WO2016050162A1 - 独轮平衡车 - Google Patents

独轮平衡车 Download PDF

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Publication number
WO2016050162A1
WO2016050162A1 PCT/CN2015/090486 CN2015090486W WO2016050162A1 WO 2016050162 A1 WO2016050162 A1 WO 2016050162A1 CN 2015090486 W CN2015090486 W CN 2015090486W WO 2016050162 A1 WO2016050162 A1 WO 2016050162A1
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WO
WIPO (PCT)
Prior art keywords
wheel
axle
unicycle
wheel cover
cover
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/CN2015/090486
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English (en)
French (fr)
Inventor
王野
高禄峰
刘磊
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Ninebot Tianjin Technology Co Ltd
Original Assignee
Ninebot Tianjin Technology Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Ninebot Tianjin Technology Co Ltd filed Critical Ninebot Tianjin Technology Co Ltd
Priority to EP15847090.6A priority Critical patent/EP3190036A4/en
Priority to US15/514,562 priority patent/US10160508B2/en
Priority to JP2017535954A priority patent/JP6381813B2/ja
Publication of WO2016050162A1 publication Critical patent/WO2016050162A1/zh
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L50/00—Electric propulsion with power supplied within the vehicle
    • B60L50/50—Electric propulsion with power supplied within the vehicle using propulsion power supplied by batteries or fuel cells
    • B60L50/60—Electric propulsion with power supplied within the vehicle using propulsion power supplied by batteries or fuel cells using power supplied by batteries
    • B60L50/66—Arrangements of batteries
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62J—CYCLE SADDLES OR SEATS; AUXILIARY DEVICES OR ACCESSORIES SPECIALLY ADAPTED TO CYCLES AND NOT OTHERWISE PROVIDED FOR, e.g. ARTICLE CARRIERS OR CYCLE PROTECTORS
    • B62J25/00—Foot-rests; Knee grips; Passenger hand-grips
    • B62J25/04—Floor-type foot rests
    • 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 SIDECARS, FORECARS, OR THE LIKE
    • B62K1/00—Unicycles
    • 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 SIDECARS, FORECARS, OR THE LIKE
    • B62K11/00—Motorcycles, engine-assisted cycles or motor scooters with one or two wheels
    • B62K11/007—Automatic balancing machines with single main ground engaging wheel or coaxial wheels supporting a rider
    • 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 SIDECARS, FORECARS, OR THE LIKE
    • B62K11/00—Motorcycles, engine-assisted cycles or motor scooters with one or two wheels
    • B62K11/02—Frames
    • 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 SIDECARS, FORECARS, OR THE LIKE
    • B62K11/00—Motorcycles, engine-assisted cycles or motor scooters with one or two wheels
    • B62K11/02—Frames
    • B62K11/10—Frames characterised by the engine being over or beside driven rear wheel
    • 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 SIDECARS, FORECARS, OR THE LIKE
    • B62K21/00—Steering devices
    • B62K21/12—Handlebars; Handlebar stems
    • B62K21/16—Handlebars; Handlebar stems having adjustable parts therein
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L2200/00—Type of vehicles
    • B60L2200/16—Single-axle vehicles
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/70—Energy storage systems for electromobility, e.g. batteries

Definitions

  • the invention belongs to the technical field of dynamic balance vehicles, in particular to a unicycle balancing vehicle.
  • Scooters can include both human-powered and powered drives.
  • Manpower-driven scooters and power-driven balancers require drivers to have good driving skills to maintain balance in all directions, while the power-driven scooter is maintained.
  • the balance car of the car body generally adopts a self-balancing system composed of a gyroscope and an acceleration sensor, and the driving skill of the driver is not as high as that of the human-driven scooter.
  • the one-wheeled balance car has relatively high requirements because it has only one wheel, which includes the operation of maintaining the balance of the car body.
  • the key differences between human-powered unicycles and power-driven unicycles include different power sources and the latter's self-balancing system, as well as other differences derived from this. Therefore, the following mainly introduces the power-driven unicycle balancing vehicle in the prior art.
  • the Chinese patent application with the name "unicycle motorcycle and spherical car” and the application number “CN99103781” proposes a spherical wheelbarrow. Because it drives the car on the road, the car is driving, the weight of the whole car is almost completely suppressed. On the wheel, the whole car basically only travels on this wheel, that is, when the car turns, the driver turns the steering wheel (or the steering lever) directly (through simple machinery) to provide a pair of torsion moments to a certain horizontal plane of the whole body ( Naturally, the wheel is turned around in a single wheeled position. It can be seen that during the driving process, the car can not automatically maintain the balance before and after, and the driving skill of the driver is relatively high.
  • Taiwanese patent application entitled “Single-wheel electric vehicle” application number “TWM403480” proposes an electric single-wheeled vehicle with a foot pedal and an auxiliary wheel, which uses a remote control handle to control forward and backward, and through the auxiliary wheel Achieve a balance between left and right.
  • the single-wheeled electric vehicle must be clamped to the body with legs when turning and driving the maneuver, and the legs or feet can be twisted in the opposite direction to turn. Due to the presence of the auxiliary wheel, it is necessary to twist the legs or feet with a large force to achieve the turning, and the leg can apply a large force to the side casing when turning.
  • the Chinese patent application entitled “Front-forward self-balancing electric unicycle” and application number “CN200810179658” proposes an electric single-wheeled vehicle with seat and armrests, an electronic control system, and capable of controlling the car to automatically maintain front and rear balance. Sitting in a sitting position, the left and right balances follow the traditional single-wheel bicycle, and provide an automatic balance function in the front and rear direction, which is easy to drive.
  • the Chinese patent entitled “Electric unicycle” and the application number “CN201110089122” proposes an electric single-wheel bicycle with front and rear self-balancing functions with a leg plate and a foldable foot pedal, which is the same as the US patent US8459667B2. It is proposed to form a two-point support to the driver by using the leg device and the foot pedal so that the driver can stand driving and use the legs and feet to control the car to maintain left and right balance and turn.
  • the wheel cover (vehicle shell) of the above-mentioned wheelbarrow is also a left and right two-piece structure, the distance between the wheel cover and the tire/hub is limited, under the lateral force exerted by the leg, or the road surface is uneven, the wheel cover is very It is easy to deform, fail, rub or hold the tire.
  • the rotation speed of the motor is directly related to the front and rear pitch attitude of the car body. Once the tire is rubbed or stuck by the wheel cover, it is easy to cause the motor to fly or get stuck, thus causing the driver to lose. There is a safety problem when the balance is broken and broken; once the wheel cover is worn or damaged, due to its large size, complicated structure, and high cost, there is a problem of inconvenient replacement and high maintenance cost.
  • the present invention has been made in order to provide a unicycle balancing vehicle that overcomes the above problems or at least partially solves the above problems.
  • a unicycle balancing vehicle includes at least one wheel, the wheel is disposed on a wheel frame, and a motor transmission mechanism is fixed in the wheel frame, and the motor transmission mechanism is used.
  • Driving the scooter to drive according to the acquired manned mode information; a wheel cover for partially covering the wheel; and a skeleton for reinforcing the mechanical strength of the wheel cover to travel in the wheel balancer
  • the load bearing performance of the wheel cover is increased in the process; and a foot pedal for the driver to step on the foot while driving is used to partially cover the wheel cover of the wheel.
  • the wheel carrier includes an axle and two axle brackets, the wheel is disposed on the axle, and the two axle brackets are respectively fixed on the left and right sides of the axle
  • the wheel cover is fixed on the axle bracket or the axle to partially cover the left and right sides of the wheel
  • the foot pedal is coupled to the axle to drive the wheel to rotate by manipulating the pedal.
  • the wheel carrier further includes an axle and an axle bracket, wherein the axle is fixed with a motor assembly mechanism for driving the wheel to rotate, and the axle bracket is fixed to the axle On the left and right sides, the wheel cover is fixed on the axle bracket or the axle to partially cover the left and right sides of the wheel.
  • the wheel carrier or the wheel cover is provided with a rotating shaft
  • the foot pedal is disposed on the rotating shaft
  • the foot pedal can surround the rotation The shaft is rotated to be stored.
  • the skeleton is a frame type skeleton.
  • the frame type skeleton includes a beam body and a standing rib disposed between the beam bodies.
  • the frame type skeleton further includes a reinforcing rib, and the reinforcing rib is disposed on the beam body.
  • a handle holder is disposed on the frame type skeleton, and the handle base is provided with a rotating shaft, and a resettable handle is disposed on the rotating shaft.
  • an outer casing is further fixed on the wheel cover or the wheel frame, and the wheel cover can be subjected to collision or friction instead.
  • a folding handle is further disposed on the skeleton.
  • the wheel covers can be similar to the surface contact, the contact area is larger, the contact stress distribution is more dispersed, and the strain is strained. Smaller, therefore with higher rigidity and higher relative strength; when the vehicle passes through uneven roads, or when the driver's legs or knees exert a large load on the car shell, when the car hits the ground or other objects,
  • the wheel covers can be similar to the surface contact, the contact area is larger, the contact stress distribution is more dispersed and the strain is smaller, so the deformation of the wheel cover can be significantly reduced, thereby avoiding excessive deformation and friction of the prior art wheel cover.
  • the possibility of getting stuck in the tire or hub motor improves safety.
  • FIG. 1 is an external schematic diagram of a wheelbarrow in an embodiment of the present application
  • FIG. 2 is a schematic diagram showing the explosion structure of a unicycle in the embodiment of the present application.
  • Figure 3 is a cross-sectional view of the wheelbarrow of Figure 1;
  • FIG. 4 is a schematic structural view of a skeleton of an embodiment of the present application.
  • FIG. 4 is a schematic diagram of a contact surface of a pair of left and right wheel housings in the embodiment of the present application;
  • FIG. 6 is a schematic diagram of a contact surface of a pair of left and right wheel housings in the prior art
  • Figure 7 is a schematic structural view of a casing according to an embodiment of the present application.
  • FIG. 8 is a schematic diagram of an explosion structure of a folding handle according to an embodiment of the present application.
  • FIG. 9 is a schematic exploded view of a specific unicycle according to an embodiment of the present application.
  • the unicycle balancing vehicle provided in the following embodiments of the present application has the main idea of including at least one wheel, the wheel is disposed on a wheel frame, and the motor transmission mechanism is fixed in the wheel frame.
  • the mechanism is configured to drive the scooter to travel according to the acquired manned mode information; a wheel cover for partially covering the wheel; and a skeleton for reinforcing the mechanical strength of the wheel cover to drive on the wheelbarrow
  • the load bearing performance of the wheel cover is increased during the process; and the foot pedal for the driver to step on the foot while driving is used to partially cover the wheel cover of the wheel.
  • the method includes at least: a steering rod for controlling a traveling direction of the vehicle amount, disposed on the wheel carrier; and two wheels disposed on the wheel a wheel cover for partially covering the wheel, fixed to the wheel frame; a skeleton for reinforcing the mechanical strength of the wheel cover, disposed on the wheel cover for traveling on the scooter The load bearing performance of the wheel cover is increased during the process; and a foot pedal for the driver to step on the foot while driving, the foot pedal being disposed on the wheel frame or the wheel cover, the foot pedal The plate is located between the two of the wheels.
  • the above-mentioned core idea of the present application can be applied to a vehicle having a hub, and can also be applied to a vehicle without a hub.
  • the hub, the outer rotor, and the balance are omitted in the following embodiments of the present application.
  • Structural components such as control systems that do not directly affect the skeleton setting.
  • FIG. 1 is an external schematic diagram of a wheelbarrow according to an embodiment of the present application
  • FIG. 2 is a schematic diagram showing an exploded structure of a wheelbarrow according to an embodiment of the present application.
  • a skeleton 102 is fixed at the joint of the left and right wheel covers 101 to increase the bearing performance of the wheel cover 101, thereby increasing the mechanical strength of the wheel cover.
  • the left and right wheel covers 101 and the skeleton 102 are assembled to correspond to one inner casing.
  • the left and right wheel covers 101 and the skeleton 102 may be integrally formed or may be formed separately; if the split body is formed, the skeleton 102 and the left and right wheel covers 101 may be fixed together by means such as screws.
  • the footrest 103 for the driver's feet to step on is disposed on the wheel cover 101.
  • the foot pedal 103 may be located below the axis of the wheel.
  • the foot pedal 103 may also be located above the axis of the wheel, such as integrally disposed directly above the wheel, or flush with the axis of the wheel. The details are not repeated here.
  • the foot pedal 103 is not limited to being disposed on the wheel cover 101, and may be disposed on the wheel frame by conventional methods in the industry, and details are not described herein again.
  • the vehicle carries loads Fx, Fy, and Fz in the three-dimensional coordinate system XYZ, the X direction is the front-rear direction when the vehicle is traveling, the Y direction is the left-right direction, and the Z-direction is the up-and-down direction.
  • Fx, Fy, and Fz represent the impact load generated by the impact in three directions or the load applied to the wheel cover/vehicle when the driver drives.
  • FIG. 3 is a cross-sectional view of the wheelbarrow of FIG. 1; as shown in FIG. 3, a cross-sectional view taken along the line AA of FIG. 1 in the direction of the vertical axis of the wheel, the wheel carrier includes an axle 104 and an axle bracket 105.
  • a wheel (not shown), a motor assembly mechanism 100 for driving the wheel to rotate, and an axle bracket 105 fixed to the left and right sides of the axle 104, the wheel cover 101 can be screwed
  • the wheel axle bracket 105 or the axle 104 is fixed in an equal manner to partially cover the left and right sides of the wheel.
  • the arrangement of the skeleton can be performed with reference to FIG. 3.
  • the wheel is disposed on the axle, and the two axle brackets are respectively fixed on the left and right sides of the axle, and the wheel cover is fixed at The axle bracket or the axle partially covers the left and right sides of the wheel, and the foot pedal is coupled to the axle to drive the wheel to rotate by manipulating the pedal.
  • the detailed description of the drawings will not be repeated.
  • the wheel axle bracket 105 of the wheel carrier or the wheel cover 101 may be provided with a rotation.
  • a rotating shaft 106 is disposed on the rotating shaft 106, and the foot pedal 103 is rotatable around the rotating shaft 106 to be received.
  • FIG. 4 is a schematic structural view of a skeleton of an embodiment of the present application; as shown in FIG. 4, it is a skeleton 102 of a frame structure, and may include an upper beam body 112, a lower beam body 122, and a lower beam body 112 and a lower beam body. Stand ribs 132 between 122.
  • the skeleton 102 may further include reinforcing ribs 142 respectively disposed on the upper beam body 112 so that a groove may be formed, and the groove may hide the subsequent handle.
  • the presence of the reinforcing rib 142 is such that the section is close to the end face of the I-steel, which improves the bearing capacity of the vertical direction Z and improves the torsional rigidity compared to the prior art solution.
  • the frame type skeleton may be, but not limited to, cast using materials such as engineering plastics and lightweight metals.
  • the horizontal direction ribs 102 in addition to the vertical direction ribs 102 between the upper beam body 112 and the lower beam body 122, the horizontal direction ribs 102, the vertical direction ribs 102, and the horizontal direction ribs may be added. 102 can be interlaced into a cross shape, and the detailed description of the drawings will not be repeated.
  • FIG. 5 is a schematic diagram of a contact surface of a pair of left and right wheel housings in the present embodiment
  • FIG. 6 is a schematic diagram of a contact surface of a pair of left and right wheel housings in the prior art
  • the wheel covers are directly butted together, similar to the line contact, the contact area is very small, the contact stress is concentrated and the strain is large, and thus has low rigidity and relatively small relative strength.
  • the upper beam body 112 and the lower beam body 122 are curved, and there are a plurality of vertical ribs 103 having a horizontal direction and a vertical direction between the two curved surfaces, thereby forming an arch-like structure.
  • an "arch bridge" With a three-dimensional support structure at the joint. Therefore, most of the impact load or static load in the X, Y direction, and Z direction of the left and right wheel covers are transmitted to the frame type skeleton.
  • the wheel covers can be similar to the surface contact, the contact area is more Large, the contact stress distribution is more dispersed and the strain is smaller, so the deformation of the wheel cover can be significantly reduced, thereby avoiding the possibility that the prior art wheel cover is excessively deformed to rub or catch the tire or the hub motor, and the safety performance is improved.
  • the embodiment of the present application further provides an annular outer casing 200, which is provided with a periphery of the left and right wheel covers, which can be fixed on the wheel cover or the wheel frame.
  • 7 is a schematic structural view of a casing according to an embodiment of the present application; as shown in FIG. 7, in order to realize portable replacement of the casing, a plurality of buckles 201 and/or a small number of screw bits 202 may be fixed to the wheel cover 101.
  • the user can be easily replaced by using a tool or only using a screwdriver to remove a small number of screws; the inner surface of the annular casing is closely attached to the outer surface S1 of the wheel cover 101 and the partial surface S2 of the twill shadow mark, completely or mostly The wheel cover 101 is encased in the ground.
  • the outer casing 200 since the outer casing 200 completely or largely encloses the wheel cover 101, the outer casing 200 can be firstly hit in place of the wheel cover 101 during the collision, since the annular outer casing 200 and the wheel cover 103 are closely fitted. Therefore, it can absorb the collision energy and reduce the probability of deformation/rupture of the wheel cover 101.
  • the outer casing 200 is scratched or damaged by collision, and since it is fixed to the wheel cover 101 by a plurality of snaps 201 and/or a small number of screw bits 202, it is easy to be replaced, and the maintenance cost and maintenance difficulty of the user can be reduced.
  • the wheelbarrow may not include the outer casing described in FIG.
  • FIG. 8 is a schematic diagram of an exploded structure of a folding handle according to an embodiment of the present application; as shown in FIG. 8, the handle 301 is fixed on the handle base 303 via a rotating shaft 302, and the handle base 303 is fixed to the frame by screws or pins.
  • the handle 301 and the handle 303 can be relatively rotated, and the relative rotation angle can be limited by setting a limiting device or by a structural limit design.
  • the rotating shaft 302 can have a certain damping or a similar mechanism through a ratchet or the like, and the sectional damping can be realized.
  • the handle 301 may include a handle frame (not shown) and a soft covering material (not shown) wrapped around the periphery of the handle frame.
  • the handle frame can be made of high-strength plastic or metal, which not only ensures the strength of the handle, but also provides a comfortable hand.
  • the handle 301 when the handle 301 is lifted by hand, the handle 301 is rotated upward about the rotating shaft 302, and the handle 301 is kept in the original position after the hand is released; when the handle 301 is pressed by hand, the handle can just fall into the frame.
  • the folding position in the groove of the skeleton can ensure the appearance of appearance.
  • the handle base 303 is fixed on the frame type skeleton 102. Therefore, the handle 301 can be formed by the handle holder 303 to form a one-side support. High carrying capacity.
  • the wheelbarrow may not include the folding handle described in FIG.
  • FIG. 9 is a schematic exploded view of a specific wheelbarrow according to an embodiment of the present application; as shown in FIG. 9, the tire 107 is fixed to the hub motor 108, the axle bracket 105 is fixed to the shaft of the hub motor 108, and the folding handle 303 is passed through the rotating shaft ( Not shown in the drawings) is mounted on the handle base 110, and the handle base 110 is fixed on the frame type skeleton 102; the wheel cover 101 is fixed on the frame type skeleton 102, and the equipment compartment 120 and the battery compartment 121 are respectively fixed to the left and right wheels.
  • two pedal pads 122 are respectively fixed on the left and right wheel covers 101, and two ring lamp assemblies 123 and a snap-type anti-collision housing 124 are respectively fixed on the left and right wheel covers 101, and two folding feet.
  • the pedals 103 are respectively fixed to the axle bracket 105 via a rotating shaft 106.
  • a motor transmission mechanism (not shown) is fixed in the wheel carrier, The motor transmission mechanism is configured to drive the scooter to travel according to the acquired manned mode information.
  • the name is "Electric wheel motor assembly”
  • the patent number is US7,445,067
  • the name is "self-balancing vehicle hub motor drive structure”
  • the patent number is CN201020207416.8
  • the name is “shaftless hub motor”
  • the application number is 201410006411.1

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Sustainable Development (AREA)
  • Sustainable Energy (AREA)
  • Power Engineering (AREA)
  • Transportation (AREA)
  • Motorcycle And Bicycle Frame (AREA)
  • Handcart (AREA)

Abstract

本发明公开了一种独轮平衡车，其至少包括：一个车轮，所述车轮设置在一轮架上，所述轮架中固定有电机传动机构，所述电机传动机构用于根据获取到的载人模式信息驱动所述代步车行驶；用于部分罩住所述车轮的轮罩；用于加强所述轮罩机械强度的骨架，以在所述独轮平衡车行驶的过程中增加所述轮罩的承载性能；以及用于驾驶者进行驾驶时双脚进行踩踏的脚踏板。用于部分罩住所述车轮的轮罩本申请实施例轮罩之间可以是类似于面接触，接触面积更大，接触应力分布更分散因而应变较小，因此可明显降低轮罩的形变量，从而避免了现有技术轮罩变形过大而摩擦或者卡住轮胎或轮毂电机的可能性，提高了安全性能。

Description

独轮平衡车 技术领域
本发明属于动平衡车技术领域，具体地说，涉及一种独轮平衡车。
背景技术
代步车可包括人力驱动和动力驱动，人力驱动类型的代步车和动力驱动的平衡车大都要求驾驶者具备良好的驾驶技巧，以保持前后左右各个方向的平衡，而由于动力驱动的代步车为了维持车体的平衡车，一般会采用由陀螺仪和加速度传感器等组成的自平衡系统，对驾驶者的驾驶技巧要求没有人力驱动型代步车那么高。
目前，市场上的代步车有两轮的，也有独轮的，独轮平衡车由于只有一个轮子，其包括维持车体平衡的操作，要求相对较高。人力驱动的独轮车和动力驱动的独轮车的关键区别点包括动力来源不同以及后者配置有自平衡系统，以及由此衍生的其他不同点。因此，下面主要介绍一下现有技术中动力驱动的独轮平衡车。
名称为“独轮摩托及球形车”、申请号为“CN99103781”的中国专利申请提出了一种球形独轮车，由于其使车在道路行驶，车子行驶之中，全车重量几乎全压在此独轮上，全车基本仅靠此独轮即壹轮着地行驶，车子转弯时，驾驶员转动方向盘(或方向操纵杆)直接(通过简单机械)提供给全车身的某一水平面一对扭力矩(自然是以独轮着地点为转动中心)扭动整车转一个行驶方向。由此可见，在驾驶的过程中，其车子无法自动保持前后平衡，对驾驶者的驾驶技巧要求较高。
名称为“单轮电能车”申请号为“TWM403480”的中国台湾专利申请提出了一种带脚踏板和辅助轮的电动单轮车，使用线控操纵手柄来控制前进后退，通过辅助轮来实现保持左右平衡。该单轮电能车在转弯和驾驶机动动作时必须用双腿夹住车身，反向扭动双腿或者双脚才能转弯。由于存在辅助轮，需用较大力量扭动双腿或双脚以带动才能实现转弯，转弯时腿部才能给侧面车壳施加较大的力。
专利名称为“Foot propel led hobby and/or sport device without hand lebar(用脚操纵的无手柄的娱乐运动设备)”、专利号为“US8459667B2”的美国专利提出了一种具有后侧稳定导轮，带有侧面车壳(side plate)、膝部或大腿支撑面(supporting surface)的独轮车，供驾驶员站立驾驶，提供了侧面车壳、膝部或大腿支撑面，驾驶者的每条腿与车子在竖直方向上形成了2点连 接，因此可以方便地用踩高跷的形式控制车子的左右平衡，降低了站立式单轮车的驾驶难度。
名称为“使用重心及质量移位控制系统的车辆和方法”、申请号为“CN02807642”的中国专利，以及名称为“Personal Mobility Vehicles and Methods”的、专利号为“6,302,230”的美国专利，以及名称为“Motorized Transport Vehicle for a Pedestrian”的、申请号为“2009/0266629”的美国专利等提出了根据检测“人/车”系统重心的变化，通过特定算法来驱动执行器以实现动态平衡的方法和装置，使得前后动态平衡的车辆成为可能。
名称为“前后向自平衡式电动独轮车”、申请号为“CN200810179658”的中国专利申请提出了一种带座位和扶手、具有电子控制系统、能控制车子自动保持前后平衡的电动单轮车，采用坐姿驾驶，其左右平衡沿用了传统单轮自行车的方式，并提供了前后方向的自动平衡功能，易于驾驶。
名称为“电动独轮自行车”、申请号为“CN201110089122”的中国专利提出了一种带靠腿板和可折叠脚踏板的、具有前后自平衡功能的电动单轮自行车，与美国专利US8459667B2同样地提出了利用靠腿装置和脚踏板形成对驾驶者的两点支撑，以使得驾驶者可以站立驾驶，并用腿和脚来操控车子保持左右平衡和转弯。
综上，上述独轮车的轮罩(车壳)也为左右两片式结构，轮罩与轮胎/轮毂之间距离有限，在腿部施加的侧向力作用下，或者路面不平整，轮罩很容易变形失效、摩擦或者卡住轮胎。尤其是对于具有前后自平衡功能的车子来说，电动机的转速是与车身前后俯仰姿态直接相关的，一旦轮胎被轮罩摩擦或卡住，很容易造成电机飞车或者卡死，从而导致驾驶者失去平衡而摔伤，存在安全问题；一旦轮罩磨损或者破损的情况，由于其尺寸大、结构复杂、成本高，存在更换不便、维修成本较高的问题。
对于两轮车由于路面不平整或者其他可能的原因，也很容易导致类似上述独轮车的类似问题，详细不再赘述。
发明内容
鉴于上述问题，提出了本发明以便提供一种克服上述问题或者至少部分地解决上述问题的一种独轮平衡车。
依据本发明的一个方面，提供了一种独轮平衡车，其至少包括：一个车轮，所述车轮设置在一轮架上，所述轮架中固定有电机传动机构，所述电机传动机构用于根据获取到的载人模式信息驱动所述代步车行驶；用于部分罩住所述车轮的轮罩；用于加强所述轮罩机械强度的骨架，以在所述独轮平衡车行驶的过 程中增加所述轮罩的承载性能；以及用于驾驶者进行驾驶时双脚进行踩踏的脚踏板用于部分罩住所述车轮的轮罩。
优选地，在本申请的一实施例中，所述轮架包括一轮轴以及两个轮轴支架，所述车轮设置在所述轮轴上，两个所述轮轴支架分别固定在所述轮轴左右两侧，所述轮罩固定在所述轮轴支架或所述轮轴上，以部分罩住所述车轮的左右两侧，所述脚踏板与所述轮轴连接，以通过操控脚踏板带动车轮旋转。
优选地，在本申请的一实施例中，所述轮架还包括一轮轴以及轮轴支架，所述轮轴上固定有电机总成机构以驱动所述车轮旋转，所述轮轴支架固定在所述轮轴左右两侧，所述轮罩固定在所述轮轴支架或所述轮轴上，以部分罩住所述车轮的左右两侧。
优选地，在本申请的一实施例中，所述轮架或者所述轮罩上设置有一旋转轴，所述脚踏板设置在所述旋转轴上，所述脚踏板可围绕所述旋转轴旋转以被收纳。
优选地，在本申请的一实施例中，所述骨架为框架式骨架。
优选地，在本申请的一实施例中，所述框架式骨架包括梁体以及设置在所述梁体之间的立筋。
优选地，在本申请的一实施例中，所述框架式骨架还包括加强筋，所述加强筋设置在所述梁体上。
优选地，在本申请的一实施例中，在所述框架式骨架上设置有一提手座，所述提手座上设置有旋转轴，所述旋转轴上设置一可复位的提手。
优选地，在本申请的一实施例中，还包括一外壳，固定在所述轮罩或所述轮架上，可代替所述轮罩承受碰撞或摩擦。
优选地，在本申请的一实施例中，还包括一折叠式提手，设置于所述骨架上。
与现有的方案相比，本申请实施例中，由于在两个轮罩对接处设置了一骨架，轮罩之间可以是类似于面接触，接触面积更大，接触应力分布更分散因而应变较小，因此具有更高的刚性和更高的相对强度；当车辆经过不平整路面时，或者在驾驶者的腿或者膝盖对车壳施加较大载荷时、车子撞击地面或者其他物体时，由于轮罩之间可以是类似于面接触，接触面积更大，接触应力分布更分散因而应变较小，因此可明显降低轮罩的形变量，从而避免了现有技术轮罩变形过大而摩擦或者卡住轮胎或轮毂电机的可能性，提高了安全性能。
上述说明仅是本发明技术方案的概述，为了能够更清楚了解本发明的技术手段，而可依照说明书的内容予以实施，并且为了让本发明的上述和其它目的、特征和优点能够更明显易懂，以下特举本发明的具体实施方式。
附图说明
通过阅读下文优选实施方式的详细描述，各种其他的优点和益处对于本领域普通技术人员将变得清楚明了。本实施例的附图仅用于示出优选实施方式的目的，而并不认为是对本发明的限制。而且在整个附图中，用相同的参考符号表示相同的部件。在附图中：
图1为本申请实施例中独轮车的外在示意简图；
图2为本申请实施例中独轮车的爆炸结构示意简图。
图3为图1中独轮车的剖视图；
图4为本申请实施例骨架的结构示意图；
图4为本申请实施例左右两个轮罩对接处的接触面示意简图；
图6为现有技术中左右两个轮罩对接处的接触面示意简图；
图7为本申请实施例一外壳的结构简图；
图8是本申请实施例一折叠式提手的爆炸结构简图；
图9为本申请实施例一具体独轮车的爆炸简图。
具体实施方式
下面将参照附图更详细地描述本公开的示例性实施例。虽然附图中显示了本公开的示例性实施例，然而应当理解，可以以各种形式实现本公开而不应被这里阐述的实施例所限制。相反，提供这些实施例是为了能够更透彻地理解本公开，并且能够将本公开的范围完整的传达给本领域的技术人员。
本申请的主要思想之一：
下述本申请实施例中提供的独轮平衡车，其主要思想在于，至少包括：一个车轮，所述车轮设置在一轮架上，所述轮架中固定有电机传动机构，所述电机传动机构用于根据获取到的载人模式信息驱动所述代步车行驶；用于部分罩住所述车轮的轮罩；用于加强所述轮罩机械强度的骨架，以在所述独轮平衡车行驶的过程中增加所述轮罩的承载性能；以及用于驾驶者进行驾驶时双脚进行踩踏的脚踏板用于部分罩住所述车轮的轮罩。
当将本申请的上述核心思想运用于两轮车时，其至少包括：包括：转向杆，用于控制车量的行驶方向，设置在所述轮架上；两个车轮，设置在所述轮架上；用于部分罩住所述车轮的轮罩，固定在所述轮架上；用于加强所述轮罩机械强度的骨架，设置在所述轮罩上，以在所述代步车行驶的过程中增加所述轮罩的承载性能；以及用于驾驶者进行驾驶时双脚进行踩踏的脚踏板，所述脚踏板设置在所述轮架或者所述轮罩上，所述脚踏板位于两个所述车轮的之间。
本申请的上述核心思想可应用于有轮毂的车辆，也可应用于无轮毂的车辆，为了清楚地对本申请的上述核心思想进行说明，本申请下述实施例中略去了轮毂、外转子、平衡控制系统等不直接影响骨架设置的结构部件。
下面将以动力驱动独轮车为例，对本申请的上述主要思想做说明。而对于本领域普通技术人员来说，无须创造性劳动可以将本申请的上述主要思想运用于人力驱动独轮车、两轮平衡车等等，详细不再赘述。
图1为本申请实施例中独轮车的外在示意简图；图2为本申请实施例中独轮车的爆炸结构示意简图。如图1、图2所示，在左右两侧轮罩101的对接处固定有一骨架102，以增加所述轮罩101的承载性能，从而增加轮罩的机械强度。左右两侧轮罩101和骨架102组装完毕可相当于一个内壳。左右两侧轮罩101和骨架102可以一体形成，也可以分体形成；如果分体形成的话，可以采用比如螺钉等方式将骨架102与左右轮罩101固定在一起。
本实施例中，用于驾驶者双脚踩踏的脚踏板103设置在轮罩101上，本实施例中，该脚踏板103可以位于所述车轮的轴心下方位置。但是需要说明的是，在其他实施例中，该脚踏板103也可以位于所述车轮的轴心上方位置，比如整体设置在车轮的正上方，或与所述车轮的轴心齐平的位置，详细不再赘述。但是，对于本领域普通技术人员来说，无须创造性劳动，其知悉脚踏板103不局限于设置在轮罩101上，也可以采用业界的惯常方法设置在轮架上，详细不再赘述。
如图1所示，在车辆行驶的过程中，车辆在三维坐标系X-Y-Z中中承载负荷Fx、Fy、Fz，X方向为车子行驶时的前后方向，Y方向为左右方向，Z方向为上下方向。Fx、Fy、Fz分别代表三个方向的撞击产生的冲击载荷或者驾驶者驾驶时对轮罩/车壳施加的载荷。
图3为图1中独轮车的剖视图；如图3所示，沿着图1中所示A-A向即过轮子轴心沿铅垂线方向的剖视图，轮架包括一轮轴104以及轮轴支架105，所述轮轴101上固定有轮子(图中未示出)、电机总成机构100以驱动所述车轮旋转，所述轮轴支架105固定在所述轮轴104左右两侧，所述轮罩101可通过螺钉等方式固定在所述轮轴支架105或所述轮轴104上，以部分罩住所述车轮的左右两侧。
对于人力驱动的独轮车，可以参照图3进行骨架的设置，具体地，所述车轮设置在所述轮轴上，两个所述轮轴支架分别固定在所述轮轴左右两侧，所述轮罩固定在所述轮轴支架或所述轮轴上，以部分罩住所述车轮的左右两侧，所述脚踏板与所述轮轴连接，以通过操控脚踏板带动车轮旋转。详细将不再附图进行赘述。
本实施例中，所述轮架的轮轴支架105或者所述轮罩101上可以设置有一旋 转轴106，所述脚踏板103设置在所述旋转轴106上，所述脚踏板103可围绕所述旋转轴106旋转以被收纳。
图4为本申请实施例骨架的结构示意图；如图4所示，其为一框架式结构的骨架102，可以包括上梁体112、下梁体122以及设置在上梁体112和下梁体122之间的立筋132。本实施例中，骨架102还可以包括加强筋142，所述加强筋142分别设置在所述上梁体112上，从而可以形成一个沟槽，可沟槽可以隐藏后续的提手。加强筋142的存在，使之断面接近工字钢端面，相比现有技术的方案，提高了竖直方向Z的承载能力，并提高了抗扭转刚性。
本实施中，框架式骨架可以但不局限于使用工程塑料、轻质金属等材料铸造制成。
在另外一实施例中，上梁体112、下梁体122之间除了设置垂直方向的立筋102外，还可以增加水平方向的立筋102，垂直方向的立筋102和水平方向的立筋102可以相互交错成十字形，详细不再附图说明。
图5为本申请实施例左右两个轮罩对接处的接触面示意简图；图6为现有技术中左右两个轮罩对接处的接触面示意简图；如图5、6所示，由于在两个轮罩对接处设置了一骨架，轮罩之间可以是类似于面接触，接触面积更大，接触应力分布更分散因而应变较小，因此具有更高的刚性和更高的相对强度；而现有技术中，轮罩之间直接对接，类似于线接触，接触面积非常小，接触应力较为集中因而应变较大，因此具有较低的刚性和较小的相对强度。
再参见图4所示，上梁体112、下梁体122呈弧面，在两个弧面之间有若干个既有水平方向、又有垂直方向的立筋103，从而形成类似拱桥的结构，与两个轮罩固连时，其连接处存在立体支承结构的“拱桥”。因此，对于左右两侧轮罩的X、Y方向、Z方向的冲击载荷或静载荷，都大部分被传递到框架式骨架上。因此，当车辆经过不平整路面时，或者在驾驶者的腿或者膝盖对车壳施加较大载荷时、车子撞击地面或者其他物体时，由于轮罩之间可以是类似于面接触，接触面积更大，接触应力分布更分散因而应变较小，因此可明显降低轮罩的形变量，从而避免了现有技术轮罩变形过大而摩擦或者卡住轮胎或轮毂电机的可能性，提高了安全性能。
为了进一步降低左右轮罩被破损的可能，本申请实施例还提供了一种环形外壳200，设置左右轮罩的外围，其可以固定在所述轮罩或所述轮架上。图7为本申请实施例一外壳的结构简图；如图7所示，为了实现外壳可便携更换，通过若干个卡扣201和/或少量螺丝位202可固定到所述轮罩101上，可便于用户不用工具或者仅使用螺丝起子拆卸少量螺丝即可拆换；所述环形外壳的内表面与轮罩101的外表面S1及斜纹阴影标识的部分表面S2紧密贴合，完全或大部分 地包络住轮罩101。
本实施例中，由于外壳200完全或大部分地包络住轮罩101，在碰撞发生的过程中，外壳200可代替轮罩101首先受到碰撞，由于环形车壳200和轮罩103紧密贴合，因此能起到吸收碰撞能量的作用，降低轮罩101的变形/破裂的几率。另外，外壳200被碰撞刮伤或者损坏，由于其是通过若干个卡扣201和/或少量螺丝位202固定到轮罩101上的，因此易于拆换，可降低用户维修成本和维修难度。
需要说明的是，在其他实施例中，独轮车也可以不包括图7所述的外壳。
为了便于独轮车的搬运，本申请实施例提供了一种折叠式提手。图8是本申请实施例一折叠式提手的爆炸结构简图；如图8所示，提手301通过转轴302固定在提手座303上，提手座303通过螺钉或销钉固定在框架式骨架102上。提手301和提手座303可以相对转动，另外可以通过设置限位装置或通过结构限位设计，以限制其相对转动角度。转轴302可以具有一定的阻尼或者通过棘轮等类似机构，可以实现分段式阻尼。
本实施例中，提手301可以包括提手骨架(图中未示出)和包覆在所述提手骨架外围的软性包覆材质(图中未示出)。提手骨架可以使用高强度塑胶或者金属制成，这样既保证了提手的强度，又提供了舒适的手感。
本实施例中，用手提起提手301时，提手301围绕转轴302向上转动，松开手后提手301会保持在原位置；用手按下提手301时，提手可以刚好落入框架式骨架的沟槽中的折叠位置，可以保证外观美观。
本实施例中，由于框架式骨架102具有较高的强度和刚度，提手座303又固定在该框架式骨架102上，因此，提手301可以通过提手座303形成单侧支承，具有较高的承载能力。
需要说明的是，在其他实施例中，独轮车也可以不包括图8所述的折叠式提手。
将本申请的上述核心思想运用于一具体独轮车中，本实施例中较为详细地示出了该独轮车的结构。图9为本申请实施例一具体独轮车的爆炸简图；如图9所示，轮胎107固定在轮毂电机108上，轮轴支架105固定在轮毂电机108的轴上，折叠式提手303通过转轴(图中未示出)安装在提手座110上，提手座110固定在框架式骨架102上；轮罩101固定在框架式骨架102上，设备舱壳120和电池舱121分别固定在左右轮罩101上，两个脚踝垫122分别固定在左右轮罩101上，2个环形灯组件123以及卡扣式结构的防碰撞外壳124分别固定在左右两个轮罩101上，两个折叠式脚踏板103分别通过转轴106固定在轮轴支架105上。
在上述实施例中，所述轮架中固定有电机传动机构(图中未示出)，所述 电机传动机构用于根据获取到的载人模式信息驱动所述代步车行驶。比如名称为“Electric wheel motor assembly”、专利号为US7,445,067，名称为“自平衡车的轮毂电机驱动结构”、专利号为CN201020207416.8，名称为“无轴轮毂电机”、申请号为201410006411.1专利中描述的传动方案。
上述说明示出并描述了本发明的若干优选实施例，但如前所述，应当理解本发明并非局限于本文所披露的形式，不应看作是对其他实施例的排除，而可用于各种其他组合、修改和环境，并能够在本文所述发明构想范围内，通过上述教导或相关领域的技术或知识进行改动。而本领域人员所进行的改动和变化不脱离本发明的精神和范围，则都应在本发明所附权利要求的保护范围内。

Claims (10)

  1. 一种独轮平衡车，其特征在于，包括：一个车轮，所述车轮设置在一轮架上，所述轮架中固定有电机传动机构，所述电机传动机构用于根据获取到的载人模式信息驱动所述代步车行驶；用于部分罩住所述车轮的轮罩；用于加强所述轮罩机械强度的骨架，以在所述独轮平衡车行驶的过程中增加所述轮罩的承载性能；以及用于驾驶者进行驾驶时双脚进行踩踏的脚踏板并产生所述载人模式信息。
  2. 根据权利要求1所述的独轮平衡车，其特征在于，所述轮架包括一轮轴以及两个轮轴支架，所述车轮设置在所述轮轴上，两个所述轮轴支架分别固定在所述轮轴左右两侧，所述轮罩固定在所述轮轴支架或所述轮轴上，以部分罩住所述车轮的左右两侧，所述脚踏板与所述轮轴连接，以通过操控脚踏板带动车轮旋转。
  3. 根据权利要求1所述的独轮平衡车，其特征在于，所述轮架还包括一轮轴以及轮轴支架，所述轮轴上固定有电机总成机构以驱动所述车轮旋转，所述轮轴支架固定在所述轮轴左右两侧，所述轮罩固定在所述轮轴支架或所述轮轴上，以部分罩住所述车轮的左右两侧。
  4. 根据权利要求1所述的独轮平衡车，其特征在于，所述轮架或者所述轮罩上设置有一旋转轴，所述脚踏板设置在所述旋转轴上，所述脚踏板可围绕所述旋转轴旋转以被收纳。
  5. 根据权利要求1所述的独轮平衡车，其特征在于，所述骨架为框架式骨架。
  6. 根据权利要求1所述的独轮平衡车，其特征在于，所述框架式骨架包括梁体以及设置在所述梁体之间的立筋。
  7. 根据权利要求1所述的独轮平衡车，其特征在于，所述框架式骨架还包括加强筋，所述加强筋设置在所述梁体上。
  8. 根据权利要求1所述的独轮平衡车，其特征在于，在所述框架式骨架上设置有一提手座，所述提手座上设置有旋转轴，所述旋转轴上设置一可复位的提手。
  9. 根据权利要求1所述的独轮平衡车，其特征在于，还包括一外壳，固定在所述轮罩或所述轮架上，可代替所述轮罩承受碰撞或摩擦。
  10. 根据权利要求1所述的独轮平衡车，其特征在于，还包括一折叠式提手，设置于所述骨架上。
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