CN203158157U - Two-wheel electromobile - Google Patents
Two-wheel electromobile Download PDFInfo
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- CN203158157U CN203158157U CN 201320128469 CN201320128469U CN203158157U CN 203158157 U CN203158157 U CN 203158157U CN 201320128469 CN201320128469 CN 201320128469 CN 201320128469 U CN201320128469 U CN 201320128469U CN 203158157 U CN203158157 U CN 203158157U
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Abstract
The utility model provides a novel two-wheel electromobile. The two-wheel electromobile comprises two wheels which are basically parallel to each other, are arranged side by side in the right and left direction and can rotate independently. An electromobile frame is omitted to reduce the size and the weight, and a footboard also has the function of the electromobile frame. The footboard is composed of two parts which can independently tilt forwards or backwards. The two wheels are placed on two sides of the footboard, and are operated and controlled by an electronic self-balancing control system to enable the footboard to be horizontally balanced in the front and back direction. A driver standing on the footboard can operate the electromobile to run forwards or backwards or steer with two feet only by changing the gravity center of the driver. Therefore, the two-wheel electromobile is flexible in control, stable in operation, very light, easy to carry and capable of being applied in various fields.
Description
Technical field
The present invention proposes a kind of electric motor car with two wheels of self-balancing type.Its two wheels are arranged on the below of tread plate, be arranged in the right and left substantially parallel, each wheel has independently electronics self-balancing control system and power-driven system, and motorist's bipod stand on the tread plate, can handle advancing, retreat and turning to of electric motor car with two wheels.Exactly, this be a kind of stand-type, controlled by the motorist, the self-balancing type electric two-wheel vehicle.
Background technology
The technical examples of the most famous a kind of double-wheel self-balancing battery-driven car on the our times is that the patent (U.S.Patent No.6,302,230B1, Oct.16,2001) by people such as Kamen discloses.The patent of Kamen has been summed up the background technology of self-balancing electric motor car with two wheels at that time, has disclosed the correlation technique of their power drivens and electron steering balance.The self-balancing electric motor car with two wheels that the Kamen patent discloses, (or on) is provided with a platform of standing for cyclist (operator) between two wheels that it has opposing parallel to arrange, two wheels; It is the design of single shaft two-wheel, has a common axle that drives that two wheels are linked to each other; It also is provided with the handle stem of a manipulation usefulness, is used for improving the stability that the cyclist stands, and controls the direction that car is advanced.This self-balancing electric motor car with two wheels began to produce and put goods on the market in 2002, and the commodity of this two-wheel car are named as " Sai Gewei " (Segway).This two-wheel car has all obtained application in a plurality of countries, many aspects, not less than be in a kind of actv., short-range transportation means.
The deadweight of Sai Geweiche has 40 kilograms approximately, and is relatively heavier, and price is also relatively more expensive.These shortcomings have hindered further applying of it.The certain user wishes to use lighter electric motor car with two wheels, requires easy accessibility, has bigger portability.Also require cost-cutting, satisfy the needs in wider market.
In addition, we have successfully developed a kind of extremely light self-balancing single wheel battery-driven car, and disclose its technical characterictic and technical scheme (CN102275621A, 20111214).The maximum speed of this single wheel battery-driven car is about 15 kilometers/hour, conducts oneself with dignity about 13 kilograms.When riding, two pin of operator are stood respectively on two tread plates, and tread plate is fixed on the wheel carrier, is arranged on the both sides of wheel, and the position is below wheel shaft.When operator's center of gravity and the reference longitudinal axis between the wheel shaft during perpendicular to ground, the speed of self-balancing single wheel battery-driven car is zero.Because tread plate is fixed on the wheel frame plate, when the operator on standing in tread plate leans forward center of gravity or swing back, cause the wheel frame plate also along with operator's action is together leaned forward or hind wing, status signal low or hind wing (namely being the location status of car) is passed to little processing by gyroscope before the wheel frame plate, and little processing drive motor advances the single wheel battery-driven car or retreats.As the operator center of gravity during towards left and right sides canting, then can be made Vehicular turn.Being easy to carry lightly flexibly, is the outstanding advantage of this self-balancing single wheel battery-driven car.Yet, market a kind of electric motor car with two wheels light, stand-type, that control without hand of also will seeking development.
Therefore, develop one can be portable, self-balancing electric motor car with two wheels that cost is lower, simple to operate, stable, be provided with and close occasion and use, be the generally expectation in relevant field.
Summary of the invention
The self-balancing type electric motor car with two wheels that the present invention proposes be have two substantially parallel, about wheel side by side, can independent rotation.For reduced volume and weight, saved vehicle frame, tread plate is held a concurrent post the function of vehicle frame.Two wheels are arranged on the below of tread plate.Each wheel respectively has an electronics self-balancing control system and a power-driven system, and they are according to the change in location on the fore-and-aft direction of tread plate, drives wheel forward or rolling backwards, makes tread plate keep balance at fore-and-aft direction.Thereby making the motorist who stand on the tread plate can control electric motor car with two wheels advances, retreats or turn to.
In summary, disclosed summary of the invention is: a kind of electric motor car with two wheels, and it is to constitute just like lower member: first wheel and second wheel, they are substantially parallel to each other and arrange about ground, do not have common axletree, can rotate independently; Tread plate is made up of first tread plate and second tread plate, first tread plate and first wheel are matched, second tread plate and second wheel are matched, be to be connected rotationally mutually between first tread plate and second tread plate, they separately can be independently forward or towards rear-inclined, the upper surface of first tread plate and second tread plate is stood for motorist left and right sides bipod respectively, and first wheel and second wheel are positioned at the left and right sides of tread plate; First electrical motor and second electrical motor, first direct motor drive, first wheel, second direct motor drive, second wheel, first electrical motor and second electrical motor are controlled by a cover electronic system at least, the velocity of rotation of electronic control system control wheel, make tread plate keep horizontal equilibrium on the fore-and-aft direction, for the motorist be used for controlling electric motor car with two wheels forward, backwards with turn to.
Stand in the motorist on the tread plate, the direction that bipod is stood is consistent with the direction of wheel turns, can control car, or turn to and advanced forward backwards as long as change its center of gravity.Therefore, this kind electric motor car with two wheels is manoeuvrable, stable not only, and light especially, be easy to carry about with one, can in multiple field, be applied.
The experience personage is arranged in the industry check being described in detail hereinafter in conjunction with drawing after, can further understand technical characterstic of the present invention and other advantages associated.
Description of drawings
Fig. 1 is the transparent view of looking up side direction according to an example proposed by the invention.Its tread plate is made up of two parts.
Fig. 2 is the transparent view of overlooking side direction according to another example proposed by the invention.Its tread plate is an integral body.
Fig. 3 is the transparent view of looking up side direction of Fig. 2 example.
Fig. 4 is the lateral perspective according to another example proposed by the invention.
These examples will describe in detail hereinafter.
The specific embodiment
Consult Fig. 1, this is a kind of embodiment of the double-wheel self-balancing battery-driven car that uses of individual proposed by the invention, and this figure is its transparent view of looking up side direction.The tread plate of the double-wheel self-balancing battery-driven car 100 among the figure is made up of two parts, left half tread plate 110 and right half tread plate 111.The tread plate of this two halves is mutually to connect rotationally, they can be independently separately forward or towards rear-inclined.Also have two wheels matched with tread plate respectively, left wheel 120 is matched with left half tread plate 110, and right wheel 121 is matched with right half tread plate 111.Left wheel 120 is relative parallel to each other arrangements with right wheel 121, and these two wheels can rotate independently, each other can be with different speed, towards different direction rotations.Left wheel 120 and right wheel 121 each personal direct motor drive.The upper surface of a left side half tread plate 110 and right half tread plate 111 can be stood for motorist's pin respectively, is motorist's step plane.When motorist's bipod stood on left half tread plate 110 and right half tread plate 111 substantially parallel respectively, motorist's on one's feet fore-and-aft direction is the fore-and-aft direction of electric motor car with two wheels just.For ground, the tread plate of two halves separately all can be forward or towards rear-inclined; Two wheels also can roll forward or backwards on the ground.Each electrical motor is controlled by a cover electronics self-balancing system separately, and this electronics self-balancing control system makes the tread plate of electric motor car with two wheels keep balance at fore-and-aft direction.Electronic control system is set usually, is state of equilibrium when the plane of tread plate parallels with ground, that is to say: electronic control system make the tread plate of electric motor car with two wheels normally tend to will with the ground keeping parallelism.When electronics self-balancing control system detect tread plate with respect to ground when fore-and-aft direction has an angle of inclination, will instruction motor order about wheel and accelerate or slow down, make the tread plate of electric motor car with two wheels keep balance at fore-and-aft direction.Certainly, electronic control system can be state of equilibrium with a certain set positions of tread plate also, in like manner can be used for controlling the balance of car.The technology of this electronics self-balancing control system is known by the insider, and for example electronics kit such as available various gyrosensor or electronic accelerometer and circuit are realized.Electronics self-balancing control system can also can be controlled two independently subsystems with an electronic system with two covers.Electronics self-balancing control system is rotated by the drive systems wheel that comprises electrical motor and transmission device.Electronics self-balancing control system and drive system all are arranged on the bottom surface of tread plate, for the sake of security, cover the electronic system of not drawing on the figure and driving system with cover.
When electronics self-balancing control system was worked, the plane of tread plate was towards top rake, and wheel just rolls forward; The step plane is towards rear-inclined, and wheel just rolls backwards.The angle that tilts increases, and then acceleration/accel becomes big; The angle that tilts reduces, and then acceleration/accel diminishes.Because each wheel has oneself independently by the electrical motor of electronics self-balancing control system control, the motorist can change its center of gravity in front and back, makes the tread plate run-off the straight, controls the speed of advance of double-wheel self-balancing battery-driven car; When the tread plate that motorist's left foot and right crus of diaphragm are stepped on, the different angle that tilts respectively makes the speed difference of two wheels, just can control the service direction of double-wheel self-balancing battery-driven car.
Point out that in passing the function of this double-wheel self-balancing battery-driven car left and right sides two halves is identical, the meaning about just having when having only above the motorist stands in, so do not have practical significance about branch.Above be for the convenience on narrating, Cai before parts titled with the title on " left side " and " right side ", as replacing with " first " and " second ", understand more definite.Therefore, the title of standard can be used first wheel, second wheel instead, first tread plate, second tread plate, and titles such as first electrical motor, second electrical motor substitute.
Consult Fig. 2, this is that this is the transparent view of overlooking side direction according to the another embodiment of the double-wheel self-balancing battery-driven car of individual's use proposed by the invention.Fig. 3 is the transparent view of looking up side direction of this embodiment.Not existing together of this programme and Fig. 1 scheme is not with tread plate break into two parts.From scheming to go up as seen, the tread plate 230 of the double-wheel self-balancing battery-driven car 200 in this programme looks like an assembly that integral body is continuous, and its left and right sides two parts tread plate is connected with a kind of coilable connection structure.The coilable attaching parts of this kind is arranged on the bottom surface of tread plate.Centre portion on the tread plate, namely available coilable flexible material is connected between left and right sides two parts tread plate, and left and right sides two parts tread plate is connected into an integral body.Coilable connection structure is arranged on the bottom surface of tread plate, but the tread plate behind the torsion structure attaching parts is set, but makes tread plate become the tread plate of torsional deflection.
But the technical characterstic of the attaching parts of this kind torsion structure, I am another patent (CN101513569B, 2011.07.06) the middle announcement.It is a kind of brand-new, be used for individual gliding motility equipment, coilable flexible connecting structure.These parts can reverse, can not be crooked; Being coilable spring, is again attaching parts.Its making is comparatively simple with installation; Be easy to the homogeneity of accurate controller performance; And there is not a relaxation; Not wearing and tearing in the working process.It has very high reliability.
The two ends, the left and right sides of the tread plate 230 that integral body is continuous are that suitable intensity is arranged, and can bear standing of motorist.Its centre portion can twist.Along with the movement before and after motorist's the center of gravity, on tread plate 230, motorist's bipod trample about the part the step plane, can twist forward or backwards, similar to scheme shown in Figure 1, the left-half of tread plate 230 and the function of right half part are equivalent to a left side half tread plate 110 and right half tread plate 111 in Fig. 1 scheme, separately can be optionally forward or towards rear-inclined.
Two wheels of electric motor car with two wheels 200 are matched with tread plate 230 respectively, also connect the bottom surface at tread plate 230.Left wheel 210 connects the left-half at tread plate 230, and right wheel 211 connects the right half part at tread plate 230.Left wheel 210 is relative parallel to each other arrangements with right wheel 211, and these two wheels can rotate independently, each other can be with different speed, towards different direction rotations.Identical with the scheme of Fig. 1, left wheel 211 also is separately by a direct motor drive with right wheel 211.Each electrical motor is also controlled by a cover electronics self-balancing system separately, make the upper surface of the tread plate of electric motor car with two wheels normally tend to will with the ground keeping parallelism.For the sake of security, electrical motor and electronics self-balancing control system also all are arranged in the cavity of tread plate, or cover with cover.Same principle, because each wheel has oneself independently electrical motor and electronics self-balancing control system, the motorist can make the run-off the straight of step plane with bipod, controls speed of advance and the service direction of double-wheel self-balancing battery-driven car.
Fig. 3 is another embodiment of the double-wheel self-balancing battery-driven car that uses of individual proposed by the invention.But the tread plate of double-wheel self-balancing battery-driven car 300 is made up of two parts tread plate of independent torsional: first tread plate 310 and second tread plate 330.The upper surface 312 and 332 of this two parts tread plate is stood for operator's bipod respectively, and the below of this two parts tread plate is coated by bottom plate 311 and 331 respectively.Two wheels and wheel cover about the double-wheel self-balancing battery-driven car also has: first wheel 315 and wheel cover 316, the second wheels 335 and wheel cover 336 thereof.
The direction of standing of operator's both feet on the tread plate is parallel with the rotation direction of both sides wheel basically.The upper surface 312 of tread plate and 332 width (width of wheel rotation direction) are wanted to hold standing of operator's both feet with area.The upper surface 312 of tread plate and 332 should have enough intensity, can support operation person's both feet stand.Identical with the principle of above-mentioned example, the upper surface of tread plate and the cavity between the bottom plate also are to place electronics self-balancing control system and drive system.In order to protect these built-in parts, the bottom plate of tread plate also should have suitable intensity.The upper surface of tread plate and bottom plate available metal, reinforced plastics or composite material are made.
The wheel 315 and 335 identical with last example, that the two ends, the left and right sides of whole tread plate connect is separately by a direct motor drive.Each electrical motor also separately by a cover electronics self-balancing system control make the upper surface of the tread plate of electric motor car with two wheels normally tend to will with the ground keeping parallelism.Left and right sides two parts of tread plate can be independently forward or towards retrotorsion.When electronics self-balancing control system was worked, the plane of tread plate was towards top rake, and wheel just rolls forward; The step plane is towards rear-inclined, and wheel just rolls backwards.The angle that tilts increases, and then acceleration/accel becomes big; The angle that tilts reduces, and then acceleration/accel diminishes.Because each wheel has oneself independently by the electrical motor of electronics self-balancing control system control, the motorist can change its center of gravity in front and back, makes the tread plate run-off the straight, controls the speed of advance of double-wheel self-balancing battery-driven car; When the tread plate that motorist's left foot and right crus of diaphragm are stepped on, the different angle that tilts respectively makes the speed difference of two wheels, just can control the service direction of double-wheel self-balancing battery-driven car.Identical with precedent, the function of this double-wheel self-balancing battery-driven car left and right sides two halves is identical.
Also to be pointed out that in passing, for the sake of security, more than the upper surface of first and second tread plate of each example all a sensor can respectively be set (for example: pressure sensor), when both feet about their sense operation persons are all stood firm upper surface at tread plate, could permit electronics self-balancing control system startup work.This is technology known in the art, is not used in this and has carefully stated.
Generally speaking, the present invention proposes a kind of electric motor car with two wheels of novelty, tread plate is made up of two halves, they can be independently forward or towards retrotorsion, about two wheels arranging do not have common axletree, can rotate independently, motorist's left and right sides bipod stand in respectively on the tread plate of the left and right sides, just can independently control safely electric motor car with two wheels forward, backwards with turned to.
Though the embodiment of above narration has comprised many specific details, should not constitute the restriction that embodiment is comprised scope, nor should only only limit on the diagram of present these specified scheme that propose.Therefore, the covering scope of these embodiments should be determined by appended claim and corresponding file thereof, rather than determined by the above-mentioned example that provides.In addition, should also be appreciated that to the present invention and can also do further change.This patent is intended to contain various variations, purposes or the improvement that principle according to the present invention is carried out; Also contained with disclosed known arrangement or embodiment and departed to some extent, but still be subordinated to the scope of the technology of the present invention and application principle thereof.
Claims (2)
1. electric motor car with two wheels, it is to constitute just like lower member:
First wheel and second wheel, they are substantially parallel to each other and arrange about ground, do not have common axletree, can rotate independently;
Tread plate is made up of first tread plate and second tread plate, first tread plate and first wheel are matched, second tread plate and second wheel are matched, be to be connected rotationally mutually between first tread plate and second tread plate, they separately can be independently forward or towards rear-inclined, the upper surface of first tread plate and second tread plate is stood for motorist left and right sides bipod respectively, and first wheel and second wheel are positioned at the left and right sides of tread plate;
First electrical motor and second electrical motor, first direct motor drive, first wheel, second direct motor drive, second wheel, first electrical motor and second electrical motor are controlled by a cover electronic system at least, the velocity of rotation of electronic control system control wheel, make tread plate keep horizontal equilibrium on the fore-and-aft direction, for the motorist be used for controlling electric motor car with two wheels forward, backwards with turn to.
2. electric motor car with two wheels, it is to constitute just like lower member:
First wheel and second wheel, they are to arrange about substantially symmetrically each other, they do not have common axletree, can rotate independently;
But the tread plate of a torsional deflection, it and first wheel, second wheel are matched, stand for motorist left and right sides bipod respectively with the matched that part of tread plate of first wheel and with the upper surface of the matched that part of tread plate of second wheel, but be torsional deflection between this two parts tread plate, they separately can be independently forward or towards rear-inclined, first wheel and second wheel all are positioned at the left and right sides of tread plate;
First electrical motor and second electrical motor, first direct motor drive, first wheel, second direct motor drive, second wheel, first electrical motor and second electrical motor are controlled by a cover electronic system at least, the velocity of rotation of electronic control system control wheel, make tread plate keep horizontal equilibrium on the fore-and-aft direction, for the motorist be used for controlling electric motor car with two wheels forward, backwards with turn to.
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| CN 201320128469 CN203158157U (en) | 2013-03-20 | 2013-03-20 | Two-wheel electromobile |
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| CN 201320128469 CN203158157U (en) | 2013-03-20 | 2013-03-20 | Two-wheel electromobile |
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