanisms used for deviation correction operations are directly connected to the controller (301) respectively; when attitude adjustment is required , the motor (3021) drives the deflection correction ejector rod (3036) to act on the rod body (3037); there is a damper inside the rod body (3037) that allows its length along the axial direction to vary within a certain range. 7. According to any one of claims 3, 4, 5, and 6, the fully enclosed automatic self-balancing two-wheeled motorcycle is characterized in that: the correction member (3031) or the rod body (3037) or the fixed balance mechanism (30332 ) contains a damping device that allows its axial length to change within a certain range, and the above-mentioned damping device is a spring. 8. According to one of claims 3, 4, 5 and 6, the fully enclosed automatic self-balancing two-wheeled motorcycle is characterized in that: the fully enclosed automatic self-balancing two-wheeled motorcycle also has a pair of motorcycle bodies (1 ) plays a supporting role in the auxiliary bracket (4). 9. According to one of claims 3, 4, 5 and 6, the fully enclosed automatic self-balancing two-wheeled motorcycle is characterized in that: the fully enclosed automatic self-balancing two-wheeled motorcycle has a fully enclosed shell (5); The motorcycle attitude adjustment device (3) is installed on the lower half or the rear half of the motorcycle body (1). 10. According to one of claims 3, 4, 5, and 6, the fully enclosed automatic self-balancing two-wheeled motorcycle is characterized in that: the fully enclosed automatic self-balancing two-wheeled motorcycle is also connected with a controller (301 ) of the tachometer (6); the power part in the power and transmission device (302) is a servo motor that can switch between forward and reverse at will, with adjustable speed and short response time.

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