WO2015188599A1 - 电动平衡车 - Google Patents

电动平衡车 Download PDF

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Publication number
WO2015188599A1
WO2015188599A1 PCT/CN2014/092849 CN2014092849W WO2015188599A1 WO 2015188599 A1 WO2015188599 A1 WO 2015188599A1 CN 2014092849 W CN2014092849 W CN 2014092849W WO 2015188599 A1 WO2015188599 A1 WO 2015188599A1
Authority
WO
WIPO (PCT)
Prior art keywords
cover
electric balance
inner cover
balance vehicle
vehicle according
Prior art date
Application number
PCT/CN2014/092849
Other languages
English (en)
French (fr)
Inventor
应佳伟
曹少军
Original Assignee
杭州骑客智能科技有限公司
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
Family has litigation
First worldwide family litigation filed litigation Critical https://patents.darts-ip.com/?family=51431295&utm_source=google_patent&utm_medium=platform_link&utm_campaign=public_patent_search&patent=WO2015188599(A1) "Global patent litigation dataset” by Darts-ip is licensed under a Creative Commons Attribution 4.0 International License.
Priority to ES14885065.4T priority Critical patent/ES2672771T3/es
Priority to AU2014397250A priority patent/AU2014397250B2/en
Priority to CN201480066762.XA priority patent/CN105939922B/zh
Application filed by 杭州骑客智能科技有限公司 filed Critical 杭州骑客智能科技有限公司
Priority to KR1020157020383A priority patent/KR20160075380A/ko
Priority to US14/773,650 priority patent/US9376155B2/en
Priority to MX2016001365A priority patent/MX354672B/es
Priority to DK14885065.4T priority patent/DK2987712T3/en
Priority to ES201590115A priority patent/ES2607153B1/es
Priority to ATA9472/2014A priority patent/AT518313B1/de
Priority to KR1020177022481A priority patent/KR101806092B1/ko
Priority to GB1516244.9A priority patent/GB2529565B8/en
Priority to NO14885065A priority patent/NO2987712T3/no
Priority to PL14885065T priority patent/PL2987712T3/pl
Priority to EP18165357.7A priority patent/EP3552936A1/en
Priority to RU2015154396A priority patent/RU2619683C1/ru
Priority to JP2015563187A priority patent/JP6031623B2/ja
Priority to CA2903571A priority patent/CA2903571C/en
Priority to EP14885065.4A priority patent/EP2987712B9/en
Publication of WO2015188599A1 publication Critical patent/WO2015188599A1/zh
Priority to US15/082,728 priority patent/US9452802B2/en
Priority to US15/160,589 priority patent/US10336392B2/en
Priority to US15/373,478 priority patent/US10167036B2/en
Priority to AU2017232090A priority patent/AU2017232090B2/en
Priority to US16/429,636 priority patent/US10486764B2/en
Priority to US16/658,020 priority patent/US10597107B2/en
Priority to US16/694,822 priority patent/US10696347B2/en
Priority to US16/694,981 priority patent/US11173980B2/en
Priority to US16/694,890 priority patent/US10696348B2/en
Priority to US16/695,013 priority patent/US10988200B2/en
Priority to US16/694,946 priority patent/US10850788B2/en
Priority to US16/946,610 priority patent/US11180213B2/en
Priority to US16/946,609 priority patent/US11312444B2/en
Priority to US17/108,871 priority patent/US11459053B2/en
Priority to US17/240,817 priority patent/US11731725B2/en
Priority to US17/931,882 priority patent/US20230002000A1/en

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    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63C—SKATES; SKIS; ROLLER SKATES; DESIGN OR LAYOUT OF COURTS, RINKS OR THE LIKE
    • A63C17/00—Roller skates; Skate-boards
    • A63C17/0006—Accessories
    • A63C17/002—Covers; Guards
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62K—CYCLES; CYCLE FRAMES; CYCLE STEERING DEVICES; RIDER-OPERATED TERMINAL CONTROLS SPECIALLY ADAPTED FOR CYCLES; CYCLE AXLE SUSPENSIONS; CYCLE SIDE-CARS, FORECARS, OR THE LIKE
    • B62K3/00—Bicycles
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63C—SKATES; SKIS; ROLLER SKATES; DESIGN OR LAYOUT OF COURTS, RINKS OR THE LIKE
    • A63C17/00—Roller skates; Skate-boards
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63C—SKATES; SKIS; ROLLER SKATES; DESIGN OR LAYOUT OF COURTS, RINKS OR THE LIKE
    • A63C17/00—Roller skates; Skate-boards
    • A63C17/01—Skateboards
    • A63C17/014—Wheel arrangements
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63C—SKATES; SKIS; ROLLER SKATES; DESIGN OR LAYOUT OF COURTS, RINKS OR THE LIKE
    • A63C17/00—Roller skates; Skate-boards
    • A63C17/04—Roller skates; Skate-boards with wheels arranged otherwise than in two pairs
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63C—SKATES; SKIS; ROLLER SKATES; DESIGN OR LAYOUT OF COURTS, RINKS OR THE LIKE
    • A63C17/00—Roller skates; Skate-boards
    • A63C17/04—Roller skates; Skate-boards with wheels arranged otherwise than in two pairs
    • A63C17/06—Roller skates; Skate-boards with wheels arranged otherwise than in two pairs single-track type
    • A63C17/08—Roller skates; Skate-boards with wheels arranged otherwise than in two pairs single-track type single-wheel type with single axis
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63C—SKATES; SKIS; ROLLER SKATES; DESIGN OR LAYOUT OF COURTS, RINKS OR THE LIKE
    • A63C17/00—Roller skates; Skate-boards
    • A63C17/12—Roller skates; Skate-boards with driving mechanisms
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63C—SKATES; SKIS; ROLLER SKATES; DESIGN OR LAYOUT OF COURTS, RINKS OR THE LIKE
    • A63C17/00—Roller skates; Skate-boards
    • A63C17/26—Roller skates; Skate-boards with special auxiliary arrangements, e.g. illuminating, marking, or push-off devices
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D51/00—Motor vehicles characterised by the driver not being seated
    • B62D51/001—Motor vehicles characterised by the driver not being seated characterised by the vehicle control device
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D51/00—Motor vehicles characterised by the driver not being seated
    • B62D51/02—Motor vehicles characterised by the driver not being seated the driver standing in the vehicle
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D61/00—Motor vehicles or trailers, characterised by the arrangement or number of wheels, not otherwise provided for, e.g. four wheels in diamond pattern
    • B62D61/02—Motor vehicles or trailers, characterised by the arrangement or number of wheels, not otherwise provided for, e.g. four wheels in diamond pattern with two road wheels in tandem on the longitudinal centre line of the vehicle
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62K—CYCLES; CYCLE FRAMES; CYCLE STEERING DEVICES; RIDER-OPERATED TERMINAL CONTROLS SPECIALLY ADAPTED FOR CYCLES; CYCLE AXLE SUSPENSIONS; CYCLE SIDE-CARS, FORECARS, OR THE LIKE
    • B62K11/00—Motorcycles, engine-assisted cycles or motor scooters with one or two wheels
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62K—CYCLES; CYCLE FRAMES; CYCLE STEERING DEVICES; RIDER-OPERATED TERMINAL CONTROLS SPECIALLY ADAPTED FOR CYCLES; CYCLE AXLE SUSPENSIONS; CYCLE SIDE-CARS, FORECARS, OR THE LIKE
    • B62K11/00—Motorcycles, engine-assisted cycles or motor scooters with one or two wheels
    • 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 SIDE-CARS, FORECARS, OR THE LIKE
    • B62K17/00—Cycles not otherwise provided for
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62K—CYCLES; CYCLE FRAMES; CYCLE STEERING DEVICES; RIDER-OPERATED TERMINAL CONTROLS SPECIALLY ADAPTED FOR CYCLES; CYCLE AXLE SUSPENSIONS; CYCLE SIDE-CARS, FORECARS, OR THE LIKE
    • B62K3/00—Bicycles
    • B62K3/002—Bicycles without a seat, i.e. the rider operating the vehicle in a standing position, e.g. non-motorized scooters; non-motorized scooters with skis or runners
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62M—RIDER PROPULSION OF WHEELED VEHICLES OR SLEDGES; POWERED PROPULSION OF SLEDGES OR SINGLE-TRACK CYCLES; TRANSMISSIONS SPECIALLY ADAPTED FOR SUCH VEHICLES
    • B62M6/00—Rider propulsion of wheeled vehicles with additional source of power, e.g. combustion engine or electric motor
    • B62M6/40—Rider propelled cycles with auxiliary electric motor
    • B62M6/45—Control or actuating devices therefor
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63C—SKATES; SKIS; ROLLER SKATES; DESIGN OR LAYOUT OF COURTS, RINKS OR THE LIKE
    • A63C2203/00—Special features of skates, skis, roller-skates, snowboards and courts
    • A63C2203/12—Electrically powered or heated
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63C—SKATES; SKIS; ROLLER SKATES; DESIGN OR LAYOUT OF COURTS, RINKS OR THE LIKE
    • A63C2203/00—Special features of skates, skis, roller-skates, snowboards and courts
    • A63C2203/14—Lighting means
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63C—SKATES; SKIS; ROLLER SKATES; DESIGN OR LAYOUT OF COURTS, RINKS OR THE LIKE
    • A63C2203/00—Special features of skates, skis, roller-skates, snowboards and courts
    • A63C2203/18—Measuring a physical parameter, e.g. speed, distance
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63C—SKATES; SKIS; ROLLER SKATES; DESIGN OR LAYOUT OF COURTS, RINKS OR THE LIKE
    • A63C2203/00—Special features of skates, skis, roller-skates, snowboards and courts
    • A63C2203/22—Radio waves emitting or receiving, e.g. remote control, RFID
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63C—SKATES; SKIS; ROLLER SKATES; DESIGN OR LAYOUT OF COURTS, RINKS OR THE LIKE
    • A63C2203/00—Special features of skates, skis, roller-skates, snowboards and courts
    • A63C2203/52—Direct actuation of steering of roller skate or skateboards, e.g. by a foot plate
    • 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
    • B62J45/00—Electrical equipment arrangements specially adapted for use as accessories on cycles, not otherwise provided for
    • B62J45/40—Sensor arrangements; Mounting thereof
    • 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
    • B62J45/00—Electrical equipment arrangements specially adapted for use as accessories on cycles, not otherwise provided for
    • B62J45/40—Sensor arrangements; Mounting thereof
    • B62J45/41—Sensor arrangements; Mounting thereof characterised by the type of sensor
    • B62J45/414—Acceleration sensors
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62K—CYCLES; CYCLE FRAMES; CYCLE STEERING DEVICES; RIDER-OPERATED TERMINAL CONTROLS SPECIALLY ADAPTED FOR CYCLES; CYCLE AXLE SUSPENSIONS; CYCLE SIDE-CARS, FORECARS, OR THE LIKE
    • B62K2204/00—Adaptations for driving cycles by electric motor
    • 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
    • Y02T10/72—Electric energy management in electromobility

Definitions

  • the present invention relates to an electric balance two-wheeled vehicle in which two platforms carrying a person can be twisted to drive each other to drive.
  • Electric balance car also known as body car, thinking car
  • its operation principle is mainly based on a basic principle called “dynamic stability", using the gyroscope and acceleration sensor inside the car body to detect the posture of the car body. Change and use the servo control system to accurately drive the motor to adjust accordingly to maintain the balance of the system.
  • the present invention provides an electric balance vehicle.
  • the present invention provides an electric balance vehicle including a top cover, a bottom cover, an inner cover, a rotating mechanism, two wheels, two hub motors, a plurality of sensors, a power source, and a controller.
  • the top cover includes a first top cover and a second top cover that are symmetrically disposed and rotatable relative to each other.
  • the bottom cover and the top cover are fixed, and the bottom cover includes a first bottom cover and a second bottom cover which are symmetrically arranged and mutually rotatable.
  • the inner cover is fixed between the top cover and the bottom cover, and the inner cover comprises a first inner cover and a second inner cover which are symmetrically arranged and mutually rotatable.
  • the rotating mechanism is fixed between the first inner cover and the second inner cover.
  • the two wheels are rotatably fixed to both sides of the inner cover, respectively.
  • the two hub motors are respectively fixed in the two wheels.
  • a plurality of sensors are respectively disposed between the bottom cover and the inner cover.
  • the power source is fixed between the first bottom cover and the first inner cover.
  • the controller is fixed between the second bottom cover and the second inner cover. The controller is electrically connected to the plurality of sensors, the power source and the hub motor, and the controller controls the corresponding hub motor to drive the corresponding wheel rotation according to the sensing signal transmitted by the sensor.
  • the electric balance car further includes two pedals, the pedals being fixed to the top cover and the inner cover.
  • the upper surface of the pedal has friction strips spaced apart from one another.
  • the first top cover and the second top cover respectively have notches
  • the first inner cover and the second inner cover respectively have recesses at positions corresponding to the notches
  • the notches and the recesses are combined to form a pedal cavity Hold the pedals.
  • the rotating mechanism comprises two bearings, a bushing and two retaining springs, and the two bearings are respectively fixed to the first inner cover and the second inner cover, and the sleeve is fixed in the two bearings and passes through Two snap springs are attached to the inner cover.
  • the inner cover has a cylindrical barrel, and the bearing and the sleeve are mounted in the barrel by a snap spring.
  • the electric balance car further has a decorative lamp disposed on the bottom cover.
  • the top cover further has two prompting boards, and the two prompting boards are electrically connected to the controller, wherein one prompting board displays the remaining power of the power source, and the other prompting board displays the working state of the electric balancing vehicle.
  • the senor comprises a gyroscope, an acceleration sensor and an inductive switch.
  • the inductive switch senses whether the user stands on the electric balance car to open or close, and the controller receives the sensing signal of the inductive switch to control whether the hub motor is controlled.
  • the controller receives the sensing signals of the acceleration sensor and the gyroscope to control whether the hub motor changes state.
  • the inductive switch is an infrared photosensor.
  • the electric balance vehicle further includes a charging interface, and the charging interface is disposed on the bottom cover.
  • the electric balance vehicle further includes an interface cover, and the interface cover covers the charging interface.
  • the electric balance vehicle further includes a limiting shaft disposed in the middle of the first inner cover and the second inner cover, wherein the limiting shaft is longer in the second inner cover than in the first inner cover length.
  • the top cover has two arcuate projections which are respectively located above the two wheels and cover a portion of the wheel.
  • the width of the curved projection is greater than the width of the wheel.
  • the top and bottom covers are plastic and the inner cover is an aluminum alloy.
  • the electric balance vehicle further includes a remote controller, and the controller receives the control signal from the remote controller.
  • the controller has a storage unit that stores an initial balance state of the electric balance vehicle and a correction unit that corrects the current balance state of the electric balance vehicle.
  • the present invention uniquely provides an inner cover between the top cover and the bottom cover of the electric balance car, so that the entire structure of the electric balance car is more secure, and at the same time, the electronic components inside the car body are protected. use.
  • a space for fixing electronic components is formed between the inner cover and the bottom cover, so that the mounting of the electronic components is more compact.
  • the wheel of the invention is located at the left and right edge positions of the vehicle body, so that a larger-sized wheel can be used, and the existing balance car with the wheel mounted on the bottom of the bottom cover has obvious advantages in motion stroke and speed.
  • the present invention adopts a hub motor to directly mount the motor in the wheel, so that the structure of the electric balance car is more compact, and the space is more space-saving than the balance car in which the motor is separately mounted, and the whole device is more compact.
  • FIG. 1 is a cross-sectional view of an electric balance vehicle according to a first embodiment of the present invention
  • FIG. 2 is a schematic exploded view of an electric balance vehicle according to a first embodiment of the present invention
  • FIG. 3 is a schematic view of an electric balance vehicle according to a first embodiment of the present invention.
  • FIG. 4 is a schematic view showing another angle of an electric balance vehicle according to a first embodiment of the present invention.
  • FIG. 5 is a partial functional block diagram of an electric balance vehicle according to a first embodiment of the present invention.
  • Figure 6 is a schematic view of an electric balance vehicle according to a second embodiment of the present invention.
  • the electric balance vehicle 100 in this embodiment includes a top cover 1, an inner cover 2, a bottom cover 3, two hub motors 4, two wheels 50, a rotating mechanism 60, and a plurality of sensors. 80. Power source 81 and controller 82.
  • the top cover 1 includes a first top cover 11 and a second top cover 12 that are symmetrically disposed and rotatable relative to each other. When the electric balancer 100 is in use, the top cover 1 is at the top.
  • the first top cover 11 can be a left top cover and the second top cover 12 can be a right top cover. However, the present invention is not limited thereto.
  • the electric balance vehicle 100 is turned 180 degrees horizontally, the first top cover 11 becomes the right top cover, and the second top cover 12 becomes the left top cover.
  • the first top cover 11 and the second top cover 12 are substantially identical in shape, and the first top cover 11 and the second top cover 12 can be relatively rotated by the rotation mechanism 60.
  • the inwardly facing portions of the first top cover 11 and the second top cover 12 are connected to form an "X" shape, and have two prompting plates 13 at the innermost end position, and the prompting plate 13 is electrically connected to the controller 82, wherein one prompting plate 13 shows the remaining power of the power source 81, and another reminder board 13 displays the operating state of the electric balancer 100.
  • a transparent cover 14 is provided on each of the reminder boards 13 to protect the reminder board 13 and is convenient for the user to read.
  • the prompting board 13 displaying the working state may be according to different modes of the electric balancing vehicle 100, such as a low speed mode, a high speed mode, a normal system
  • the status, the lock status, and the like thereby displaying different icons (such as icons of batteries, etc.) to allow the user to intuitively and clearly understand the working state of the balance vehicle 100.
  • the outwardly facing portions of the first top cover 11 and the second top cover 12 respectively have arcuate projections 15 which are respectively located above the two wheels 50 and cover a part of the wheel 50. .
  • the width W1 of the curved projection 15 is greater than the width W2 of the wheel 50.
  • the curved projection 15 completely covers the top of the wheel 50.
  • the curved projection 15 can effectively block the muddy water splashed by the wheel 50 while walking.
  • the hanging object for example, the belt on the user's body is too long
  • the curved projections 15 may have a narrow intermediate width design at both ends.
  • the bottom cover 3 and the top cover 1 are fixed. In practical applications, the top cover 1 and the bottom cover 3 can be fixed together by screws.
  • the top cover 1, the inner cover 2 and the bottom cover 3 of the present invention together form the frame of the electronic balance vehicle 100 of the present invention.
  • the inner cover 2 will be wrapped around the vehicle body. The interior is not exposed.
  • the bottom cover 3 is at the bottom,
  • the bottom cover 3 includes a first bottom cover 31 and a second bottom cover 32 that are symmetrically disposed and rotatable relative to each other.
  • the first bottom cover 31 and the second bottom cover 32 have substantially the same shape, and the first bottom cover 31 and the second bottom cover 32 can be relatively rotated by the rotation mechanism 60.
  • the inward portions of the first bottom cover 31 and the second bottom cover 32 are joined to form an "X" shape.
  • the first bottom cover 31 may be a left bottom cover
  • the second bottom cover 32 may be a right bottom cover.
  • the bottom cover 3 has two decorative lamps 33, which can also provide illumination while adding aesthetics.
  • the outer casing of the decorative light 33 can be made transparent to transmit light.
  • the decorative light 33 can be electrically connected to the controller 82. Therefore, the decorative light 33 can reflect the driving state of the electric balancing vehicle 100 to generate a reminder to the surrounding people, thereby improving the safety of use. For example, when the balance car 100 is advanced, the decorative light 33 can be always bright; when the balance car 100 is retracted, the decorative light 33 can be flashed; when the balance car 100 is turned to the left, the decorative light 33 located on the left can be blinking or constantly lit.
  • the decorative light 33 on the right side may not be lit; when the balance car 100 is turned to the right, the decorative light 33 on the right may blink or be constantly lit, and the decorative light 33 on the left may not light.
  • the present invention does not limit the lighting state of the decorative lamp 33.
  • the inner cover 2 is fixed between the top cover 1 and the bottom cover 3.
  • the inner cover 2 includes a first inner cover 21 and a second inner cover 22 that are symmetrically disposed and rotatable relative to each other.
  • the first inner cover 21 and the second inner cover 22 are substantially identical in shape, and the first inner cover 21 and the second inner cover 22 are relatively rotatable by the rotation mechanism 60.
  • the intermediate position of the inner cover 2 can be mounted with a rotating mechanism 60, and the left and right edge positions fix the longitudinally mounted hub motor 4.
  • the first inner cover 21 and the second inner cover 22 are connected to each other to form an integral body.
  • the present invention is not limited thereto.
  • the first inner cover 21 and the second inner cover 22 may be separate and separate components from each other.
  • first inner cover 21 can be a left inner cover and the second inner cover 22 can be a right inner cover.
  • first inner cover 21 becomes the right inner cover
  • second inner cover 22 becomes the left inner cover.
  • the electric balance vehicle 100 further includes two pedals 5, and the pedals 5 are fixed to the top cover 1 and the inner cover 2.
  • the upper surface of the pedal 5 of the balance vehicle 100 in the present embodiment has friction strips 51 spaced apart from each other to increase the frictional force.
  • the first top cover 11 and the second top cover 12 respectively have notches 16, and the first inner cover 21 and the second inner cover 22 respectively have positions corresponding to the notches 16 respectively.
  • the recess 23, the notch 16 and the recess 23 are combined with each other to form a pedal cavity (not shown in Fig. 2) to accommodate the pedal 5.
  • the notch 16 penetrates through the top cover 1, the recess 23 does not penetrate on the inner cover 2, and the shape of the notch 16 and the recess 23 and the pedal 5 match each other.
  • the pedal cavity is an accommodating space having a bottom surface and a side wall formed by the combination of the notch 16 and the recess 23.
  • the pedal 5 When in use, the pedal 5 carries the user directly.
  • the inner cover 2 serves as a skeleton of the interior of the entire balancer 100, and indirectly receives the weight of the user transmitted by the pedal 5, and prevents the electronic components between the inner cover 2 and the bottom cover 3 from being squeezed by the weight of the user. Therefore, the entire electric balance vehicle 100 will be stronger and stronger, and also protect the electronic components therein, so that the operation of the electric balance vehicle 100 is more stable and the service life is longer.
  • the inner cover 2 is an aluminum alloy, so the strength is higher and the structure is more stable.
  • the top cover 1 and the bottom cover 3 are made of plastic, which can reduce the weight of the entire vehicle body, and also facilitate the process of spraying and coloring the appearance of the vehicle body, and play the role of anti-fouling and waterproofing.
  • the internal electronic components directly bear the weight of the user, and because the balance car travels when it is swaying, the automatic power-off is likely to occur, and the user is in use. It is easy to fall.
  • the electric balance vehicle 100 of the present invention solves this technical problem.
  • the rotation mechanism 60 is fixed to the middle of the first inner cover 21 and the second inner cover 22.
  • the rotating mechanism 60 includes two bearings 61, a bushing 62 and two retaining springs 63.
  • the two bearings 61 are fixed to the inner ends of the first inner cover 21 and the second inner cover 22, respectively.
  • the sleeve 62 is fixed in the two bearings 61 and fixed to the inner cover 2 by a snap spring 63, so that the left and right inner covers of the inner cover 2 can be rotated by the cooperation of the rotating mechanism 60.
  • a cylindrical cylinder 24 may be designed at the inward end of the first inner cover 21 and the second inner cover 22, and the bearing 61 and the sleeve 62 are mounted from the outside to the inside through the snap spring 63. Barrel 24 Inside.
  • the electric balance vehicle 100 further includes a limiting shaft 7, and the length of the limiting shaft 7 in the second inner cover 22 is longer than that in the first inner cover 22. The length within an inner cover 21.
  • the limiting shaft 7 is located between the inward ends of the first inner cover 21 and the second inner cover 22.
  • the two wheels 50 are rotatably fixed to both sides of the inner cover 2, and the two hub motors 4 are respectively fixed in the two wheels 50.
  • the hub motor 4 also known as the wheel-mounted motor, integrates the power, transmission and braking devices into the hub, thus omitting a large number of transmission components, making the structure of the balancer simpler, achieving better space utilization, and at the same time Efficiency is improved. Since the hub motor 4 has the characteristics of independent driving of a single wheel, differential steering of a similar track type vehicle can be realized by different speeds or even reverse rotations of the left and right wheels 50, thereby greatly reducing the turning radius of the vehicle, and in a special case, almost in situ can be realized. Turn.
  • a plurality of sensors 80 are disposed between the bottom cover 3 and the inner cover 2. Specifically, half of the sensor 80 is disposed between the first bottom cover 31 and the first inner cover 21, and the other half of the sensor 80 is disposed between the second bottom cover 32 and the second inner cover 22.
  • the power source 81 is fixed between the first bottom cover 31 and the first inner cover 21.
  • the controller 82 is fixed between the second bottom cover 32 and the second inner cover 22. The invention only needs one power source 81 and one controller 82 to simultaneously control the two hub motors 4, which is simpler to assemble, more convenient in wiring, and convenient for returning to the factory after the electric balancer 100 is sold.
  • the power source 81 and the controller 82 are respectively disposed in the two halves of the vehicle body, which is more space-saving and makes the structure of the entire vehicle body more compact.
  • the wires connecting the power source 81 and the controller 82 and the wires connecting the controller 82 and the hub motor 4 can be passed through the joints of the two halves of the vehicle body, that is, from the left half (or the right half) of the vehicle body. Go to the right half (or the left half).
  • the sensor 80 includes a gyroscope 83, an inductive switch 84, and an acceleration sensor 85.
  • the acceleration sensor 85 and the gyroscope 83 are disposed on the same circuit board. 2 can only see the front side of the board due to the viewing angle, and the acceleration sensor 85 and the gyroscope 83 (shown in phantom in FIG. 2) are disposed on the back side of the board in actual use.
  • the controller 82 is electrically connected to the plurality of sensors 80, the power source 81 and the hub motor 4.
  • the controller 82 controls the corresponding hub motor 4 to drive the corresponding wheel 50 to rotate according to the sensing signal transmitted by the sensor 80.
  • the sensor switch 84 senses whether the user is standing on the electric balance vehicle 100 to be turned on or off, and the controller 82 receives the sensing signal (ie, the opening or closing signal) of the sensing switch 84 to control whether the hub motor 4 is working, and the controller 82 receives the acceleration.
  • the sensing signals of the sensor 85 and the gyroscope 83 are used to control whether the hub motor 4 changes state.
  • the inductive switch 84 is an infrared photosensor.
  • the present invention is not limited thereto.
  • the inductive switch 84 can be a microwave inductive switch, an ultrasonic inductive switch, or any other inductive switch that performs the same function.
  • the balance cart 100 also includes a blocking member 86.
  • the blocking member 86 blocks the infrared sensing area of the infrared photosensor, and the infrared photo sensor is thus turned on.
  • the controller 82 receives the turn-on signal from the inductive switch 84, thus driving the hub motor 4 to operate.
  • the prior art balance cars are all self-rotating when the wheel is turned on, and the user cannot easily stand on the balance car.
  • the wheel does not stop rotating.
  • the entire wheel must be pressed to stop the rotation, which has a very large potential danger and is very inconvenient to use.
  • the electric balance vehicle 100 of the present embodiment does not operate as a starting hub motor 4, but drives the wheel 50 by sensing whether the user stands on the pedal 5, thereby avoiding the blind rotation of the balance vehicle in the prior art. Increased security of use.
  • the electric balance vehicle 100 of the present embodiment balances the automatic balance by sensing the pedaling instead of turning on the power, thereby ensuring the safety of the vehicle body and the small rotation of the vehicle body, and avoiding the prior art when the power is turned on. Self-balancing will cause the car body balance point to be incorrect, and the car body rotation may cause the user to be unable to balance.
  • the acceleration sensor 85 and the gyro 83 collectively detect the motion state of the balancer 100, such as detecting the acceleration and angular velocity of the balancer 100, and the like.
  • the controller 82 drives the hub motor 4 based on the sensing signals transmitted by the acceleration sensor 85 and the gyroscope 83, thereby determining whether the balancer 100 is to change direction or speed.
  • the detection techniques of the acceleration sensor 85 and the gyroscope 83 are prior art and will not be described herein.
  • the electric balance vehicle 100 further includes a U-shaped fixing member 9. Both the sensor 80 and the blocking member 86 are fixed to the U-shaped fixing member 9, so that the mounting of the electronic components of the entire device is modularized, facilitating assembly, wiring, and later maintenance.
  • the user uses the force of the foot to drive a part or two parts of the vehicle body to twist together, so that the sensor 80 sends a sensing signal to the controller 82, and the controller 82 drives the hub motor 4 according to an internal control program, and further Allows the user to turn, move forward or backward, thus achieving "foot control", which is more convenient to use and more flexible to control.
  • the controller 82 of the present invention controls the balance car to reach a self-balancing state and controls the wheel 50 to advance, retreat or turn is a prior art and will not be described herein.
  • the patent name is a smart balance vehicle balance control device and a smart balance car, and this control device can be the controller 82 in this embodiment.
  • the patent name is described in the circuit control device for controlling the balance motor using CPLD.
  • other control devices and control methods may also be selected, such as Chinese Patent Application No. 201310516158.X, and the patent name is the control method described in the two-wheel self-balancing vehicle control method.
  • the electric balance vehicle 100 further includes a charging interface 87, and the charging interface 87 is disposed on the bottom cover 3. Specifically, the charging interface 87 is disposed outside the bottom cover 3 to facilitate charging of the power source 81.
  • the controller 82 has a storage unit 821 that stores an initial balance state of the electric balance vehicle 100, and a correction unit 822 that corrects the current balance state of the electric balance vehicle 100. Specifically, when the electric balance vehicle 100 is shipped from the factory, the data of the vehicle body level is recorded in the storage unit 821. When the electric balance vehicle 100 is used for a certain period of time, the sensor 80 of the electric balance vehicle 100 may shift to a certain extent due to the use of the external environment such as temperature and jitter, and thus the horizontal reference value of the electric balance vehicle 100 may change accordingly. At this time, if the horizontal data of the factory is still used, the control balance car 100 may be inaccurate, long-term use or even an accident.
  • the correction unit 822 of this embodiment stores a correction program.
  • the electric balance vehicle 100 detects the real-time condition of the sensor 80 and makes a determination and comparison with the initial level data to determine whether the original data is to be overwritten for re-setting.
  • the control precision and service life of the balance vehicle 100 are greatly improved, and the problem of the flexibility and accuracy of the balance vehicle after using the balance vehicle for a period of time is overcome.
  • FIG 6 is a schematic view of an electric balance vehicle according to a second embodiment of the present invention. Please refer to Figure 6.
  • the electric balance vehicle 200 further includes a remote controller 210 that receives a control signal from the remote controller 210. Remote control of the electric balance vehicle 200 can be achieved by providing the remote controller 210.
  • the power button and the correction button are provided on the remote controller 210, and the present invention does not limit this.
  • the electric balance cart 200 also includes an interface cover 310 that covers the charging interface.
  • the interface cover 220 prevents the muddy water splashed by the electric balance vehicle 300 from contaminating the charging interface or even entering the interior of the vehicle body.
  • the present invention uniquely provides an inner cover between the top cover and the bottom cover of the electric balance vehicle, so that the entire structure of the electric balance vehicle is more secure, and at the same time, the electronic components inside the vehicle body are protected.
  • a space for fixing electronic components is formed between the inner cover and the bottom cover, so that the mounting of the electronic components is more compact.
  • the wheel of the invention is located at the left and right edge positions of the vehicle body, so that a larger-sized wheel can be used, and the existing balance car with the wheel mounted on the bottom of the bottom cover has obvious advantages in motion stroke and speed.
  • the present invention adopts a hub motor to directly mount the motor in the wheel, so that the structure of the electric balance car is more compact, and the space is more space-saving than the balance car in which the motor is separately mounted, and the whole device is more compact.

Abstract

本发明提供一种电动平衡车，包括顶盖、底盖、内盖、转动机构、两个车轮、两个轮毂电机、多个传感器、电源和控制器。顶盖包括成对称设置且可相互转动的第一顶盖和第二顶盖。底盖和顶盖相固定，底盖包括成对称设置且可相互转动的第一底盖和第二底盖。内盖固定于顶盖及底盖之间，内盖包括成对称设置且可相互转动的第一内盖和第二内盖。转动机构固定于第一内盖和第二内盖的中间。两个车轮分别可转动地固定于内盖的两侧。两个轮毂电机分别固定于两个车轮内。多个传感器分别设置于底盖和内盖之间。电源固定于第一底盖和第一内盖之间。控制器固定于第二底盖和第二内盖之间，控制器电性连接多个传感器、电源和轮毂电机，控制器根据传感器传输的感测信号控制相应的轮毂电机驱动相应的车轮转动。

Description

电动平衡车 技术领域
本发明涉及一种电动平衡两轮车，其承载人的两个平台可以相互扭动进而驱动行走。
背景技术
电动平衡车，又叫体感车、思维车，其运作原理主要是建立在一种被称为“动态稳定”的基本原理上，利用车体内部的陀螺仪和加速度传感器，来检测车体姿态的变化，并利用伺服控制系统，精确地驱动电机进行相应的调整，以保持系统的平衡。
目前的电动平衡车一般都具有一个操作杆；使用者站在平衡车的脚踏平台上对操作杆进行操作，从而前进、后退及停止，这样的控制也称“手控”。目前平衡车的脚踏平台一般是一块板状的平板，其在使用过程中始终是保持水平状态，无法相对转动，所以无法让使用者仅仅通过利用脚部即可对平衡车进行控制。
发明内容
本发明为了克服现有技术的至少一个不足，提供一种电动平衡车。
为了实现上述目的，本发明提供一种电动平衡车，包括顶盖、底盖、内盖、转动机构、两个车轮、两个轮毂电机、多个传感器、电源和控制器。顶盖包括成对称设置且可相互转动的第一顶盖和第二顶盖。底盖和顶盖相固定，底盖包括成对称设置且可相互转动的第一底盖和第二底盖。内盖固定于顶盖及底盖之间，内盖包括成对称设置且可相互转动的第一内盖和第二内盖。转动机构固定于第一内盖和第二内盖的中间。两个车轮分别可转动地固定于内盖的两侧。两个轮毂电机分别固定于两个车轮内。多个传感器分别设置于底盖和内盖之间。电源固定于第一底盖和第一内盖之间。控制器固定于第二底盖和第二内盖之间，控制器电性连接多个传感器、电源和轮毂电机，控制器根据传感器传输的感测信号控制相应的轮毂电机驱动相应的车轮转动。
根据本发明的一实施例，电动平衡车还包括两个踏板，踏板固定于顶盖和内盖。
根据本发明的一实施例，踏板的上表面具有彼此间隔的摩擦条。
根据本发明的一实施例，第一顶盖和第二顶盖分别具有缺口，第一内盖和第二内盖在与缺口相对应的位置分别具有凹陷，缺口和凹陷结合形成踏板空腔以容置踏板。
根据本发明的一实施例，转动机构包括两个轴承、一个轴套和两个卡簧，两个轴承分别固定于第一内盖和第二内盖，轴套固定在两个轴承内并通过两个卡簧固定在内盖上。
根据本发明的一实施例，内盖具有圆柱形的筒体，轴承和轴套通过卡簧安装在筒体内。
根据本发明的一实施例，电动平衡车还具有装饰灯，设置于底盖。
根据本发明的一实施例，顶盖还具有二个提示板，两个提示板与控制器电性连接，其中一个提示板显示电源的剩余电量，另一个提示板显示电动平衡车的工作状态。
根据本发明的一实施例，传感器包括陀螺仪、加速度传感器和感应开关，感应开关感应使用者是否站立于电动平衡车上以开启或关闭，控制器接收感应开关的感测信号以控制轮毂电机是否工作，控制器接收加速度传感器和陀螺仪的感测信号以控制轮毂电机是否改变状态。
根据本发明的一实施例，感应开关为红外光电传感器。
根据本发明的一实施例，电动平衡车还包括充电接口，充电接口设置于底盖。
根据本发明的一实施例，电动平衡车还包括接口盖，接口盖遮盖充电接口。
根据本发明的一实施例，电动平衡车还包括限位轴，设置于第一内盖和第二内盖的中间，限位轴处于第二内盖内的长度要长于处于第一内盖内的长度。
根据本发明的一实施例，顶盖具有两个弧形凸起，两个弧形凸起分别位于两个车轮的上方且覆盖车轮的一部分。
根据本发明的一实施例，弧形凸起的宽度大于车轮的宽度。
根据本发明的一实施例，顶盖和底盖为塑料，内盖为铝合金。
根据本发明的一实施例，电动平衡车还包括遥控器，控制器接收遥控器发出的控制信号。
根据本发明的一实施例，控制器具有存储单元和校正单元，存储单元存储电动平衡车的初始平衡状态，校正单元对电动平衡车的当下平衡状态进行校正。
综上所述，本发明独特地在电动平衡车的顶盖和底盖之间设置有内盖，使得电动平衡车的整个结构更加牢固，同时也对车体内部的电子元件提供保护作 用。另外，内盖和底盖之间形成固定电子元件的空间，使得电子元件的安装更加紧凑。通过将电源和控制器分别设置在车体的两个部分内，使得一个电源和一个控制器就可同时控制两个轮毂电机，装配更简单，布线更方便，也更加节省空间，同时也使得车体两侧的重量更加均衡，增加车体的自平衡性。本发明的车轮位于车体的左右两侧边缘位置，这样可使用较大尺寸的车轮，相对车轮安装在底盖底部的现有平衡车，其运动行程及速度优势明显。另外，本发明采用轮毂电机，将电机直接安装在车轮内，使得电动平衡车的结构更加紧凑，相比单独安装电机的平衡车，更加节省空间，整个装置更加小巧。
为让本发明的上述和其它目的、特征和优点能更明显易懂，下文特举较佳实施例，并配合附图，作详细说明如下。
附图说明
图1所示为根据本发明第一实施例提供的电动平衡车的剖视图；
图2所示为根据本发明第一实施例提供的电动平衡车的爆炸示意图；
图3所示为根据本发明第一实施例提供的电动平衡车的示意图；
图4所示为根据本发明第一实施例提供的电动平衡车的另一角度的示意图；
图5所示为根据本发明第一实施例提供的电动平衡车的部分功能方块图；
图6所示为根据本发明第二实施例提供的电动平衡车的示意图。
具体实施方式
请一并参考图1至图5，本实施例中的电动平衡车100包括顶盖1、内盖2、底盖3、两个轮毂电机4、两个车轮50、转动机构60、多个传感器80、电源81和控制器82。
顶盖1包括成对称设置且可相互转动的第一顶盖11和第二顶盖12。当电动平衡车100位于使用状态时，顶盖1处于最顶部。第一顶盖11可为左顶盖，第二顶盖12可为右顶盖。然而，本发明对此不作任何限定。当电动平衡车100被水平调转180度时，第一顶盖11即变成右顶盖，第二顶盖12即变成左顶盖。
第一顶盖11和第二顶盖12的形状基本相同，第一顶盖11和第二顶盖12在转动机构60的作用下能发生相对转动。第一顶盖11和第二顶盖12朝内的部分相连形成“X”形，且在最内端的位置具有二个提示板13，提示板13与控制器82电性连接，其中一个提示板13显示电源81的剩余电量，另一个提示板13显示电动平衡车100的工作状态。于实际应用中，在每个提示板13上均具有一个透明外罩14以保护提示板13并且方便使用者阅读。显示工作状态的提示板13可以根据电动平衡车100的不同模式，譬如低速模式、高速模式、正常系统 状态、锁机状态等，从而显示不同的图标(譬如电池的图标等)以让使用者直观、清楚地了解平衡车100的工作状态。
于本实施例中，第一顶盖11和第二顶盖12朝外的部分分别具有弧形凸起15，两个弧形凸起15分别位于两个车轮50的上方且覆盖车轮50的一部分。于第一实施例中，弧形凸起15的宽度W1大于车轮50的宽度W2。弧形凸起15是完全遮住车轮50的顶部。通过这种设置，弧形凸起15能有效阻挡车轮50在行走时溅起的泥水。同时，也避免了垂吊物(例如使用者身上衣服过长的腰带)在行进过程中被意外卷入车轮中导致使用者受伤的可能，提高了平衡车100的安全性。然而，本发明对此不作任何限定。于其它实施例中，弧形凸起15可采用两头窄中间宽的设计。
底盖3和顶盖1相固定。于实际应用中，顶盖1和底盖3可通过螺丝固定在一起。本发明中的顶盖1、内盖2和底盖3共同形成本发明的电子平衡车100的框架，当顶盖1和底盖3固定在一起后，内盖2将被包覆在车体的内部而不外露。当电动平衡车100位于使用状态时，底盖3处于最底部，
底盖3包括成对称设置且可相互转动的第一底盖31和第二底盖32。第一底盖31和第二底盖32的形状基本相同，第一底盖31和第二底盖32在转动机构60的作用下能发生相对转动。第一底盖31和第二底盖32朝内的部分相连形成“X”形。同样地，第一底盖31可为左底盖，第二底盖32可为右底盖。当电动平衡车100被水平调转180度时，第一底盖31即变成右底盖，第二底盖32即变成左底盖。
于本实施例中，底盖3具有两个装饰灯33，在增加美观的同时也可起到照明作用。装饰灯33的外壳可设置为透明以透过光亮。于实际应用中，装饰灯33可电性连接控制器82，因此装饰灯33能反映电动平衡车100的行驶状态以对周围的人产生提醒，提高了使用的安全性。譬如，当平衡车100前进时，装饰灯33可常亮；当平衡车100后退时，装饰灯33可闪烁；当平衡车100向左转时，位于左边的装饰灯33可闪烁或常亮，位于右边的装饰灯33可不亮；当平衡车100向右转时，位于右边的装饰灯33可闪烁或常亮，位于左边的装饰灯33可不亮。本发明对装饰灯33的点亮状态不作任何限定。
内盖2固定于顶盖1及底盖3之间。内盖2包括成对称设置且可相互转动的第一内盖21和第二内盖22。第一内盖21和第二内盖22的形状基本相同，第一内盖21和第二内盖22在转动机构60的作用下能发生相对转动。内盖2的中间位置可安装转动机构60，左右两侧边缘位置则固定纵向安装的轮毂电机4。 于本实施例中，第一内盖21和第二内盖22相互连接形成一个整体。然而，本发明对此不作任何限定。于其它实施例中，第一内盖21和第二内盖22可为相互分离且独立的部件。同样地，第一内盖21可为左内盖，第二内盖22可为右内盖。当电动平衡车100被水平调转180度时，第一内盖21即变成右内盖，第二内盖22即变成左内盖。
于本实施例中，电动平衡车100还包括两个踏板5，踏板5固定于顶盖1和内盖2。为了使得使用者在行进过程中站立更稳，本实施例中的平衡车100的踏板5的上表面具有彼此间隔的摩擦条51以增加摩擦力。
为了固定踏板5及减少平衡车100整体的体积，第一顶盖11和第二顶盖12分别具有缺口16，第一内盖21和第二内盖22在与缺口16相对应的位置分别具有凹陷23，缺口16和凹陷23相互结合形成踏板空腔(图2中未画出)以容置踏板5。于实际应用中，缺口16在顶盖1上穿透，凹陷23在内盖2上并不穿透，缺口16和凹陷23的形状和踏板5相互匹配。踏板空腔为缺口16和凹陷23结合在一起形成的具有底面和侧壁的容置空间。
在使用时，踏板5直接承载使用者。内盖2作为整个平衡车100内部的骨架，间接承受踏板5传递的使用者的重量，避免了内盖2和底盖3之间的电子元件受到使用者重量的挤压。因此，整个电动平衡车100将更加牢固和结实，并且也保护了其中的电子元件，使得电动平衡车100的运行更加稳定且使用寿命更长。优选地，内盖2为铝合金，因此强度更高，结构更加稳固。顶盖1和底盖3为塑料，在减轻整个车体重量的同时，也方便对车体的外观进行喷涂着色等工艺，并起到防污、防水的作用。现有技术中的电动平衡车，因为没有内盖2，内部的电子元件直接承受使用者的重量，并且因为平衡车行进时产生的晃动，很容易出现自动断电的情况，使用者在使用时就容易发生摔倒。本发明的电动平衡车100恰恰解决了该技术问题。
转动机构60固定于第一内盖21和第二内盖22的中间。于第一实施例中，转动机构60包括两个轴承61、一个轴套62和两个卡簧63，两个轴承61分别固定在第一内盖21和第二内盖22的内端，轴套62固定在两个轴承61内并通过卡簧63固定在内盖2上，这样内盖2的左右两个内盖就可在转动机构60的配合下转动。通过设置这种转动机构60，电动平衡车100的两部分车体都能够自由实现相对转动。
为了安装上述转动机构60，可在第一内盖21和第二内盖22朝内的端头设计圆柱形的筒体24，轴承61和轴套62从外至内通过卡簧63安装在该筒体24 内。为了限制第一内盖21和第二内盖22之间的相对转动角度过大，电动平衡车100还包括限位轴7，限位轴7处于第二内盖22内的长度要长于处于第一内盖21内的长度。于本实施例中，限位轴7位于第一内盖21和第二内盖22朝内的端头之间。
两个车轮50分别可转动地固定于内盖2的两侧，两个轮毂电机4分别固定于两个车轮50内。轮毂电机4又称车轮内装电机，是将动力、传动和制动装置都整合到轮毂内，因此省略了大量的传动部件，让平衡车的结构更简单，获得更好的空间利用率，同时传动效率得到提高。由于轮毂电机4具备单个车轮独立驱动的特性，可以通过左右车轮50的不同转速甚至反转实现类似履带式车辆的差动转向，大大减小车辆的转弯半径，在特殊情况下几乎可以实现原地转向。
多个传感器80设置于底盖3和内盖2之间。具体而言，一半的传感器80设置于第一底盖31和第一内盖21之间，另一半的传感器80设置于第二底盖32和第二内盖22之间。电源81固定于第一底盖31和第一内盖21之间。控制器82固定于第二底盖32和第二内盖22之间。本发明只需一个电源81和一个控制器82就可同时控制两个轮毂电机4，装配更加简单，布线更加方便，也便于电动平衡车100售出后的返厂维修。并且电源81和控制器82分别设置在车体的两半部分内，更加节省空间，也使得整个车体的结构更加紧凑。连接电源81和控制器82的电线以及连接控制器82和轮毂电机4的电线均可穿设车体的两半部分的连接处，即从车体的左半部分(或右半部分)穿设到右半部分(或左半部分)。
于本实施例中，传感器80包括陀螺仪83、感应开关84和加速度传感器85。由于实际应用中，为使得整个装置内部元件模组化，因此加速度传感器85和陀螺仪83设置于同一块电路板上。图2由于视角原因只能看到电路板的正面，加速度传感器85和陀螺仪83(图2中以虚线表示)于实际使用中设置于电路板的背面。控制器82电性连接多个传感器80、电源81和轮毂电机4，控制器82根据传感器80传输的感测信号控制相应的轮毂电机4驱动相应的车轮50转动。
感应开关84感应使用者是否站立于电动平衡车100上以开启或关闭，控制器82接收感应开关84的感测信号(即开启或关闭信号)以控制轮毂电机4是否工作，控制器82接收加速度传感器85和陀螺仪83的感测信号以控制轮毂电机4是否改变状态。于第一实施例中，感应开关84为红外光电传感器。然而，本发明对此不作任何限定。于其它实施例中，感应开关84可为微波感应开关、超声波感应开关或其它任何能实现相同功能的感应开关。于本实施例中，电动 平衡车100还包括阻挡件86。当使用者踩踏上踏板5后，阻挡件86会阻挡红外光电传感器的红外感应区，红外光电传感器因此开启。控制器82接收到感应开关84发出的开启信号，因此驱动轮毂电机4进行工作。
现有技术的平衡车均是一开机车轮就开始自转，使用者无法轻松地站立在平衡车上。当使用者从平衡车上下来后，车轮也没有停止转动，必须要按下电源开关整个车轮才会停止转动，具有非常大的潜在危险，使用也非常不方便。本实施例的电动平衡车100并不是一开机轮毂电机4就工作，而是通过感测使用者是否站立于踏板5上从而驱动车轮50，避免了现有技术中平衡车盲目转动的情况，大大提高了使用的安全性。另一方面，本实施例的电动平衡车100是通过感测踩踏后才实现自动平衡而不是打开电源就平衡，能保证车体安全，车体的转动小，避免现有技术中开启电源后立即自平衡会发生车体平衡点不对，车体旋转导致使用者无法平衡的问题。
加速度传感器85和陀螺仪83共同检测平衡车100的运动状态，譬如检测平衡车100的加速度和角速度等。控制器82根据加速度传感器85和陀螺仪83传递的感测信号驱动轮毂电机4，从而决定平衡车100是否要改变方向或速度。加速度传感器85和陀螺仪83的检测技术为现有技术，在此不再赘述。
于本实施例中，电动平衡车100还包括U形固定件9。传感器80和阻挡件86均固定于U形固定件9，使得整个装置的电子元件的安装都实现模块化，便于装配、布线和后期的维修。
于使用中，使用者利用脚部的力驱动车体的一部分或者两部分一起扭转，进而使传感器80发出感测信号给控制器82，控制器82依据内部的控制程序驱动轮毂电机4运转，进而让使用者转弯、朝前或者朝后运动，因此实现“脚控”，使用更加方便，控制更加灵活。
本发明的控制器82如何控制平衡车达到自平衡状态并且控制车轮50前进、后退或者转弯属于现有技术，在此不展开赘述。具体可参考目前已经公开的平衡车控制方法及各家平衡车生产企业采用到的控制技术。如中国专利申请号201320050547.3，专利名称为智能平衡车平衡控制装置及智能平衡车，这个控制装置即可为本实施例中的控制器82。或者如中国专利申请号201220367045.9，专利名称为使用CPLD控制平衡车电机的电路控制装置中描述的。当然，在实际应用中，还可选用其它控制装置及控制方法，如中国专利申请号201310516158.X，专利名称为两轮自平衡车控制方法中描述的控制方法。
于本实施例中，电动平衡车100还包括充电接口87，充电接口87设置于底盖3。具体而言，充电接口87设置于底盖3的外侧，以方便对电源81进行充电。
于本实施例中，控制器82具有存储单元821和校正单元822，存储单元821存储电动平衡车100的初始平衡状态，校正单元822对电动平衡车100的当下平衡状态进行校正。具体而言，电动平衡车100在出厂时，存储单元821中记录有车体水平的数据。当电动平衡车100使用一段时间后，由于温度等外界环境和抖动等使用情况，电动平衡车100的传感器80会发生一定的偏移，因此电动平衡车100的水平基准值会相应发生变动。此时，若仍旧采用出厂时的水平数据，则会造成控制平衡车100不准确，长久使用甚至发生意外等情况。本实施例的校正单元822存储有校正程序。当运行校正程序时，电动平衡车100检测传感器80的实时情况，和初始水平数据进行判断和比对，从而确定是否要覆盖原始数据以进行重新设定。通过设置校正程序，大大提高了平衡车100的控制精准程度和使用寿命，克服了现有技术中的平衡车使用一段时间后灵活性和准确度下降的问题。
图6所示为根据本发明第二实施例提供的电动平衡车的示意图。请参考图6。第二实施例中的电动平衡车200和第一实施例中的电动平衡车100的唯一区别在于电动平衡车200还包括遥控器210，控制器接收遥控器210发出的控制信号。通过设置遥控器210，可以实现对电动平衡车200的远程控制。遥控器210上可设置开机按钮和校正按钮等，本发明对此不作任何限定。电动平衡车200还包括接口盖310，接口盖220遮盖充电接口。接口盖220可防止电动平衡车300运行时溅起来的泥水污染充电接口甚至进入车体内部。
综上所述，本发明独特地在电动平衡车的顶盖和底盖之间设置有内盖，使得电动平衡车的整个结构更加牢固，同时也对车体内部的电子元件提供保护作用。另外，内盖和底盖之间形成固定电子元件的空间，使得电子元件的安装更加紧凑。通过将电源和控制器分别设置在车体的两个部分内，使得一个电源和一个控制器就可同时控制两个轮毂电机，装配更简单，布线更方便，也更加节省空间，同时也使得车体两侧的重量更加均衡，增加车体的自平衡性。本发明的车轮位于车体的左右两侧边缘位置，这样可使用较大尺寸的车轮，相对车轮安装在底盖底部的现有平衡车，其运动行程及速度优势明显。另外，本发明采用轮毂电机，将电机直接安装在车轮内，使得电动平衡车的结构更加紧凑，相比单独安装电机的平衡车，更加节省空间，整个装置更加小巧。
虽然本发明已由较佳实施例揭露如上，然而并非用以限定本发明，任何熟知此技艺者，在不脱离本发明的精神和范围内，可作些许的更动与润饰，因此本发明的保护范围当视权利要求书所要求保护的范围为准。

Claims (18)

  1. 一种电动平衡车，其特征在于，包括：
    顶盖，包括成对称设置且可相互转动的第一顶盖和第二顶盖；
    底盖，和顶盖相固定，所述底盖包括成对称设置且可相互转动的第一底盖和第二底盖；
    内盖，固定于顶盖及底盖之间，所述内盖包括成对称设置且可相互转动的第一内盖和第二内盖；
    转动机构，固定于所述第一内盖和第二内盖的中间；
    两个车轮，分别可转动地固定于内盖的两侧；
    两个轮毂电机，分别固定于两个车轮内；
    多个传感器，设置于所述底盖和内盖之间；
    电源，固定于第一底盖和第一内盖之间；以及
    控制器，固定于第二底盖和第二内盖之间，所述控制器电性连接所述多个传感器、电源和轮毂电机，所述控制器根据传感器传输的感测信号控制相应的轮毂电机驱动相应的车轮转动。
  2. 根据权利要求1所述的电动平衡车，其特征在于，所述电动平衡车还包括两个踏板，所述踏板固定于顶盖和内盖。
  3. 根据权利要求2所述的电动平衡车，其特征在于，所述踏板的上表面具有彼此间隔的摩擦条。
  4. 根据权利要求2中所述的电动平衡车，其特征在于，所述第一顶盖和第二顶盖分别具有缺口，所述第一内盖和第二内盖在与缺口相对应的位置分别具有凹陷，缺口和凹陷结合形成踏板空腔以容置踏板。
  5. 根据权利要求1至4中任意一项权利要求所述的电动平衡车，其特征在于，所述转动机构包括两个轴承、一个轴套和两个卡簧，两个轴承分别固定于第一内盖和第二内盖，轴套固定在两个轴承内并通过两个卡簧固定在内盖上。
  6. 根据权利要求5中所述的电动平衡车，其特征在于，所述内盖具有圆柱形的筒体，轴承和轴套通过卡簧安装在所述筒体内。
  7. 根据权利要求1至6中任意一项权利要求所述的电动平衡车，其特征在于，所述电动平衡车还具有装饰灯，设置于所述底盖。
  8. 根据权利要求1至7中任意一项权利要求所述的电动平衡车，其特征在于，所述顶盖还具有二个提示板，所述两个提示板与所述控制器电性连接，其中一个提示板显示电源的剩余电量，另一个提示板显示电动平衡车的工作状态。
  9. 根据权利要求1至8中任意一项权利要求所述的电动平衡车，其特征在于，所述传感器包括陀螺仪、加速度传感器和感应开关，所述感应开关感应使用者是否站立于电动平衡车上以开启或关闭，所述控制器接收所述感应开关的感测信号以控制轮毂电机是否工作，所述控制器接收加速度传感器和陀螺仪的感测信号以控制轮毂电机是否改变状态。
  10. 根据权利要求9中所述的电动平衡车，其特征在于，所述感应开关为红外光电传感器。
  11. 根据权利要求1至10中任意一项权利要求所述的电动平衡车，其特征在于，所述电动平衡车还包括充电接口，所述充电接口设置于所述底盖。
  12. 根据权利要求11中所述的电动平衡车，其特征在于，所述电动平衡车还包括接口盖，所述接口盖遮盖所述充电接口。
  13. 根据权利要求1至12中任意一项权利要求所述的电动平衡车，其特征在于，所述电动平衡车还包括限位轴，设置于第一内盖和第二内盖的中间，所述限位轴处于第二内盖内的长度要长于处于第一内盖内的长度。
  14. 根据权利要求1至13中任意一项权利要求所述的电动平衡车，其特征在于，所述顶盖具有两个弧形凸起，所述两个弧形凸起分别位于两个车轮的上方且覆盖车轮的一部分。
  15. 根据权利要求14中任意一项权利要求所述的电动平衡车，其特征在于，所述弧形凸起的宽度大于所述车轮的宽度。
  16. 根据权利要求1至15中任意一项权利要求所述的电动平衡车，其特征在于，所述顶盖和底盖为塑料，所述内盖为铝合金。
  17. 根据权利要求1至16中任意一项权利要求所述的电动平衡车，其特征在于，所述电动平衡车还包括遥控器，所述控制器接收遥控器发出的控制信号。
  18. 根据权利要求1至17中任意一项权利要求所述的电动平衡车，其特征在于，所述控制器具有存储单元和校正单元，所述存储单元存储电动平衡车的初始平衡状态，所述校正单元对电动平衡车的当下平衡状态进行校正。
PCT/CN2014/092849 2014-06-13 2014-12-02 电动平衡车 WO2015188599A1 (zh)

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