CN102602481A - Two-wheeled self-balancing electric vehicle - Google Patents

Two-wheeled self-balancing electric vehicle Download PDF

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Publication number
CN102602481A
CN102602481A CN201210112847XA CN201210112847A CN102602481A CN 102602481 A CN102602481 A CN 102602481A CN 201210112847X A CN201210112847X A CN 201210112847XA CN 201210112847 A CN201210112847 A CN 201210112847A CN 102602481 A CN102602481 A CN 102602481A
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China
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wheel
tread plate
wheels
electrical motor
self
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Pending
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CN201210112847XA
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Chinese (zh)
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陈和
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Individual
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Individual
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Priority to CN201210112847XA priority Critical patent/CN102602481A/en
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    • BPERFORMING OPERATIONS; TRANSPORTING
    • B62LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62KCYCLES; CYCLE FRAMES; CYCLE STEERING DEVICES; RIDER-OPERATED TERMINAL CONTROLS SPECIALLY ADAPTED FOR CYCLES; CYCLE AXLE SUSPENSIONS; CYCLE SIDE-CARS, FORECARS, OR THE LIKE
    • B62K11/00Motorcycles, engine-assisted cycles or motor scooters with one or two wheels
    • B62K11/007Automatic balancing machines with single main ground engaging wheel or coaxial wheels supporting a rider
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B62LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62KCYCLES; CYCLE FRAMES; CYCLE STEERING DEVICES; RIDER-OPERATED TERMINAL CONTROLS SPECIALLY ADAPTED FOR CYCLES; CYCLE AXLE SUSPENSIONS; CYCLE SIDE-CARS, FORECARS, OR THE LIKE
    • B62K11/00Motorcycles, engine-assisted cycles or motor scooters with one or two wheels
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60LPROPULSION 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
    • B60L2200/00Type of vehicles
    • B60L2200/16Single-axle vehicles
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60LPROPULSION 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
    • B60L2220/00Electrical machine types; Structures or applications thereof
    • B60L2220/40Electrical machine applications
    • B60L2220/42Electrical machine applications with use of more than one motor
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60LPROPULSION 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
    • B60L2220/00Electrical machine types; Structures or applications thereof
    • B60L2220/40Electrical machine applications
    • B60L2220/46Wheel motors, i.e. motor connected to only one wheel
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60LPROPULSION 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
    • B60L2260/00Operating Modes
    • B60L2260/20Drive modes; Transition between modes
    • B60L2260/34Stabilising upright position of vehicles, e.g. of single axle vehicles
    • YGENERAL 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
    • Y02TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02TCLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00Road transport of goods or passengers
    • Y02T10/60Other road transportation technologies with climate change mitigation effect
    • Y02T10/64Electric machine technologies in electromobility

Abstract

The invention provides a novel self-balancing two-wheeled electric vehicle which is provided with two basically parallel wheels which are arranged in parallel on the left and right and can independently rotate. In order to reduce the volume and weight, the frame is omitted, and a foot pedal also serves as a frame. The foot pedal consists of two parts which can independently tilt forward or backward respectively; two wheels are arranged below the foot pedal; the wheels are lower than the upper surface of the foot pedal; and the two wheels are controlled by an electronic self-balancing control system so that the foot pedal is kept at horizontal balance in the front-back direction. A driver standing on the foot pedal can control the vehicle to go forward or backward or turn simply by changing the center of gravity. Therefore, the two-wheeled electric vehicle is flexible in control and stable in operation; and moreover, the vehicle is very light and convenient and easy to carry, and can be applied to multiple fields.

Description

The double-wheel self-balancing battery-driven car
Technical field
The present invention proposes a kind of electric motor car with two wheels of self-balancing type.Its two wheels are arranged on the below of tread plate; Be arranged in the right and left substantially parallelly; Each wheel all has independently electronics self-balancing control system and power-driven system, and the motorist stand in can order about advancing, retreat and turning to of electric motor car with two wheels on the tread plate.Exactly, this be a kind of stand-type, control by the motorist, the self-balancing type electric two-wheel vehicle.
Background technology
The technical examples of the most famous a kind of double-wheel self-balancing battery-driven car on the our times is that the patent (U.S.Patent No.6,302,230 B1, Oct.16,2001) by people such as Kamen is disclosed.The patent of Kamen has been summed up the background technology of self-balancing electric motor car with two wheels at that time, has disclosed the correlation technique of their power drivens and electron steering balance.The self-balancing electric motor car with two wheels that the Kamen patent is disclosed, two wheels that it has opposing parallel to arrange, (or on) is provided with a platform that supplies cyclist (operator) to stand between two wheels; It is the design of single shaft two-wheel, has a common axle that drives that two wheels are linked to each other; It also is provided with the handle stem of a manipulation usefulness, is used for improving the stability that the cyclist stands, and controls the direction that car is advanced.This self-balancing electric motor car with two wheels began to produce and put goods on the market in 2002, and the commodity of this two-wheel car are named as " Sai Gewei " (Segway).This two-wheel car has all obtained application in a plurality of countries, many aspects, not less than be in a kind of actv., short-range transportation means.
The deadweight of Sai Geweiche has 40 kilograms approximately, and is relatively heavier, and price is also relatively more expensive.These shortcomings have hindered further applying of it.The certain user hopes to use lighter electric motor car with two wheels, requires easy accessibility, has bigger portability.Also require cost-cutting, satisfy the needs in wider market.
In addition, we have successfully developed a kind of extremely light self-balancing single wheel battery-driven car, and disclose its technical characterictic and technical scheme (CN102275621A, 20111214).The maximum speed of this single wheel battery-driven car is about 15 kilometers/hour, conducts oneself with dignity about 13 kilograms.When riding, two pin of operator are stood respectively on two tread plates, and tread plate is fixed on the wheel carrier, is arranged on the both sides of wheel, and the position is below wheel shaft.When operator's center of gravity and the reference longitudinal axis between the wheel shaft during perpendicular to ground, the speed of self-balancing single wheel battery-driven car is zero.Because tread plate is fixed on the wheel frame plate; When the operator on standing in tread plate leans forward center of gravity or swing back; Cause the wheel frame plate also together lean forward along with operator's action or after stick up; Wheel before the frame plate low or after stick up (location status that promptly is car) status signal pass to little processing through gyroscope, little processing drive motor advances the single wheel battery-driven car or retreats.Like the operator center of gravity during canting, then can be made Vehicular turn towards the left and right sides.Being easy to carry lightly flexibly, is the outstanding advantage of this self-balancing single wheel battery-driven car.Yet, market a kind of electric motor car with two wheels light, stand-type, that control without hand of also will seeking development.
Therefore, develop one can be portable, self-balancing electric motor car with two wheels that cost is lower, simple to operate, stable, supply relevant occasion to use, be the generally expectation in relevant field.
Summary of the invention
The self-balancing type electric motor car with two wheels that the present invention proposes be have two substantially parallel, about wheel side by side, can independent rotation.For reduced volume and weight, saved vehicle frame, tread plate is held a concurrent post the function of vehicle frame.Two wheels are arranged on the below of tread plate.Each wheel respectively has an electronics self-balancing control system and a power-driven system, and they are according to the change in location on the fore-and-aft direction of tread plate, comes drive wheels to roll forward or backwards, makes tread plate on fore-and-aft direction, keep balance.Thereby making the motorist who stand on the tread plate can control electric motor car with two wheels advances, retreats or turn to.
In summary, disclosed summary of the invention has: two wheels respectively have independently axletree, can rotate independently; Tread plate is made up of two parts, they separately can be independently forward or towards rear-inclined; Two wheels are arranged on the below of tread plate, and the height of wheel is lower than the upper surface of tread plate; Two wheels are controlled by electronics self-balancing control system, make tread plate keep the horizontal equilibrium on the fore-and-aft direction.Stand in the motorist on the tread plate, can control car, or turn to and advanced forward backwards as long as change its center of gravity.Therefore, this kind electric motor car with two wheels is manoeuvrable, stable not only, and light especially, be easy to carry about with one, can in multiple field, be applied.
The experience personage is arranged in the industry after combining drawing to check being described in detail of hereinafter, can further understand technical characterstic of the present invention and other advantages associated.
Description of drawings
Fig. 1 is the transparent view of looking up side direction according to an instance proposed by the invention.Its tread plate is made up of two parts.
Fig. 2 is the transparent view of overlooking side direction according to another instance proposed by the invention.Its tread plate is an integral body.
Fig. 3 is the transparent view of looking up side direction of Fig. 2 instance.
These instances will detail hereinafter.
The specific embodiment
Consult Fig. 1, this is a kind of embodiment of the double-wheel self-balancing battery-driven car that uses of individual proposed by the invention, and this figure is its transparent view of looking up side direction.The tread plate of the double-wheel self-balancing battery-driven car 100 among the figure is made up of two parts, left half tread plate 110 and right half tread plate 111.The tread plate of this two halves is mutually to connect rotationally, they can be independently separately forward or towards rear-inclined.Also have two wheels matched with tread plate respectively, left wheel 120 is matched with left half tread plate 110, and right wheel 121 is matched with right half tread plate 111.Left wheel 120 is to arrange relatively parallel to each other with right wheel 121, and these two wheels can rotate independently, can use different speed each other, rotate towards different directions.Left wheel 120 and right wheel 121 each personal direct motor drive.The upper surface of a left side half tread plate 110 and right half tread plate 111 can supply motorist's pin to stand respectively, is motorist's step plane.Motorist's bipod substantially parallelly stands in left half tread plate 110 and 111 last times of right half tread plate respectively, and motorist's on one's feet fore-and-aft direction is the fore-and-aft direction of electric motor car with two wheels just.For ground, the tread plate of two halves separately all can be forward or towards rear-inclined; Two wheels also can roll forward or backwards on the ground.Each electrical motor is controlled by a cover electronics self-balancing system separately, and this electronics self-balancing control system makes the tread plate of electric motor car with two wheels on fore-and-aft direction, keep balance.Electronic control system is set usually, is state of equilibrium when the plane of tread plate and ground parallel, and that is to say: electronic control system make the tread plate of electric motor car with two wheels normally tend to will with the ground keeping parallelism.When electronics self-balancing control system detects tread plate and with respect to ground one angle of inclination is arranged on fore-and-aft direction, will instruction motor order about wheel and quicken or slow down, make the tread plate of electric motor car with two wheels on fore-and-aft direction, keep balance.Certainly, electronic control system can be state of equilibrium with a certain set positions of tread plate also, in like manner can be used for controlling the balance of car.The technology of this electronics self-balancing control system is known by the insider, and electronics kit such as for example available various gyrosensors or electronic accelerometer and circuit are realized.Electronics self-balancing control system can be used two covers, also can use an electronic system to control two independently subsystems.Electronics self-balancing control system is through comprising the drive systems wheel of electrical motor and transmission device.Electronics self-balancing control system and drive system all are set at the bottom surface of tread plate, for the sake of security, cover last electronic system and the driving system of not drawing of figure with cover.
When electronics self-balancing control system was worked, the plane of tread plate was towards top rake, and wheel just rolls forward; The step plane is towards rear-inclined, and wheel just rolls backwards.The bevelled angle increases, and then acceleration/accel becomes big; The bevelled angle reduces, and then acceleration/accel diminishes.Because each wheel has oneself independently by the electrical motor of electronics self-balancing control system control, the motorist can change its center of gravity in front and back, makes the tread plate run-off the straight, controls the speed of advance of double-wheel self-balancing battery-driven car; When the tread plate that motorist's left foot and right crus of diaphragm are stepped on, the different angle that tilts respectively makes that the speed of two wheels is different, just can control the service direction of double-wheel self-balancing battery-driven car.
Point out that in passing the function of this double-wheel self-balancing battery-driven car left and right sides two halves is identical, the meaning about just having when having only above the motorist stands in, so do not have practical significance about branch.Preceding text are for the convenience on narrating, Cai before parts titled with the title on " left side " and " right side ", as replacing with " first " and " second ", can be more definitely.Therefore, the title of standard can be used first wheel, second wheel instead, first tread plate, second tread plate, and titles such as first electrical motor, second electrical motor substitute.
Consult Fig. 2, this is that this is a transparent view of overlooking side direction according to the another kind of embodiment of the double-wheel self-balancing battery-driven car of individual's use proposed by the invention.Fig. 3 is the transparent view of looking up side direction of this embodiment.Not existing together of this programme and Fig. 1 scheme is not with tread plate break into two parts.Upward visible from scheming, the tread plate 230 of the double-wheel self-balancing battery-driven car 200 in this programme looks like an assembly that integral body is continuous, and its left and right sides two parts tread plate is connected with a kind of coilable connection structure.The coilable attaching parts of this kind is arranged on the bottom surface of tread plate.Centre portion on the tread plate, promptly available coilable flexible material is connected between left and right sides two parts tread plate, and left and right sides two parts tread plate is connected into an integral body.Coilable connection structure is arranged on the bottom surface of tread plate, but the tread plate behind the torsion structure attaching parts is set, but makes tread plate become the tread plate of torsional deflection.
But the technical characterstic of the attaching parts of this kind torsion structure, I am another patent (CN 101513569B, 2011.07.06) the middle announcement.It is a kind of brand new, be used for individual gliding motility equipment, coilable flexible connecting structure.These parts can reverse, can not be crooked; Being coilable spring, is again attaching parts.Its making is with comparatively simple by dress; Be easy to the homogeneity of accuracy control performance; And there is not a relaxation; Not wearing and tearing in the working process.It has very high reliability.
The right ends of the tread plate 230 that integral body is continuous is that cooresponding intensity is arranged, and can bear standing of motorist.Its centre portion can twist.Along with moving before and after motorist's the center of gravity; On tread plate 230; Motorist's bipod trampled about the step plane of part, can be forward or distortion backwards, similar with scheme shown in Figure 1; The left-half of tread plate 230 and the function of right half part are equivalent to a left side half tread plate 110 and right half tread plate 111 in Fig. 1 scheme, separately can be optionally forward or towards rear-inclined.
Two wheels of electric motor car with two wheels 200 are matched with tread plate 230 respectively, also connect the bottom surface at tread plate 230.Left wheel 210 connects the left-half at tread plate 230, and right wheel 211 connects the right half part at tread plate 230.Left wheel 210 is to arrange relatively parallel to each other with right wheel 211, and these two wheels can rotate independently, can use different speed each other, rotate towards different directions.Identical with the scheme of Fig. 1, left wheel 211 also is separately by a direct motor drive with right wheel 211.Each electrical motor is also separately by a cover electronics self-balancing system control, make the upper surface of the tread plate of electric motor car with two wheels normally tend to will with the ground keeping parallelism.For the sake of security, electrical motor and electronics self-balancing control system also all are set in the cavity of tread plate, or cover with cover.Same principle, because each wheel has oneself independently electrical motor and electronics self-balancing control system, the motorist can make the run-off the straight of step plane with bipod, controls the speed of advance and the service direction of double-wheel self-balancing battery-driven car.
Though the embodiment of above narration has comprised many specific details, should not constitute the restriction that embodiment is comprised scope, nor should only be limited on the diagram of these specified scheme of present proposition.Therefore, the covering scope of these embodiments should be determined by appended claim and corresponding file thereof, rather than by above-mentioned provide instance determined.In addition, should also be appreciated that to the present invention and can also do further change.This patent is intended to contain various variations, purposes or the improvement of carrying out according to principle of the present invention; Also contained with disclosed known arrangement or embodiment and departed to some extent, but still be subordinated to the scope of technology of the present invention and application principle thereof.

Claims (2)

1. double-wheel self-balancing battery-driven car, it is to constitute just like lower component:
First wheel and second wheel, they are substantially parallel to each other and are provided with about ground, do not have common axletree, can rotate independently;
First tread plate and second tread plate; First tread plate and first wheel are matched, and second tread plate and second wheel are matched, are to be connected rotationally mutually between first tread plate and second tread plate; They separately can be independently forward or towards rear-inclined; The upper surface of first tread plate and second tread plate supplies motorist left and right sides bipod to stand respectively, and first wheel is positioned at the below of first tread plate, and second wheel is positioned at the below of second tread plate;
First electrical motor and second electrical motor; First direct motor drive, first wheel; Second direct motor drive, second wheel, first electrical motor and second electrical motor are controlled by a cover electronic system at least, the velocity of rotation of electronic control system control wheel; Make tread plate keep the horizontal equilibrium on the fore-and-aft direction, supply the motorist be used for controlling electric motor car with two wheels forward, backwards with turn to.
2. double-wheel self-balancing battery-driven car, it is to constitute just like lower component:
First wheel and second wheel, they are to be provided with about basically symmetrically each other, they do not have common axletree, can rotate independently;
But the tread plate of a torsional deflection; It and first wheel, second wheel are matched; Supply motorist left and right sides bipod to stand respectively with the matched that part of tread plate of first wheel and with the upper surface of the matched that part of tread plate of second wheel; But be torsional deflection between this two parts tread plate, they separately can be independently forward or towards rear-inclined, first wheel and second wheel all are positioned at the below of tread plate;
First electrical motor and second electrical motor; First direct motor drive, first wheel; Second direct motor drive, second wheel, first electrical motor and second electrical motor are controlled by a cover electronic system at least, the velocity of rotation of electronic control system control wheel; Make tread plate keep the horizontal equilibrium on the fore-and-aft direction, supply the motorist be used for controlling electric motor car with two wheels forward, backwards with turn to.
CN201210112847XA 2012-04-18 2012-04-18 Two-wheeled self-balancing electric vehicle Pending CN102602481A (en)

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JPH0519481A (en) * 1991-07-15 1993-01-29 Mitsubishi Paper Mills Ltd Planographic printing plate
JP2014151721A (en) * 2013-02-06 2014-08-25 Toyo Parts Kk Wheel Walker
CN104029769A (en) * 2014-06-13 2014-09-10 杭州骑客智能科技有限公司 Electric balance swingcar
CN104118507A (en) * 2014-07-25 2014-10-29 祝珍海 Split rotating type self-balancing two-wheeled car
CN104443193A (en) * 2014-09-26 2015-03-25 杭州云造科技有限公司 Self-balancing scooter
CN104922893A (en) * 2014-06-13 2015-09-23 杭州骑客智能科技有限公司 Improved electric balance car
CN106394773A (en) * 2016-09-21 2017-02-15 谭春升 Scooter
CN107187530A (en) * 2014-09-15 2017-09-22 常州爱尔威智能科技有限公司 A kind of self-balancing two-wheeled electrocar control method for stably operating and a kind of self-balancing two-wheeled electrocar with cushion and handle
USD803963S1 (en) 2016-07-20 2017-11-28 Razor Usa Llc Two wheeled board
USD807457S1 (en) 2016-07-20 2018-01-09 Razor Usa Llc Two wheeled board
USRE46964E1 (en) 2012-02-12 2018-07-24 Solowheel Inc. Two-wheel self-balancing vehicle with independently movable foot placement sections
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JPH0519481A (en) * 1991-07-15 1993-01-29 Mitsubishi Paper Mills Ltd Planographic printing plate
USRE46964E1 (en) 2012-02-12 2018-07-24 Solowheel Inc. Two-wheel self-balancing vehicle with independently movable foot placement sections
USRE49608E1 (en) 2012-02-12 2023-08-15 Solowheel Inc. Two-wheel self-balancing vehicle with independently movable foot placement sections
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Application publication date: 20120725