CN108357603A - A kind of stabilizer and Self-Balancing vehicle - Google Patents

Abstract

The invention discloses a kind of Self-Balancing vehicle, including car body, front component and wheel assembly, the wheel assembly includes driving device and stabilizer, and the stabilizer connects the car body by the driving device that connected symmetrical dendrimer is arranged in the stabilizer both sides.The stabilizer includes wheel hub and several rounded around the interior wheel assembly being arranged in the wheel hub, the interior wheel assembly includes the lubrication groove of Plane of rotation and the perpendicular setting of Plane of rotation of the wheel hub, the lubrication groove, which is protruded, to be arranged on the outside of the wheel hub to form stabilizer wheel face, and the reverse drive gear of connection lubrication groove shaft and wheel hub shaft is provided between the lubrication groove and the balance wheel hub.The present invention is intended to provide a kind of stabilizer and Self-Balancing vehicle, so that with the stabilizer balance car traveling or it is static in the state of can keep balancing, it reduces its turning radius simultaneously and conveniently turns around in small space, solve the problems, such as that the turning radius caused by the wheel distribution of lap siding is big.

Description

A kind of balance wheel and self-balancing vehicle

technical field

The invention relates to the technical field of balance vehicles, in particular to a balance wheel and a self-balancing vehicle.

Background technique

At present, existing two-wheeled self-balancing vehicles have been widely used in various fields. In the structural form of the existing self-balancing vehicle, most of its two wheels are arranged according to the distribution form of coaxial rows, and the wheels can not only drive, but also maintain the front and rear balance of the car body.

However, for the two-wheeled self-balancing vehicle, the structure of the two wheels distributed in rows has defects such as low applicability to road conditions, easy imbalance at the start, and monotonous driving action. Therefore, need a kind of wheel to adopt the two-wheeled vehicle (as bicycle) of tandem distribution and make it can realize left and right self-balancing, to supplement the deficiencies in the prior art.

Contents of the invention

In order to solve the deficiencies in the prior art, the object of the present invention is to provide a balance wheel and a self-balancing vehicle, so that the balance vehicle with the balance wheel can maintain balance in a running or stationary state, while reducing its turning radius and It is convenient to turn around in a narrow space and solve the problem of large turning radius caused by the tandem wheel distribution.

In order to solve the above problems, the present invention provides a balance wheel, which includes a hub of the balance wheel and several inner wheel assemblies that are circularly arranged in the hub, and the inner wheel assemblies include a rotation plane and a rotation plane of the hub The inner wheel arranged vertically, the wheel surface of the inner wheel protrudes from the outer side of the hub to form the wheel surface of the balance wheel, and a shaft connecting the inner wheel and the hub shaft is arranged between the inner wheel and the balance hub The reversing transmission device; the power input end of the reversing transmission device is symmetrically arranged on both sides of the inner wheel assembly, and the power input end of the reversing transmission device on one side can perform independent motion control.

Preferably, the inner wheel includes inner hubs arranged symmetrically on both sides of the rotation axis of the inner wheel, and a wheel skin is arranged on the outer side of the inner hub.

Preferably, the reversing transmission device includes a first parallel gear arranged on the shaft of the inner wheel and a second parallel gear arranged perpendicular to the first parallel gear, symmetrically arranged on the shaft of the hub as the The first planetary gear at the power input end of the reversing transmission device and the second planetary gear vertically meshed with the first planetary gear, and a planetary gear shaft is connected between the second parallel gear and the second planetary gear.

Preferably, the hub includes a first hub shell and a second hub shell symmetrically arranged on both sides of the inner wheel assembly, and there is also a symmetrical arrangement between the hub and the inner wheel assembly. Both sides of the wheel assembly are used to fix the first planetary carrier and the second planetary carrier of the inner wheel assembly, and the first planetary gear is symmetrically arranged on the first hub shell and the first planetary carrier on both sides of the inner wheel assembly , Between the second hub shell and the second planet carrier.

As a preference, both the first planetary carrier and the second planetary carrier are provided with a circular body, and a plurality of connection blocks for fixing the inner wheel are arranged on the outer side of the edge of the body, and the edge of the body The inner side is provided with a plurality of through holes corresponding to the second planetary gears, and the second planetary gears are exposed outside the through holes and engaged with the first planetary gears.

A self-balancing vehicle, comprising a car body, a front wheel assembly and a rear wheel assembly, the rear wheel assembly includes a driving device and the balance wheel described above, and the balance wheel is symmetrically arranged on both sides of the balance wheel by connecting The driving device is connected to the vehicle body.

Preferably, the driving device includes a driving motor and a gearbox, the driving motor is fixedly arranged at the power input end of the gearbox and is electrically connected to the storage battery in the vehicle body, and the power output end of the gearbox is connected to the The hub rotating shaft of the balance wheel, a shock absorbing spring kit is connected between the gearbox and the vehicle body.

Preferably, the self-balancing vehicle also includes a balance control system, the balance control system includes a steering gear arranged in the front wheel assembly for controlling the orientation angle of the front wheels, and a steering gear arranged in the driving device for measuring the orientation angle of the rear wheels. The rotational speed counting device, the steering gear and the counting device are electrically connected to the control circuit board arranged in the vehicle body.

Preferably, the counting device includes a grating arranged in the gearbox to rotate with gears and an optical counter arranged in the gearbox corresponding to the grating, and the optical counter is electrically connected to the control circuit board.

Preferably, the gearbox is provided with a motor gear connected to the motor, a single or multiple secondary gears meshed with the motor gear, and a final gear meshed with the secondary gear and arranged on the hub shaft The grating is arranged on the secondary gear, and the secondary gear corresponding to the grating is also provided with a clutch in the gearbox.

Adopt above-mentioned preferred scheme, compared with prior art, the present invention has following advantage:

1. The balance wheel of the present invention is provided with a vertical planetary drive wheel, that is, a number of inner wheels arranged in the hub of the balance wheel, and the inner wheels are protruded to form the wheel surface of the balance wheel; The rotation of the inner wheel can be controlled by controlling the rotating shaft of the hub, which facilitates the balance adjustment of the balance wheel in a running or stationary state.

2. The balance car of the present invention is provided with the balance wheel and the balance control system, so that the balance car can maintain balance in the running and stationary state, and also has a flicking action when the inner wheel continues to be adjusted in the balanced state Function; through the detection and regulation of the balance control system, the self-balancing control of the balance wheel in the balance car can be realized, and the turning radius of the balance car can be reduced, which is convenient for the balance car to turn around in a small space.

Description of drawings

In order to illustrate the technical solutions of the embodiments of the present invention more clearly, the drawings that need to be used in the description of the embodiments will be briefly introduced below. Obviously, the drawings in the following description are some embodiments of the present invention. Ordinary technicians can also obtain other drawings based on these drawings on the premise of not paying creative work.

Fig. 1 is the structural disassembly schematic diagram of balance car of the present invention;

Fig. 2 is a structural disassembly schematic diagram of the balance car rear wheel assembly of the present invention;

Fig. 3 is the structural disassembly schematic diagram of balance wheel of the present invention;

Fig. 4 is a schematic diagram of the structural disassembly of the balance wheel inner wheel assembly of the present invention;

Fig. 5 is a schematic diagram of the structural disassembly of the front wheel assembly of the balance car of the present invention;

Fig. 6 is a schematic diagram of the structural disassembly of the installation part of the balance car steering gear of the present invention;

in:

1-first housing; 2-second housing; 3-control circuit board; 4-battery box; 005-battery cover; 100-rear wheel assembly; 200-front wheel assembly; 300-steering device;

101-the first casing of the left gearbox; 102-the second casing of the left gearbox; 103-the first casing of the right gearbox; 104-the second casing of the right gearbox; 105-the hub shaft;

106-rear shock absorber; 107-rear shock absorber; 108-rear shock absorber spring;

111-left motor gear; 112-left driving motor; 113-left second gear; 114-left third gear; 115-left fourth gear; 1151-left grating; 116-left optical counter; 117-left fourth gear Clutch; 118-left final gear;

121-right motor gear; 122-right drive motor; 123-right second gear; 124-right third gear; 125-right fourth gear; 1251-right grating; 126-right optical counter; 127-right fourth gear Clutch; 128-right final gear;

180-balance wheel; 181-first planet carrier; 182-second planet carrier; 1801-connection block; 1802-through hole; 183-first hub shell; 184-second hub shell; 185-first side circle; 186-the second side circle; 188-the first planetary gear;

190-inner wheel assembly; 191-inner wheel hub; 192-wheel skin; 193-first parallel gear; 194-second parallel gear; 195-second planetary gear; 196-planetary gear shaft; 197-inner wheel shaft;

201-front wheel; 202-fender; 203-left wheel frame; 204-right wheel frame; 205-front axle; -Front wheel main frame; 210-steering main shaft; 211-front wheel main frame accessories; 212-handle;

301-steering main frame; 3011-steering main shaft seat; 302-steering main frame accessories; 303-steering gear; 304-swing arm; 305-turntable; 306-buffer spring; 307-pull rod.

Detailed ways

In order to better understand the above objects, features and advantages of the present invention, the present invention will be described in detail below in conjunction with the accompanying drawings and specific embodiments. It should be noted that, in the case of no conflict, the embodiments of the present application and the features in the embodiments can be combined with each other. In the following description, a lot of specific details are set forth to facilitate a full understanding of the present invention, and the described embodiments are only some of the embodiments of the present invention, but not all of them. Based on the implementation manners in the present invention, all other implementation manners obtained by persons of ordinary skill in the art without making creative efforts belong to the scope of protection of the present invention.

Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the technical field of the invention. The terminology used herein in the description of the present invention is only for the purpose of describing specific embodiments, and is not intended to limit the present invention.

A kind of self-balancing vehicle as shown in Figure 1-6, comprises vehicle body, front wheel assembly 200 and rear wheel assembly 100, and described rear wheel assembly 100 comprises driving device and above-mentioned balance wheel 180, and described balance wheel 180 is connected to the vehicle body by connecting the drive devices arranged symmetrically on both sides of the balance wheel 180 .

A kind of balance wheel as shown in Fig. 2-4, comprises the wheel hub of balance wheel and several inner wheel assemblies 190 that are circularly arranged in the said wheel hub, and said inner wheel assembly 190 includes the rotating plane and said wheel hub The inner wheel arranged perpendicular to the rotation plane, the wheel surface of the inner wheel protrudes from the outer side of the hub to form the wheel surface of the balance wheel, and a connecting inner wheel rotating shaft 197 is arranged between the inner wheel and the balance hub The reversing transmission device with the hub rotating shaft 105.

Below in conjunction with specific embodiment and accompanying drawing, technical scheme of the present invention is further described in detail:

Example 1

A self-balancing electric bicycle as shown in FIG. 1 includes a body of the electric bicycle, and the body includes a first shell 1 , a second shell 2 , a front wheel assembly 200 and a rear wheel assembly 100 . A control circuit board 3, a battery box 4 and a box cover 5 for placing batteries, and a steering device for controlling the swing angle of the front wheel assembly 200 are arranged between the first housing 1 and the second housing 2 300. The control circuit board 3 is provided with modules such as a gyroscope and an integrated control circuit.

The rear wheel assembly 100 is provided with a balance wheel 180, as shown in FIG. 2 . The driving device includes a driving motor and a gearbox, the driving motor is fixedly arranged at the power input end of the gearbox and is electrically connected to the storage battery in the vehicle body, and the power output end of the gearbox is connected to the balance wheel 180 The hub rotating shaft 105 of. The gearbox is provided with a motor gear connected to the motor, a single or multiple secondary gears meshed with the motor gear, and a final gear meshed with the secondary gear and arranged on the hub shaft.

Preferably, the gearbox includes a left gearbox and a right gearbox. The left gearbox is provided with a left drive motor 112 and a left secondary gear set, and the left secondary gear set is arranged on the left gearbox first casing 101 and the left gearbox second casing 102 of the left gearbox between. Described left secondary gear set comprises left secondary gear 113, left third gear 114, left fourth gear 115, left fourth gear clutch 117 and left final gear 118; The power of described left gearbox is driven by left drive motor The left motor gear 111 of 112 is passed into the left secondary gear set and passed into the left side of the balance wheel 180 through the left final stage gear 118 . The second gear of the left fourth-stage gear 115 is split into an independent left fourth-stage gear clutch 117; when the load is too large, the left fourth-stage gear 115 and the left fourth-stage gear clutch 117 slip to protect the gearbox . The structure and parameters of the right gearbox and the left gearbox are exactly the same, and the spare parts correspond one by one; the right gearbox is provided with a right drive motor 122 and a right secondary gear set, and the right secondary gear set It is arranged between the first right gearbox casing 103 and the right gearbox second casing 104 of the right gearbox. Described right secondary gear group comprises right second stage gear 123, right third stage gear 124, right fourth stage gear 125, right fourth stage gear clutch 127 and right last stage gear 128; The power of described right gearbox is driven by right drive motor The right motor gear 121 of 122 is passed into the right secondary gear set and passed into the right side of the balance wheel 180 through the right final stage gear 128 .

As preferably, a shock absorbing spring set is connected between the gearbox and the vehicle body, and the shock absorbing spring set is composed of a rear shock absorbing rod 106, a rear shock absorbing sleeve 107, and a rear shock absorbing spring 108 to form an elastic telescopic rod, and The hinge between the rear wheel assembly 100 and the vehicle body is realized through the elastic telescopic rod, so that the rear wheel assembly 100 is swing-type shock-absorbing.

The balance wheel 180 includes a reversing transmission device and several inner wheel assemblies 190 arranged in the hub of the balance wheel, as shown in FIG. 3 and FIG. 4 . The hub includes a first hub shell 183 and a second hub shell 184 that are symmetrically arranged on both sides of the inner wheel assembly, and there is also a symmetrical arrangement between the hub and the inner wheel assembly 190 . Both sides of the wheel assembly 190 are used to fix the first planetary carrier 181 and the second planetary carrier 182 of the inner wheel assembly 190 , and the first planetary gear 188 is symmetrically arranged on the first hub shell on both sides of the inner wheel assembly 190 between the body 183 and the first planet carrier 181 , the second hub shell 184 and the second planet carrier 182 . The two sides of the hub are also provided with a first edge ring 185 and a second edge ring 186 .

As a preference, the inner wheel assembly 190 is provided with several inner wheels, the inner wheels include inner hubs 191 symmetrically arranged on both sides of the inner wheel shaft 197, the outer sides of the inner hubs 191 are provided with a wheel skin 192, The inner wheel is composed of an inner hub 191 and a skin 192 .

Preferably, the reversing transmission device includes a first parallel gear 193 arranged on the inner wheel shaft 197 and a second parallel gear 194 which is vertically meshed with the first parallel gear 193 and arranged on the hub shaft. The first planetary gear 188 on 105 and the second planetary gear 195 vertically meshed with the first planetary gear 188, the planetary gear shaft 196 is connected between the second parallel gear 194 and the second planetary gear 195 .

As a preference, both the first planetary carrier 181 and the second planetary carrier 182 are provided with a circular body, and a plurality of connecting blocks 1801 for fixing and installing the inner wheel are arranged on the outside of the edge of the body. A plurality of through holes 1802 are opened on the inside of the edge of the body corresponding to the second planetary gear 195 , and the second planetary gear 195 is exposed outside the through hole 1802 and engaged with the first planetary gear 188 .

The inner wheel assembly 190 is placed in the planet carrier, and the inner wheel shaft 197 and the planetary gear shaft 196 are axially fixed in loose holes; the inner wheel dense ring is arranged on the outermost edge of the balance wheel 180, That is, the wheel skin 192 becomes the ground-contacting part of the vehicle body, and the dense ring cloth of the wheel skin 192 forms the large wheel skin of the balance wheel 180 . All of the planet gear shafts 196 are on the radial rotation plane of the balance wheel 180, and the planet gear shafts 196 are arranged in a radial manner with the center of the balance wheel 180, so that the second planet The teeth 195 are arranged in a circular and centripetal manner and their movements do not interfere with each other. Both sides of the balance wheel 180 are respectively provided with the first sun gear 188, the first planetary gears 188 on both sides are engaged with the second planetary gear 195 at the same time, and the first planetary gears on both sides The gear 188 is respectively connected with the left final stage gear 118 and the right final stage gear 128 to receive the power transmitted from the left final stage gear 118 and the right final stage gear 128 respectively.

When the car body is moved forward, the turning direction of the balance wheel 180 is positive. When the vector speeds of the left final stage gear 118 and the right final stage gear 128 are consistent, the inner wheel stops rotating. Wheel 180 rotates, and when balance wheel 180 rotates, forward rotation or reverse rotation depends on the positive and negative values of the vector speed, and the car body moves. When there is a drop in the speed of the left final gear 118 and the right final gear 128 and they rotate in the same direction, the inner wheel will rotate to the slower side, and the planet carrier will drive the balance wheel 180 to rotate at the same time. The body moves and tilts to the side of the final gear with a smaller vector velocity value. When the absolute values of the vector velocities of the left final gear 118 and the right final gear 128 are the same but the positive and negative directions are opposite, the planetary carrier stops driving the balance wheel 180 to rotate, and the inner wheel drives the vehicle body to rotate in the opposite direction to the hub rotation axis. The rotating side is tilted, and the car body is stationary. Regardless of whether the vehicle body is stationary or moving, by changing the vector speed of the left final stage gear 118 and the right final stage gear 128, the inner wheel can adjust the balance of the vehicle body so that the vehicle body does not fall.

As shown in Figure 5, the front wheel assembly 200 is provided with a front wheel 201 and a front damping mechanism. Shock absorbing springs 208 are strung together into elastic telescopic double rods, and left wheel frame 203 and right wheel frame 204 are provided to fix the front wheel 201, and the left wheel frame 203 and right wheel frame 204 are connected with the front shock absorbing rod 206 , so that the front wheel 201 is a telescopic shock absorber.

As shown in Figure 6, the steering device 300 is also provided on the front wheel assembly 200, the steering device 300 includes a steering main frame 301, and the steering main frame 301 is provided with a steering gear 303 and a turntable 305 It is connected with the output shaft of the steering gear 303, and a swing arm 304 is provided to achieve coaxial and axial fixation with the turntable 305.

Preferably, a buffer spring is also provided to radially fix the swing arm 304 and the turntable 305. When the torsional force is overloaded, the buffer spring expands, and the swing arm 304 forms an angle with the turntable 305. Deviation to protect the steering gear 303. The steering main frame 301 is provided with a steering main shaft seat 3011, and the front wheel main frame 209 of the front wheel assembly 200 is provided with a steering main shaft 210, and the front wheel assembly 200 connects the steering main shaft 210 and the steering main shaft seat 3011 achieves articulation.

As preferably, a pair of push-pull rods 307 are also provided, and the push-pull rods 307 are respectively located on the left and right sides of the steering main frame 301, and the two ends of each push-pull rod 307 are connected to the swing arm 304 and the front wheel respectively. The left and right ends of the main frame 209 are hinged. When the swing arm 304 swings, the front wheel assembly 200 swings accordingly. The front wheel assembly 200 and the steering device 300 are used to control the driving direction of the vehicle body.

In this self-balancing car, the steering gear 303 arranged in the front wheel assembly 200 for controlling the orientation angle of the front wheels, the counting device arranged in the driving device for measuring the rotational speed of the rear wheels, and the car The control circuit board 3 in the body is composed of a balance control system. The steering gear 303 and the counting device are electrically connected to the control circuit board 3 arranged in the vehicle body.

Preferably, the counting device includes a grating arranged in the gearbox to rotate with gears and an optical counter arranged in the gearbox corresponding to the grating, and the optical counter is electrically connected to the control circuit board 3 . The grating includes a left grating 1151 and a right grating 1251, the grating is set on the fourth-stage gear on the secondary gear set, and the left gearbox is equipped with the left grating 1151 to measure the left gearbox The left optical counter 116 of the rotating speed; the right optical counter 126 for cooperating with the right grating 1251 to measure the rotating speed of the right gearbox is arranged in the right gearbox.

The above is only a preferred embodiment of the present invention, and is not intended to limit the present invention in any form. Therefore, any modification, Equivalent changes and modifications all still belong to the scope of the technical solutions of the present invention.

Claims (10)

1. A balance wheel, characterized in that it comprises a wheel hub of the balance wheel and several inner wheel assemblies that are circularly arranged in the hub, and the inner wheel assembly includes a rotation plane that is perpendicular to the rotation plane of the wheel hub The inner wheel is arranged, the wheel surface of the inner wheel is protrudingly arranged on the outer side of the hub to form the wheel surface of the balance wheel, and a switch connecting the inner wheel shaft and the hub shaft is arranged between the inner wheel and the balance hub. The reversing transmission device; the power input end of the reversing transmission device is symmetrically arranged on both sides of the inner wheel assembly, and the power input end of the reversing transmission device on one side can perform independent motion control. 2 . The balance wheel according to claim 1 , wherein the inner wheel comprises inner hubs arranged symmetrically on both sides of the inner wheel shaft, and a wheel skin is arranged on the outer side of the inner hub. 3 . 3. A balance wheel according to claim 1, characterized in that the reversing transmission device comprises a first parallel gear arranged on the shaft of the inner wheel and a gear vertically meshed with the first parallel gear. The second parallel gear, the first planetary gear symmetrically arranged on the hub rotating shaft as the power input end of the reversing transmission device, and the second planetary gear vertically meshed with the first planetary gear, the second parallel gear A planetary gear shaft is connected with the second planetary gear. 4. A balance wheel according to claim 3, characterized in that, the hub comprises a first hub shell and a second hub shell symmetrically arranged on both sides of the inner wheel assembly, and the hub and the There are also a first planetary carrier and a second planetary carrier symmetrically arranged on both sides of the inner wheel assembly between the inner wheel assemblies for fixing the inner wheel assembly, and the first planetary gears are symmetrically arranged on the inner wheel assembly. between the first hub shell and the first planet carrier, and between the second hub shell and the second planet carrier on both sides of the wheel assembly. 5. A kind of balance wheel according to claim 4, characterized in that, the first planetary carrier and the second planetary carrier are provided with a circular body, on the outside of the edge of the body are provided with a number of The connecting block of the inner wheel is fixedly installed, and a number of through holes are opened on the inner side of the edge of the body corresponding to the second planetary gear. The second planetary gear is exposed outside the through hole and meshed with the first planetary gear. Planetary gear. 6. A self-balancing vehicle, comprising a car body, a front wheel assembly and a rear wheel assembly, characterized in that the rear wheel assembly includes a driving device and the balancing wheel according to claim 1, and the balancing wheel is arranged symmetrically by connecting The driving device on both sides of the balance wheel is connected to the vehicle body. 7. A self-balancing vehicle according to claim 6, wherein the driving device comprises a driving motor and a gearbox, and the driving motor is fixedly arranged at the power input end of the gearbox and is electrically connected to the The storage battery in the vehicle body, the power output end of the gearbox is connected to the hub shaft of the balance wheel, and a shock absorbing spring kit is connected between the gearbox and the vehicle body. 8. A self-balancing vehicle according to claim 7, characterized in that, the self-balancing vehicle also includes a balance control system, and the balance control system includes a wheel set in the front wheel assembly for controlling the orientation angle of the front wheels. The steering gear and the counting device arranged in the driving device for measuring the rotational speed of the rear wheels, the steering gear and the counting device are electrically connected to the control circuit board arranged in the vehicle body. 9. A self-balancing vehicle according to claim 8, wherein the counting device includes a grating arranged in the gearbox and an optical counter arranged in the gearbox corresponding to the grating, The optical counter is electrically connected to the control circuit board. 10. A self-balancing vehicle according to claim 9, characterized in that, the gearbox is provided with a motor gear connected to the motor, a single or multiple secondary gears meshed and connected to the motor gear, and a meshing connection. The secondary gear is arranged on the final stage gear on the hub shaft; the grating is arranged on the secondary gear, and the secondary gear corresponding to the grating is also provided with a clutch in the gearbox.