WO2017161532A1 - 一种电动平衡车 - Google Patents
一种电动平衡车 Download PDFInfo
- Publication number
- WO2017161532A1 WO2017161532A1 PCT/CN2016/077213 CN2016077213W WO2017161532A1 WO 2017161532 A1 WO2017161532 A1 WO 2017161532A1 CN 2016077213 W CN2016077213 W CN 2016077213W WO 2017161532 A1 WO2017161532 A1 WO 2017161532A1
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- wheel
- electric balance
- supporting device
- vehicle according
- balance vehicle
- Prior art date
Links
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62K—CYCLES; CYCLE FRAMES; CYCLE STEERING DEVICES; RIDER-OPERATED TERMINAL CONTROLS SPECIALLY ADAPTED FOR CYCLES; CYCLE AXLE SUSPENSIONS; CYCLE SIDE-CARS, FORECARS, OR THE LIKE
- B62K11/00—Motorcycles, engine-assisted cycles or motor scooters with one or two wheels
Definitions
- the present invention relates to the field of portable vehicles, and more particularly to an electric balance vehicle.
- Electric balance car also known as body car, thinking car, camera car, etc.;
- Dynamic Stabilization which uses gyroscopes and accelerometers inside the car body to detect The change of the attitude of the car body, and the servo control system, accurately drive the motor to adjust accordingly to maintain the balance of the system; it is a new type of green environmental protection product used by modern people as a means of transportation and recreation;
- the driving method is as follows:
- the handle can be controlled, similar to a car.
- the steering wheel if it is just a single-wheeled electric balance car, it can be tilted to different degrees on both sides according to the demand;
- An object of the present invention is to overcome the above-mentioned deficiencies in the prior art and to provide an electric balance vehicle that improves driving safety.
- the present invention provides the following technical solutions:
- An electric balance car comprising:
- a wheel rotatably mated with the main frame and driven to rotate by a power source
- a supporting device for supporting a driver the supporting device being mounted on the main body frame;
- the supporting device is connected to the main body frame by the connecting device, and the supporting device and the main body frame are respectively connected with two staggered connection points on the connecting device to form two rotating pairs, a common axis of the rotating pair formed by connecting the main frame and the connecting device coincides with a central axis of the wheel, and a rotating pair formed by connecting the supporting device and the connecting device is configured to satisfy the branch
- the brace device is rotatable toward the front or the rear of the wheel;
- the energy storage wheel is mounted on the support device, is driven to rotate by a power source, and rotates while the electric balance vehicle is running.
- the energy storage wheel is configured to satisfy a relative vertical direction of the support device. After tilting at a certain angle, the accumulator wheel can be in contact with the wheel or the main frame, and the supporting device can be rotated in the vertical direction by the rotating motion of the accumulator wheel.
- the basic principle is to use the rotation of the energy storage wheel to store the energy required to rotate the support device at the moment when the situation in the background art occurs, thereby protecting the safety of the driver;
- connection device Due to this special setting, a new connection method is set, the connection device is added, the connection is 2 rotation pairs, and the rotation of the support device and the rotation of the wheel (or the main frame) are not concentric.
- the connection device When the position of the accumulator wheel is set in advance, when the supporting device rotates to a certain angle, the wheel or the main frame must be contacted. At this time, the rotational kinetic energy of the accumulator wheel is released in an instant, and the supporting device is rotated. Drive the driver to turn around, avoiding the situation where the driver flies out, and improve driving safety.
- the two rotating pairs are specifically:
- One end of the connecting device is hinged with the supporting device to form a first hinge point, that is, one rotating pair is formed, and the other end of the connecting device is hinged with the main body frame to form a second hinge point, that is, forming a first Two rotating pairs, the center of the second hinge point is located on the central axis of the wheel; in the selection of the rotating pair, the hinge is a relatively stable solution.
- the connecting device is installed on both sides of the main body frame, and is a single connecting member.
- the structure is relatively simple and the optimization is better, but when two rotating parts have problems, for example, When rust is stuck, it is dangerous.
- the connecting device is mounted on both sides of the main body frame, and the connecting device is constituted by a plurality of connecting members which are rotationally connected, and the structure is more complicated with respect to one connecting member, but when the two are rotated
- the rotation center of the rotation pair can be effectively turned to the rotation connection of the nearest connector and the connector to prevent the jam.
- the number of the wheels is one, and the supporting device extends upward, and has a stopper for blocking the driver in front of the driver.
- the electric balance car is a single wheel. The setting of the stop can better assist the driver to bring the driver back when turning in the vertical direction.
- the number of the wheels is two
- the support device extends upward, and has a stopper for blocking the driver in front of the driver.
- the two-wheel electric balance car In the case of two wheels, the two-wheel electric balance car .
- the supporting device comprises:
- a pedal disposed on the main support frame on both sides of the main body frame.
- a single elastic member is connected between the pedal and the connecting device, and the elastic members are respectively located at two sides of the main support frame for providing the supporting device to the
- the driver himself needs to ensure the balance of the support device as much as possible.
- the road cannot be completely flattened, and the main body frame is added.
- the supporting device will be affected to some extent to produce deflection, and the damping provided by the elastic member (produced by the elastic force of the elastic member) can correct the driving and reduce the driver's driving. Difficulty and improve the driving experience.
- the power source that drives the rotation of the wheel is a rotor motor, as opposed to For other motors, it is more common in electric balance vehicles, so that the center of gravity of the electric balance car is also better controlled.
- the energy storage wheel has a function of accelerating rotation.
- the energy storage wheel is provided with a precession of the gyroscope, and the performance can help the electric balance vehicle have better balance performance.
- the driver can drive the electric balancer more stably and easily, which improves driving safety and reduces learning costs to some extent.
- the connecting device is a T-shaped structure, and the first hinge point and the second hinge point are both located on the elongated structure in the middle of the T-shaped structure, and the connecting member with a symmetrical structure can be used.
- the elongated structure which is paid to both sides in the T-shaped structure is also convenient to symmetrically mount other components (such as the elastic member), thereby maximally ensuring the center position of the electric balance car as a whole. Excellent, improve the stability of the electric balance car, and indirectly improve the driving safety.
- one end of the elastic member is connected to the pedal, and the other end is connected to an elongated structure that the T-shaped structure pays to both sides, and the main support frame is in a vertical state.
- the elastic members are symmetrically arranged on both sides of the main support frame, and the combination of the elastic member and the T-shaped structure satisfies the electric balance car as much as possible while ensuring a certain correction effect on the front and rear tilt of the support device.
- the overall symmetry ensures optimal position of the center of gravity, improves the stability of the electric balance car, and indirectly improves driving safety.
- Figure 1 is a side view of Embodiment 1 of the present invention.
- Figure 2 is a front elevational view of Embodiment 1 of the present invention.
- FIG. 3 is a schematic view of a through hole according to Embodiment 1 of the present invention.
- FIG. 4 is a schematic diagram of a brake according to Embodiment 1 of the present invention.
- Figure 5 is a schematic view showing the folding of the embodiment 1 of the present invention.
- FIG. 6 is a schematic view showing another manner of setting an energy storage wheel according to Embodiment 1 of the present invention.
- Figure 7 is a front elevational view of Embodiment 2 of the present invention.
- Figure 8 is a side view of Embodiment 3 of the present invention.
- FIG. 9 is a schematic view showing another manner of setting an energy storage wheel according to Embodiment 3 of the present invention.
- Figure 10 is a front elevational view of Embodiment 4 of the present invention.
- Figure 11 is a side view of Embodiment 5 of the present invention.
- Figure 12 is a front elevational view of Embodiment 5 of the present invention.
- Figure 13 is a schematic view of a through hole according to Embodiment 1 of the present invention.
- Figure 14 is a schematic view of a brake according to Embodiment 1 of the present invention.
- Figure 15 is a front elevational view of Embodiment 6 of the present invention.
- an electric balance car It includes:
- the wheel 10 is rotatably coupled to the main body frame 2, and is driven to rotate by a power source (in this embodiment, the power source for driving the wheel 10 to rotate is a rotor motor, which may be an inner rotor motor or Outer rotor motor);
- a supporting device 8 for supporting a driver the supporting device 8 being mounted on the main body frame 2, the number of the wheels 10 being one, being a single-wheel electric balancing vehicle, the supporting device 8 Extending upwardly, with a stopper 1 for blocking in front of the driver, the stopper 1 is foldable (folding effect is shown in FIG. 5), and the supporting device 8 can also be designed to have an adjustable length;
- the supporting device 8 is connected to the main body frame 2 via the connecting device 9 , and the supporting device 8 and the main body frame 2 are respectively connected with two staggered connection points on the connecting device 9 to form two a rotating pair, a common axis of the rotating pair formed by connecting the main frame 2 and the connecting device 9 coincides with a central axis of the wheel 10, and a rotating pair formed by connecting the supporting device 8 and the connecting device 9 is Constructed to satisfy that the support device 8 is rotatable toward the front or the rear of the wheel 10;
- the energy storage wheel 4 is mounted on the support device 8, is driven to rotate by a power source, and is kept rotating during the running of the electric balance vehicle.
- the energy storage wheel 4 has the function of accelerating rotation.
- the energy storage wheel 4 is configured to satisfy a certain angle when the support device 8 is inclined relative to the vertical direction Thereafter, the accumulator wheel 4 can be in contact with the wheel 10 or the main body frame 2, and the support device 8 can be rotated in the vertical direction by the rotation of the accumulator wheel 4.
- the two rotating pairs are specifically:
- One end of the connecting device 9 is hinged with the supporting device 8 to form a first hinge point, and the other end of the connecting device 9 is hinged with the main body frame 2 to form a second hinge point, and the center of the second hinge point Located on the central axis of the wheel 10.
- the connecting device 9 is mounted on both sides of the main body frame 2 and is a single connecting member (in the structure of the embodiment, the connecting device 9 can also be formed by a plurality of connecting members rotatingly connected, which is a more a complicated but advantageous technical solution);
- the connecting device 9 is a T-shaped structure, and the first hinge point and the second hinge point are both located on an elongated structure in the middle of the T-shaped structure, the The second hinge point is higher than the first hinge point.
- the connecting device 9 is naturally rotated, and the first hinge point and the second hinge point are simultaneously located in a vertical line. Upper, the first hinge point is at the lowest point;
- the support device 8 includes:
- a pedal 6 disposed on the main support frame 7 on both sides of the main body frame 2;
- a mounting bracket 3 for mounting the energy storage wheel 4 is fixedly connected to the side of the main support frame 7.
- the energy storage wheel 4 is mounted on the end of the mounting frame 3.
- the length of the main support frame 7 of the mounting frame 3 is configured to cause the energy storage wheel 4 to contact the main body frame 2 (in the embodiment, the mounting frame 3 can also be set to Expenditure to the front and rear directions of the wheel 10, corresponding to the two energy storage wheels 4, as shown in Fig. 6, according to the previous statement, the wheel behind the electric balance car Rotate counterclockwise and rotate clockwise by the wheel in front of the electric balancer. Under this structure, the structure is not required to make the accumulator wheel 4 contact the wheel 10. In the case of a pit, the energy storage through the rear The wheel 4 can be in contact with the main body frame 2, and when the brake is tilted backward, the front energy storage wheel 4 and the main body frame 2 can be contacted.
- An elastic member 5 is connected between the single pedal 6 and the connecting device 9, and the elastic members 5 are respectively located at two sides of the main support frame 7 for providing the support device 8 to the vertical Damping in the straight direction.
- one end of the elastic member 5 is connected to the pedal 6 and the other end is connected to an elongated structure that the T-shaped structure pays to both sides, and the main support frame 7 is in a vertical state.
- the elastic members 5 are symmetrically arranged on both sides of the main support frame 7.
- the elastic members 5 are springs;
- the wheel 10 is snapped into the pit as described in the background art, as shown in Fig. 3.
- the vertical dotted line in the figure indicates the vertical direction, and when the pit is encountered
- the entire supporting device 8 is inclined forward, and when tilted to the angle in the figure, the rotating energy storage wheel 4 contacts the main body frame 2 (according to the setting mode in the figure of the embodiment, with reference to FIG. 3 as a reference, the energy storage wheel 4 is reversed Rotating in the hour hand direction, and then releasing the kinetic energy of the rotation in an instant, driving the entire supporting device 8 to rotate in the vertical direction, thereby protecting the driver from going out;
- the accumulator wheel 4 rotates counterclockwise.
- braking such as an emergency brake, as shown in Fig. 4
- the electric balance vehicle recognizes the deceleration, and when the speed is reduced, At present, the existing electric balance car does not give the supporting device 8 a force to make it rotate, and after tilting to a certain angle, the driver may fall backward and cause injury, as shown in FIG. 4, this embodiment
- the rotating accumulator wheel 4 contacts the stopped wheel 10, and then releases the rotational kinetic energy for a moment to drive the entire supporting device 8 to rotate in the vertical direction. ,From And protect the driver from falling back.
- the number of the wheels 10 is two, which is a two-wheeled electric balance vehicle, and includes two main frames 2 and two main bodies.
- the racks 2 are symmetrically arranged, connected by the support device 8, and the support devices 8 are respectively connected to the main body frame 2 via the connecting device 9, and as in the first embodiment, the one-side connections are formed into two Rotating pair, in this arrangement, the pedal 6 in the first embodiment is one, and is disposed between the two wheels 10.
- the length of the main frame 7 that the mounting frame 3 pays out is configured such that the energy storage wheel 4 contacts the
- the outer circumference of the wheel 10 acts, specifically extending directly from the pedal 6 to form the mounting bracket 3 (in this embodiment, the energy storage wheel 4 is disposed at the rear, and the rotation direction of the energy storage wheel 4 is as shown in FIG. , the clockwise rotation), the distance from the center of the energy storage wheel 4 to the wheel 10 is greater than the radius of the wheel 10 in the case of no contact, (in the present embodiment, the mounting bracket 3 can also be disposed before and after the wheel 10) Expenditure in two directions corresponds to two accumulator wheels 4, as shown in Fig. 9, the front accumulator wheel 4 rotates counterclockwise).
- the number of the wheels 10 is two, which is a two-wheeled electric balance car, including two main frames 2, two main bodies.
- the racks 2 are symmetrically arranged, connected by the supporting device 8, and the supporting devices 8 are respectively connected to the main body frame 2 through the connecting device 9, and as in the third embodiment, the one-side connections are formed into two Rotating pair, in this arrangement, the pedal 6 in the embodiment 3 is one, and is disposed between the two wheels 10.
- the mounting bracket 3 is disposed on the top of the connecting device 9 with respect to the electric balance car.
- the front and rear sides are correspondingly equipped with the accumulator wheel 4, and the technical solution of this embodiment is similar to the case of FIG. 9 in the embodiment 3 except that the accumulator wheel 4 is disposed above the wheel 10, and the main support
- the stopper 1 on the frame 7 is set as one seat, and the two energy storage wheels 4 are disposed on the seat, the rear energy storage wheel 4 rotates counterclockwise, and the front energy storage wheel 4 rotates clockwise;
- the supporting device 8 is inclined forward, and the opposite energy storage wheel 4 located behind the electric balance vehicle contacts the outer edge of the wheel 10, and drives the supporting device 8 to rotate in the vertical direction.
- the struts are tilted rearward, and the opposite energy storage wheel 4 located in front of the electric balance vehicle contacts the outer edge of the wheel 10 to drive the support device 8 to rotate in the vertical direction.
- the number of the wheels 10 is two, which is a two-wheel electric balance car, and includes two main frames 2 and two main bodies.
- the racks 2 are symmetrically arranged, connected by the supporting device 8, and the supporting devices 8 are respectively connected to the main body frame 2 via the connecting device 9, and as in the fifth embodiment, the one-side connections are formed into two Rotating pair, in this arrangement, the pedal 6 in the embodiment 5 is one, and is disposed between the two wheels 10.
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Motorcycle And Bicycle Frame (AREA)
- Electric Propulsion And Braking For Vehicles (AREA)
Abstract
一种电动平衡车，其包括：主体架（2）；车轮（10），车轮（10）可转动地与主体架（2）相配接；支撑装置（8），支撑装置（8）用于支撑驾驶者，支撑装置安装于主体架（2）上；以及连接装置（9）、蓄能轮（4）；支撑装置（8）和主体架（2）分别与连接装置（9）上的两个错开布置的连接点连接，形成两个转动副，支撑装置（8）和连接装置（9）连接形成的转动副被构造为满足支撑装置能够朝向车轮（10）的前方或后方转动；蓄能轮（4）安装于支撑装置（8）上，蓄能轮（4）被构造为满足当支撑装置（8）相对竖直方向倾斜一定角度后，蓄能轮（4）能够与车轮（10）或主体架（2）接触，通过蓄能轮（4）的转动动能使支撑装置（8）往竖直方向回转，从而提供一种提高驾驶安全性的电动平衡车。
Description
本发明涉及便携交通工具领域，特别涉及一种电动平衡车。
电动平衡车，又叫体感车、思维车、摄位车等；
市场上主要有独轮和双轮两类，其运作原理主要是建立在一种被称为“动态稳定”(Dynamic Stabilization)的基本原理上，利用车体内部的陀螺仪和加速度传感器，来检测车体姿态的变化，并利用伺服控制系统，精确地驱动电机进行相应的调整，以保持系统的平衡；是现代人用来作为代步工具、休闲娱乐的一种新型的绿色环保的产物；
而其驾驶方法如下：
类似人体自身的平衡系统，当身体重心前倾时，为了保证平衡，需要往前走，重心后倾时同理，转向时，如果平衡车有类似把手的结构，则控制把手即可，类似汽车的方向盘，如果只是独轮的电动平衡车，则根据需求像两侧不同程度地倾斜身体即可；
如此优秀的产品，如今为何普及率不高，除了学习成本太高以外，还有就是电动平衡车的安全性很差，实际使用中很可能会摔伤甚至有生命危险；
比如，驾驶者驾驶平衡车途中，遇到一个小坑，轮子在行驶过程中瞬间被卡入了坑中，按照原理来说，驱动轮子转动的电机还在工作的情况下，轮子相对于平衡车主体车架(和支撑驾驶者的部分一体的，比如脚踏板)还是会相对
转动，理论上是可以把车架往后旋转带动驾驶后反弹回正常位置的，但是实际上没有这么大驱动力的电机，现在的工业水平这种产品还做不出来，其次，这个反向旋转的“反应时间”也是一个很现实的问题，这两个原因决定了现在的电动平衡车驾驶实际上是非常危险的。
发明内容
本发明的目的在于克服现有技术中所存在的上述不足，提供一种提高驾驶安全性的电动平衡车。
为了实现上述发明目的，本发明提供了以下技术方案：
一种电动平衡车，其包括：
主体架；
车轮，所述车轮可转动地与所述主体架相配接，并由动力源驱动转动；
支撑装置，所述支撑装置用于支撑驾驶者，所述支撑装置安装于所述主体架上；
(到这里为止，基本是现有的电动平衡车所包含的结构，包括双轮的、单轮的电动平衡车)；
其还包括连接装置、蓄能轮；
所述支撑装置通过所述连接装置和所述主体架连接，所述支撑装置和所述主体架分别与所述连接装置上的两个错开布置的连接点连接，形成两个转动副，所述主体架与所述连接装置连接形成的转动副的公共轴线与所述车轮的中心轴线重合，所述支撑装置和所述连接装置连接形成的转动副被构造为满足所述支
撑装置能够朝向所述车轮的前方或后方转动；
所述蓄能轮安装于所述支撑装置上，由动力源驱动转动，并在所述电动平衡车行驶过程中保持转动，所述蓄能轮被构造为满足当所述支撑装置相对竖直方向倾斜一定角度后，所述蓄能轮能够与所述车轮或所述主体架接触，通过所述蓄能轮的转动动能使所述支撑装置往所述竖直方向回转。
和现有技术相比，采用了一种新的结构：蓄能轮；
基本原理就是运用蓄能轮的转动提前储存当出现背景技术中的情况时那一瞬间所需的使支撑装置回转的能量，从而保护驾驶者的安全；
由于这个特殊的设定，所以配套设定了新的连接方式，加入了所述连接装置，连接处为2个转动副，且使支撑装置的转动和车轮(或主体架)的转动不同心，提前设定好蓄能轮的位置，那么支撑装置转动到一定角度时，必然接触所述车轮或所述主体架，这时蓄能轮的转动动能在一瞬间被释放，带动支撑装置回转，从而带动驾驶者回转，避免驾驶者飞出的情况出现，提高驾驶安全性。
作为本发明的优选方案，所述两个转动副具体为：
所述连接装置的一端与所述支撑装置铰接，形成第一铰接点，即形成一个所述转动副，所述连接装置的另一端与所述主体架铰接，形成第二铰接点，即形成第二个转动副，所述第二铰接点中心位于所述车轮的中心轴线上；在转动副的选择中，铰接算是比较稳定的一种方案。
作为本发明的优选方案，所述连接装置安装在所述主体架两侧，均为一单个的连接件，结构比较简单，优化更好，但是当两个所述转动副出现问题的时候，比如生锈卡住的时候，比较危险。
作为本发明的优选方案，所述连接装置安装在所述主体架两侧，所述连接装置由若干个连接件转动连接构成，结构相对一个连接件的形式更复杂，但是当两个所述转动副出现问题的时候，比如生锈卡住的时候，可以有效的把转动副的转动中心转到最近的连接件和连接件的转动连接处，防止卡死的情况。
作为本发明的优选方案，所述车轮数量为1个，所述支撑装置向上延伸，具备用于挡在驾驶者前方的挡块，车轮数量为1个情况下，为独轮的电动平衡车，挡块的设置可以更好地帮助支撑装置往竖直方向回转时把驾驶者带回。
作为本发明的优选方案，所述车轮数量为2个，所述支撑装置向上延伸，具备用于挡在驾驶者前方的挡块，车轮数量为2个的情况下，为双轮的电动平衡车。
作为本发明的优选方案，所述支撑装置包括：
主支撑架，所述连接装置和所述主支撑架形成所述转动副；
踏板，所述踏板设置在所述主支撑架上，位于所述主体架的两侧。
作为本发明的优选方案，单个的所述踏板和所述连接装置之间连接有弹性构件，所述弹性构件分别位于所述主支撑架的两侧，用于提供使所述支撑装置往所述竖直方向回转的阻尼，在本申请技术方案中，电动平衡车使用时，还是需要驾驶者自身尽量保证支撑装置的平衡，实际使用中，道路也不可能完全的平整，再加上本身主体架和车轮间存在的摩擦，所以支撑装置会在一定程度上受到影响产生偏转，而所述弹性构件提供的所述阻尼(弹性构件的弹力所产生)可以起到修正作用，减小驾驶者的驾驶难度，提高驾驶体验。
作为本发明的优选方案，驱动所述车轮转动的动力源为转子电机，相对于
其他电机来说，在电动平衡车中更普遍，使电动平衡车的重心也更好控制。
作为本发明的优选方案，所述蓄能轮具备加速旋转的功能，加速旋转时，蓄能轮就具备了陀螺仪的进动性，该性能可以帮助电动平衡车具备更好的平衡性能，使驾驶者能够更稳定地且更容易地驾驶电动平衡车，一定程度上提高驾驶安全性能以及降低学习成本。
作为本发明的优选方案，所述连接装置为T型结构，所述第一铰接点和第二铰接点均位于所述T型结构中间的长条形结构上，采用对称结构的连接件，可以进一步提高电动平衡车的稳定性，同时T型结构中向两侧支出的长条形结构上也方便对称安装其他部件(如所述弹性构件)，最大限度的保证电动平衡车整体的中心位置最优，提高电动平衡车的稳定性，同时也间接地提高了驾驶安全性。
作为本发明的优选方案，所述弹性构件的一端连接在所述踏板上，另一端连接在所述T型结构向两侧支出的长条形结构上，所述主支撑架竖直状态下，所述弹性构件对称布置在所述主支撑架的两侧，弹性构件的设置和T型结构的结合，在保证对支撑装置前后倾斜的一定修正效果的情况下，也尽量的满足了电动平衡车整体的对称型，保证其重心位置最优，提高电动平衡车的稳定性，同时也间接地提高了驾驶安全性。
与现有技术相比，本发明的有益效果：
提高电动平衡车的驾驶安全性。
图1为本发明实施例1的侧视图；
图2为本发明实施例1的正视图；
图3为本发明实施例1的过坑示意图；
图4为本发明实施例1的刹车示意图；
图5为本发明实施例1的折叠示意图；
图6为本发明实施例1的另一种蓄能轮设置方式示意图；
图7为本发明实施例2的正视图；
图8为本发明实施例3的侧视图；
图9为本发明实施例3的另一种蓄能轮设置方式示意图；
图10为本发明实施例4的正视图；
图11为本发明实施例5的侧视图；
图12为本发明实施例5的正视图；
图13为本发明实施例1的过坑示意图；
图14为本发明实施例1的刹车示意图；
图15为本发明实施例6的正视图；
图中标记：1-挡块，2-主体架，3-安装架，4-蓄能轮，5-弹性构件，6-踏板，7-主支撑架，8-支撑装置，9-连接装置，10-车轮。
下面结合实施例及具体实施方式对本发明作进一步的详细描述。但不应将此理解为本发明上述主题的范围仅限于以下的实施例，凡基于本发明内容所实
现的技术均属于本发明的范围。
实施例1
如图1、2(图1-15中除了正视图以外的图的右侧均是电动平衡车的前方，图中中心位置竖直的点画线均表示竖直方向)，一种电动平衡车，其包括：
主体架2；
车轮10，所述车轮10可转动地与所述主体架2相配接，并由动力源驱动转动(本实施例中，驱动所述车轮10转动的动力源为转子电机，可为内转子电机或外转子电机)；
支撑装置8，所述支撑装置8用于支撑驾驶者，所述支撑装置8安装于所述主体架2上，所述车轮10数量为1个，为独轮电动平衡车，所述支撑装置8向上延伸，具备用于挡在驾驶者前方的挡块1，该挡块1可折叠(折叠效果如图5)，支撑装置8也可设计为长度可调；
连接装置9、蓄能轮4；
所述支撑装置8通过所述连接装置9和所述主体架2连接，所述支撑装置8和所述主体架2分别与所述连接装置9上的两个错开布置的连接点连接，形成两个转动副，所述主体架2与所述连接装置9连接形成的转动副的公共轴线与所述车轮10的中心轴线重合，所述支撑装置8和所述连接装置9连接形成的转动副被构造为满足所述支撑装置8能够朝向所述车轮10的前方或后方转动；
所述蓄能轮4安装于所述支撑装置8上，由动力源驱动转动，并在所述电动平衡车行驶过程中保持转动，本实施例中，所述蓄能轮4具备加速旋转的功能，所述蓄能轮4被构造为满足当所述支撑装置8相对竖直方向倾斜一定角度
后，所述蓄能轮4能够与所述车轮10或所述主体架2接触，通过所述蓄能轮4的转动动能使所述支撑装置8往所述竖直方向回转。
所述两个转动副具体为：
所述连接装置9的一端与所述支撑装置8铰接，形成第一铰接点，所述连接装置9的另一端与所述主体架2铰接，形成第二铰接点，所述第二铰接点中心位于所述车轮10的中心轴线上。
所述连接装置9安装在所述主体架2两侧，均为一单个的连接件(在本实施例的结构中，所述连接装置9还可由若干个连接件转动连接构成，是一种更复杂但是有一定有益效果的技术方案)；所述连接装置9为T型结构，所述第一铰接点和第二铰接点均位于所述T型结构中间的长条形结构上，所述第二铰接点高于所述第一铰接点，其实，由于重力原因，当整个结构装配完毕以后，所述连接装置9必然会自然旋转，第一铰接点和第二铰接点同时位于一个竖直直线上，第一铰接点在最低处；
所述支撑装置8包括：
主支撑架7，所述连接装置9和所述主支撑架7形成所述转动副；
踏板6，所述踏板6设置在所述主支撑架7上，位于所述主体架2的两侧；
本实施例中，所述主支撑架7侧面固定连接有一个用于安装所述蓄能轮4的安装架3，所述蓄能轮4安装在所述安装架3的端部，本实施例中，所述安装架3支出所述主支撑架7的长度被构造为使所述蓄能轮4接触所述主体架2而产生作用(本实施例中，所述安装架3也能够设置为往车轮10的前后两个方向支出，对应2个蓄能轮4，如图6，按照前面的说法，靠电动平衡车后方的轮子
逆时针旋转，靠电动平衡车前方的轮子顺时针旋转，这种结构下，则不需要把结构设计成使蓄能轮4接触车轮10了，遇到有坑的情况，通过靠后的蓄能轮4和主体架2接触即可，遇到刹车的往后仰的情况，通过靠前的蓄能轮4和主体架2接触即可)。
单个的所述踏板6和所述连接装置9之间连接有弹性构件5，所述弹性构件5分别位于所述主支撑架7的两侧，用于提供使所述支撑装置8往所述竖直方向回转的阻尼。
具体的，所述弹性构件5的一端连接在所述踏板6上，另一端连接在所述T型结构向两侧支出的长条形结构上，所述主支撑架7竖直状态下，所述弹性构件5对称布置在所述主支撑架7的两侧，本实施例中，所述弹性构件5为弹簧；
在行驶过程中，当遇到坑时，如背景技术中所述的情况，车轮10卡入坑中，如图3，此时，图中竖直的点画线表示竖直方向，遇到坑时，整个支撑装置8往前倾斜，倾斜到图中角度时，旋转的蓄能轮4接触到主体架2(按照本实施例图中的设置方式，以图3作为参考，蓄能轮4是逆时针方向旋转)，然后在一瞬间释放旋转的动能，带动整个支撑装置8往竖直方向回转，从而保护驾驶者不甩出去；
同样的，以图3作为参考，蓄能轮4逆时针方向旋转，在需要刹车的时候，比如急刹，如图4，在往后倾斜后，电动平衡车识别进行减速后，当速度减下来时，现有的电动平衡车是不会给予支撑装置8一个使其回转的力的，那么在倾斜到一定角度后，驾驶者就有可能往后摔倒，造成伤害，如图4，本实施例的蓄能轮4的设置，在往后倾斜到一定角度时，旋转的蓄能轮4接触到停止的车轮10，然后在一瞬间释放旋转的动能，带动整个支撑装置8往竖直方向回转，从
而保护驾驶者不往后摔倒。
实施例2
如图7，本实施例中，除了和实施例1中的结构相同的技术方案以外，所述车轮10数量为2个，为双轮的电动平衡车，包含2个主体架2，两个主体架2对称设置，通过所述支撑装置8连接，而所述支撑装置8分别与所述主体架2通过所述连接装置9连接，和实施例1一样，单侧的连接均形成2个所述转动副，这种设置的话，实施例1中的踏板6则为一个了，设置在两个车轮10之间。
实施例3
如图8，本实施例中，除了和实施例1中的结构相同的技术方案以外，所述安装架3支出所述主支撑架7的长度被构造为使所述蓄能轮4接触所述车轮10外圈而产生作用，具体的是直接从踏板6向外延伸，构成所述安装架3(本方案中蓄能轮4设置在后方，蓄能轮4的旋转方向就是以图8为标准，顺时针转动了)，所述蓄能轮4到车轮10中心的距离在未接触情况下大于车轮10的半径，(本实施例中，所述安装架3也能够设置为往车轮10的前后两个方向支出，对应2个蓄能轮4，如图9，靠前的蓄能轮4则逆时针转动)。
实施例4
如图10，本实施例中，除了和实施例3中的结构相同的技术方案以外，所述车轮10数量为2个，为双轮的电动平衡车，包含2个主体架2，两个主体架2对称设置，通过所述支撑装置8连接，而所述支撑装置8分别与所述主体架2通过所述连接装置9连接，和实施例3一样，单侧的连接均形成2个所述转动副，这种设置的话，实施例3中的踏板6则为一个了，设置在两个车轮10之间。
实施例5
如图11、12，本实施例中，除了和实施例1中的结构相同的技术方案以外，所述安装架3则设置在所述连接装置9顶部的挡块1的相对于电动平衡车的前后两侧，对应的前后均安装有蓄能轮4，该实施例的技术方案和实施例3中的图9中的情况类似，只是把蓄能轮4设置在了车轮10的上方，主支撑架7上的挡块1则被设置为了一个座位，而两个蓄能轮4则设置在座位上，后方的蓄能轮4则逆时针转动，前方的蓄能轮4则顺时针转动；
如图13，遇到坑时，支撑装置8向前倾斜，则相对的位于电动平衡车后方的蓄能轮4接触到车轮10的外沿，带动支撑装置8往竖直方向回转，刹车情况如图14，撑装置向后倾斜，则相对的位于电动平衡车前方的蓄能轮4接触到车轮10的外沿，带动支撑装置8往竖直方向回转。
实施例6
如图15，本实施例中，除了和实施例5中的结构相同的技术方案以外，所述车轮10数量为2个，为双轮的电动平衡车，包含2个主体架2，两个主体架2对称设置，通过所述支撑装置8连接，而所述支撑装置8分别与所述主体架2通过所述连接装置9连接，和实施例5一样，单侧的连接均形成2个所述转动副，这种设置的话，实施例5中的踏板6则为一个了，设置在两个车轮10之间。
Claims (12)
- 一种电动平衡车，其包括：主体架；车轮，所述车轮可转动地与所述主体架相配接，并由动力源驱动转动；支撑装置，所述支撑装置用于支撑驾驶者，所述支撑装置安装于所述主体架上；其特征在于，还包括连接装置、蓄能轮；所述支撑装置通过所述连接装置和所述主体架连接，所述支撑装置和所述主体架分别与所述连接装置上的两个错开布置的连接点连接，形成两个转动副，所述主体架与所述连接装置连接形成的转动副的公共轴线与所述车轮的中心轴线重合，所述支撑装置和所述连接装置连接形成的转动副被构造为满足所述支撑装置能够朝向所述车轮的前方或后方转动；所述蓄能轮安装于所述支撑装置上，由动力源驱动转动，并在所述电动平衡车行驶过程中保持转动，所述蓄能轮被构造为满足当所述支撑装置相对竖直方向倾斜一定角度后，所述蓄能轮能够与所述车轮或所述主体架接触，通过所述蓄能轮的转动动能使所述支撑装置往所述竖直方向回转。
- 根据权利要求1所述的一种电动平衡车，其特征在于，所述两个转动副具体为：所述连接装置的一端与所述支撑装置铰接，形成第一铰接点，所述连接装置的另一端与所述主体架铰接，形成第二铰接点，所述第二铰接点中心位于所述车轮的中心轴线上。
- 根据权利要求2所述的一种电动平衡车，其特征在于，所述连接装置安装在所述主体架两侧，均为一单个的连接件。
- 根据权利要求2所述的一种电动平衡车，其特征在于，所述连接装置安装在所述主体架两侧，所述连接装置由若干个连接件转动连接构成。
- 根据权利要求3所述的一种电动平衡车，其特征在于，所述车轮数量为1个，所述支撑装置向上延伸，具备用于挡在驾驶者前方的挡块。
- 根据权利要求2所述的一种电动平衡车，其特征在于，所述车轮数量为2个，所述支撑装置向上延伸，具备用于挡在驾驶者前方的挡块。
- 根据权利要求5所述的一种电动平衡车，其特征在于，所述支撑装置包括：主支撑架，所述连接装置和所述主支撑架形成所述转动副；踏板，所述踏板设置在所述主支撑架上，位于所述主体架的两侧。
- 根据权利要求7所述的一种电动平衡车，其特征在于，单个的所述踏板和所述连接装置之间连接有弹性构件，所述弹性构件分别位于所述主支撑架的两侧，用于提供使所述支撑装置往所述竖直方向回转的阻尼。
- 根据权利要求5所述的一种电动平衡车，其特征在于，驱动所述车轮转动的动力源为转子电机。
- 根据权利要求1所述的一种电动平衡车，其特征在于，所述蓄能轮具备加速旋转的功能。
- 根据权利要求8所述的一种电动平衡车，其特征在于，所述连接装置为T型结构，所述第一铰接点和第二铰接点均位于所述T型结构中间的长条形结构上。
- 根据权利要求11所述的一种电动平衡车，其特征在于，所述弹性构件的一端连接在所述踏板上，另一端连接在所述T型结构向两侧支出的长条形结构上，所述主支撑架竖直状态下，所述弹性构件对称布置在所述主支撑架的两侧。
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201680042495.1A CN108137119B (zh) | 2016-03-24 | 2016-03-24 | 一种电动平衡车 |
| PCT/CN2016/077213 WO2017161532A1 (zh) | 2016-03-24 | 2016-03-24 | 一种电动平衡车 |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| PCT/CN2016/077213 WO2017161532A1 (zh) | 2016-03-24 | 2016-03-24 | 一种电动平衡车 |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| WO2017161532A1 true WO2017161532A1 (zh) | 2017-09-28 |
Family
ID=59899855
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| PCT/CN2016/077213 WO2017161532A1 (zh) | 2016-03-24 | 2016-03-24 | 一种电动平衡车 |
Country Status (2)
| Country | Link |
|---|---|
| CN (1) | CN108137119B (zh) |
| WO (1) | WO2017161532A1 (zh) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110281783A (zh) * | 2019-07-30 | 2019-09-27 | 常州嘉唐机械科技有限公司 | 一种通用卡丁车架 |
| CN113635981A (zh) * | 2021-08-25 | 2021-11-12 | 英凡蒂（北京）科技有限公司 | 一种新式履带平衡车 |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114084263B (zh) * | 2021-11-19 | 2023-06-09 | 广州城市理工学院 | 一种双平衡系统平衡车及其平衡控制方法 |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102079348A (zh) * | 2010-12-03 | 2011-06-01 | 北京工业大学 | 自平衡载人独轮车系统及控制方法 |
| JP4887865B2 (ja) * | 2005-12-14 | 2012-02-29 | 株式会社エクォス・リサーチ | 車両 |
| CN202180886U (zh) * | 2011-08-01 | 2012-04-04 | 上海大学 | 自平衡智能交通机器人 |
| JP2012224260A (ja) * | 2011-04-21 | 2012-11-15 | Honda Motor Co Ltd | 倒立振子型一輪車 |
| CN204124263U (zh) * | 2014-10-11 | 2015-01-28 | 金胜基 | 一种电动平衡车 |
| CN104527876A (zh) * | 2014-12-25 | 2015-04-22 | 李陈 | 一种重心自动调节的自平衡独轮车 |
| CN204895700U (zh) * | 2015-06-29 | 2015-12-23 | 深圳市宝乐机器人技术有限公司 | 具有安全保护的平衡车 |
Family Cites Families (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP5062328B2 (ja) * | 2008-11-27 | 2012-10-31 | トヨタ自動車株式会社 | 移動体、及びその制御方法 |
| TW201132545A (en) * | 2010-03-24 | 2011-10-01 | Nat Univ Tsing Hua | Individual green-energy carrying device with single wheel and self-balancing function |
| CN202806977U (zh) * | 2012-04-11 | 2013-03-20 | 浙江易力车业有限公司 | 一种带有辅助轮的自平衡电动载人独轮车 |
| CN204452718U (zh) * | 2014-08-26 | 2015-07-08 | 彭勇 | 一种轮外侧站立式的电动平衡车 |
| CN204623670U (zh) * | 2015-03-09 | 2015-09-09 | 章海滨 | 一种多功能电动独轮车 |
| CN104760644B (zh) * | 2015-04-14 | 2017-03-08 | 上海理工大学 | 一种电动独轮车 |
-
2016
- 2016-03-24 CN CN201680042495.1A patent/CN108137119B/zh active Active
- 2016-03-24 WO PCT/CN2016/077213 patent/WO2017161532A1/zh active Application Filing
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP4887865B2 (ja) * | 2005-12-14 | 2012-02-29 | 株式会社エクォス・リサーチ | 車両 |
| CN102079348A (zh) * | 2010-12-03 | 2011-06-01 | 北京工业大学 | 自平衡载人独轮车系统及控制方法 |
| JP2012224260A (ja) * | 2011-04-21 | 2012-11-15 | Honda Motor Co Ltd | 倒立振子型一輪車 |
| CN202180886U (zh) * | 2011-08-01 | 2012-04-04 | 上海大学 | 自平衡智能交通机器人 |
| CN204124263U (zh) * | 2014-10-11 | 2015-01-28 | 金胜基 | 一种电动平衡车 |
| CN104527876A (zh) * | 2014-12-25 | 2015-04-22 | 李陈 | 一种重心自动调节的自平衡独轮车 |
| CN204895700U (zh) * | 2015-06-29 | 2015-12-23 | 深圳市宝乐机器人技术有限公司 | 具有安全保护的平衡车 |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110281783A (zh) * | 2019-07-30 | 2019-09-27 | 常州嘉唐机械科技有限公司 | 一种通用卡丁车架 |
| CN110281783B (zh) * | 2019-07-30 | 2024-05-31 | 常州嘉唐机械科技有限公司 | 一种通用卡丁车架 |
| CN113635981A (zh) * | 2021-08-25 | 2021-11-12 | 英凡蒂（北京）科技有限公司 | 一种新式履带平衡车 |
Also Published As
| Publication number | Publication date |
|---|---|
| CN108137119A (zh) | 2018-06-08 |
| CN108137119B (zh) | 2019-12-31 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN204956786U (zh) | 一种双轮平衡车 | |
| EP3066001B1 (en) | Three-wheeled tilting bicycle | |
| US9611004B2 (en) | Electric-powered self-balancing unicycle with steering linkage between handlebars and wheel forks | |
| CN206797565U (zh) | 倾斜正三轮机动车可制动式倾斜机构 | |
| WO2016026356A1 (zh) | 一种电动两轮汽车 | |
| CN208007174U (zh) | 具有偏摆机构的三轮车 | |
| WO2017161532A1 (zh) | 一种电动平衡车 | |
| US20200262262A1 (en) | Vehicle | |
| US20200261786A1 (en) | Auto-balacing transportation device with stable platform pivot axes | |
| JP2012011997A (ja) | 車両 | |
| CN106184538A (zh) | 一种主动控制双前轮三轮车车身倾斜的装置 | |
| CN108622234A (zh) | 双模式电动平衡车及其模式转换方法 | |
| CN207029452U (zh) | 一种转向机构 | |
| CN208216912U (zh) | 一种双前轮车辆的摇摆悬挂系统 | |
| CN105539584B (zh) | 一种防倾翻转弯的倒三轮机动车 | |
| CN205952169U (zh) | 带有辅助踏板的电动减震滑板车 | |
| WO2011102106A1 (ja) | 車両 | |
| CN211969647U (zh) | 一种通过电子陀螺增稳的二轮电动车 | |
| CN114148441A (zh) | 一种车轮十字形布置的动平衡车 | |
| KR200486043Y1 (ko) | 듀얼 전륜용 틸팅 겸용 조향장치 및 그 조향장치를 갖는 이륜차 | |
| CN105539678A (zh) | 转向装置和独轮摩托车 | |
| CN111114681A (zh) | 一种通过电子陀螺增稳的二轮电动车及其平衡方法 | |
| CN104859765A (zh) | 三轮摩托车变形桥架 | |
| US11952072B2 (en) | Self-stabilizing vehicle | |
| CN201792947U (zh) | 双前轮自行车转向机构 |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| NENP | Non-entry into the national phase |
Ref country code: DE |
|
| 121 | Ep: the epo has been informed by wipo that ep was designated in this application |
Ref document number: 16894887 Country of ref document: EP Kind code of ref document: A1 |
|
| 122 | Ep: pct application non-entry in european phase |
Ref document number: 16894887 Country of ref document: EP Kind code of ref document: A1 |