CN103407530A - Independent self-balance device of transverse two-wheeled electric bicycle - Google Patents
Independent self-balance device of transverse two-wheeled electric bicycle Download PDFInfo
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- CN103407530A CN103407530A CN2013102932504A CN201310293250A CN103407530A CN 103407530 A CN103407530 A CN 103407530A CN 2013102932504 A CN2013102932504 A CN 2013102932504A CN 201310293250 A CN201310293250 A CN 201310293250A CN 103407530 A CN103407530 A CN 103407530A
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Abstract
The invention discloses an independent self-balance device of a transverse two-wheeled electric bicycle, and relates to the technical field of independent self-balance of transverse two-wheeled electric bicycles. A guide rail is arranged on a base plate, the upper portion of the guide rail is meshed with a counter-weight drive gear, one end of the guide rail is connected with one end of a controller, a frame is arranged at the periphery of the base plate, a sensor is fixedly arranged on the frame, a supporting shaft is arranged on one side of the sensor, a balance drive gear is fixed to the supporting shaft in a coaxial mode, the balance drive gear is meshed with an external gear, the external gear and an advancing drive wheel are in rigid connection, and a planet gear structure is formed by the external gear, the advancing drive wheel and the balance drive gear. The independent self-balance device of the transverse two-wheeled electric bicycle has independent self-balance performance and safe reliability, a driver does not need to continuously adjust the posture of the body to control the transverse two-wheeled electric bicycle to run, safety, comfort and reliability of the driving process can be ensured, and the independent self-balance device of the transverse two-wheeled electric bicycle is good in economic applicability.
Description
Technical field:
The present invention relates to a kind of independent self balancing device of horizontal two-wheeled electric bicycle, belong to the independent self-balancing technical field of horizontal two-wheeled electric bicycle.
Background technology:
At present, fuel oil and electrocar, be still the main flow of manned vehicle, and electrocar is developed on the fuel vehicle basis, for many years make slow progress, and the city car population increases year by year at present, causes serious social traffic problems, simultaneously, in vehicle, major part is that a people uses, take path space large, the utilization of resources rates such as road, the energy are very low, and the single vehicle of safety, environmental protection, intelligence will become following development tendency; Electrical Bicycle, battery-operated motor cycle are the main vehicles of current battery-driven car, and its safety, traveling comfort aspect exist obviously not enough; The SEGWAY(of the take car that acts as regent) be the self-balancing Kickboard Scooter of representative, without closure, poor stability, its balanced system requires navigating mate to control vehicle by the adjustment of body posture, technical ability to navigating mate requires high, easily cause feeling exhausted, safety misadventure occurs, and can't obtain good counterbalance effect; The electronic networking concept car of the General Motors EN-V(of take) be the two-wheel electric car of representative, still be at present the concept car stage, and this car location ambiguity, the difficulty that is defined as unpowered vehicle is very large, if as self-propelled vehicle, its miniaturization advantage is difficult to again effective performance on motor road; In today of scientific and technological develop rapidly, development along with control technology, new material, new energy technology, we should, also have the ability that exploitation is a meets the future city vehicle Electrical Bicycle standard, safe, convenient, environmental protection, intelligence fully, and purpose of the present invention is exactly that Electrical Bicycle for a so revolutionary new ideas provides a kind of self-balancing and control system scheme.
Summary of the invention:
For the problems referred to above, the technical problem to be solved in the present invention is to provide a kind of independent self balancing device of horizontal two-wheeled electric bicycle.
Independent self balancing device of the present invention, it comprises base plate, guide rail, the counterweight driven wheel, external gear, the driving wheel of advancing, pivot shaft, balancer driven gear, sensor, vehicle frame and controller, the top of base plate is provided with guide rail, the top of guide rail and the engagement of counterweight driven wheel, one end of guide rail is connected with an end of controller, the surrounding of base plate is provided with vehicle frame, on vehicle frame, be fixedly installed sensor, one side of sensor is provided with pivot shaft, pivot shaft coaxially is fixed with balancer driven gear, balancer driven gear and external gear engagement, external gear is connected with the driving wheel rate of advancing, and external gear, advance and drive wheel and balancer driven gear formation planetary gear structure.
As preferably, described base plate and vehicle frame adopt lightweight, high-intensity aluminum alloy or carbon fibre material to make.
As preferably, described controller comprises the first micro controller system, second singlechip, the 3rd micro controller system, the first driving circuit, the second driving circuit, the 3rd driving circuit, first motor of advancing, the first balance motor, second motor of advancing, the second balance motor, the counterweight motor, voltage reduction module and storage battery, one end of the first micro controller system is connected with an end of the first driving circuit, the other end of the first driving circuit and first motor of advancing is connected with the first balance motor, one end of second singlechip is connected with an end of the second driving circuit, the other end of the second driving circuit and second motor of advancing is connected with the second balance motor, one end of the 3rd micro controller system is connected with an end of the 3rd driving circuit, the other end of the 3rd driving circuit is connected with the counterweight motor, and the first micro controller system, second singlechip, the other end of the 3rd micro controller system all is connected with an end of voltage reduction module, the other end of voltage reduction module is connected with storage battery.
As preferably, described first advance motor, the second balance motor and the counterweight motor of motor, the first balance motor, second of advancing is stepping motor or the servomotor that can realize high-precision control, and sensor is for realizing gyroscope or the angular transducer of high-precision sensing car body attitude.
Beneficial effect of the present invention: it has independent self-regulation, safe reliability, do not need navigating mate to control vehicle operating by continuous adjustment body posture, can guarantee the safe, comfortable, reliable of driving procedure, its economic serviceability is strong, overall price, far below family saloon, is applicable to the traffic in urban inner, the suburbs.As a novel Electrical Bicycle, by more effectively utilizing bicycle lane, improve the effective rate of utilization of path resource, greatly alleviate the city traffic anxiety, adopt comparatively ripe control technology and electronics, mechanical part, holistic cost is cheap, simple in structure, stable performance, has promotional value and practicality preferably.
The accompanying drawing explanation:
In order to be easy to explanation, the present invention is described in detail by following concrete enforcement and accompanying drawing.
Fig. 1 is structural representation of the present invention;
Fig. 2 is the plan structure schematic diagram of Fig. 1;
Fig. 3 is the structural representation of middle controller of the present invention.
The 1-base plate; The 2-guide rail; 3-counterweight driven wheel; The 4-external gear; The 5-driving wheel of advancing; The 6-pivot shaft; The 7-balancer driven gear; The 8-sensor; The 9-vehicle frame; The 10-controller.
The specific embodiment:
As Figure 1-3, this specific embodiment is by the following technical solutions: it comprises base plate 1, guide rail 2, counterweight driven wheel 3, external gear 4, advance and drive wheel 5, pivot shaft 6, balancer driven gear 7, sensor 8, vehicle frame 9 and controller 10, the top of base plate 1 is provided with guide rail 2, the top of guide rail 2 and 3 engagements of counterweight driven wheel, one end of guide rail 2 is connected with an end of controller 10, the surrounding of base plate 1 is provided with vehicle frame 9, on vehicle frame 9, be fixedly installed sensor 8, one side of sensor 8 is provided with pivot shaft 6, pivot shaft 6 coaxially is fixed with balancer driven gear 7, balancer driven gear 7 and external gear 4 engagements, external gear 4 and the driving wheel 5 of advancing are rigidly connected, and external gear 4, advance and drive wheel 5 and balancer driven gear 7 formation planetary gear structures.
Wherein, described base plate 1 and vehicle frame 9 adopt lightweight, high-intensity aluminum alloy or carbon fibre material to make, described controller 10 comprises the first micro controller system 10-1, second singlechip 10-2, the 3rd micro controller system 10-3, the first driving circuit 10-4, the second driving circuit 10-5, the 3rd driving circuit 10-6, the first motor 10-7 that advances, the first balance motor 10-8, the second motor 10-9 that advances, the second balance motor 10-10, counterweight motor 10-11, voltage reduction module 10-12 and storage battery 10-13, the end of the first micro controller system 10-1 is connected with the end of the first driving circuit 10-4, the other end of the first driving circuit 10-4 and the first motor 10-7 that advances is connected with the first balance motor 10-8, the end of second singlechip 10-2 is connected with the end of the second driving circuit 10-5, the other end of the second driving circuit 10-5 and the second motor 10-9 that advances is connected with the second balance motor 10-10, the end of the 3rd micro controller system 10-3 is connected with the end of the 3rd driving circuit 10-6, the other end of the 3rd driving circuit 10-6 is connected with counterweight motor 10-11, and the first micro controller system 10-1, second singlechip 10-2, the other end of the 3rd micro controller system 10-3 all is connected with the end of voltage reduction module 10-12, and the other end of voltage reduction module 10-12 is connected with storage battery 10-13, wherein, described first advance motor (10-9), the second balance motor (10-10) and the counterweight motor (10-11) of motor (10-7), the first balance motor (10-8), second of advancing is stepping motor or the servomotor that can realize high-precision control, and sensor (8) is for realizing gyroscope or the angular transducer of high-precision sensing car body attitude.
The controller 10 of this specific embodiment is according to the speed adjustment to them of the signal of sensor 8, thereby the level that realizes vehicle frame 9 is advanced, advance and drive wheel 5, according to driver's steering command, by advancing of 10 pairs of both sides of controller, driving wheel 5 controls, realize forward-reverse, by two velocity contrasts of advancing driving wheel 5, realize that turning and original place rotatablely move, signal according to sensor 8 and controller 10, be rotated speed, the adjustment of torsion, masterpiece is used on external gear 4, formation is around cw or the anticlockwise moment of traveler car wheel shaft, thereby realize the independent self-balancing of vehicle frame 9, sensor 8 is gyro sensor or high sensitivity angular transducer, by perception vehicle frame 9 attitude, signal passes to controller 10, adjust 7 speed of balancer driven gear, torsion, controller 10 provides the control signal of power supply and each motor for dolly, as counterweight, adjust the whole center-of-gravity position of dolly simultaneously.
Above demonstration and described groundwork of the present invention and principal character and advantage of the present invention.The technical personnel of the industry should be understood; the present invention is not restricted to the described embodiments; that in above-described embodiment and specification sheets, describes just illustrates principle of the present invention; without departing from the spirit and scope of the present invention; the present invention also has various changes and modifications, and these changes and improvements all fall in the claimed scope of the invention.The claimed scope of the present invention is defined by appending claims and equivalent thereof
.
Claims (6)
1. the independent self balancing device of a horizontal two-wheeled electric bicycle, it is characterized in that: it comprises base plate (1), guide rail (2), counterweight driven wheel (3), external gear (4), advance and drive wheel (5), pivot shaft (6), balancer driven gear (7), sensor (8), vehicle frame (9) and controller (10), the top of base plate (1) is provided with guide rail (2), the top of guide rail (2) and counterweight driven wheel (3) engagement, one end of guide rail (2) is connected with an end of controller (10), the surrounding of base plate (1) is provided with vehicle frame (9), on vehicle frame (9), be fixedly installed sensor (8), one side of sensor (8) is provided with pivot shaft (6), pivot shaft (6) coaxially is fixed with balancer driven gear (7), balancer driven gear (7) and external gear (4) engagement, external gear (4) and the driving wheel (5) of advancing are rigidly connected, and external gear (4), advance and drive wheel (5) and balancer driven gear (7) formation planetary gear structure.
2. a kind of independent self balancing device of horizontal two-wheeled electric bicycle according to claim 1, it is characterized in that: described base plate (1) and vehicle frame (9) adopt the aluminum alloy materials of light-high-strength to make.
3. a kind of independent self balancing device of horizontal two-wheeled electric bicycle according to claim 1, it is characterized in that: described base plate (1) and vehicle frame (9) adopt the carbon fibre material of light-high-strength to make.
4. a kind of independent self balancing device of horizontal two-wheeled electric bicycle according to claim 1, it is characterized in that: described controller (10) comprises the first micro controller system (10-1), second singlechip (10-2), the 3rd micro controller system (10-3), the first driving circuit (10-4), the second driving circuit (10-5), the 3rd driving circuit (10-6), first motor (10-7) of advancing, the first balance motor (10-8), second motor (10-9) of advancing, the second balance motor (10-10), counterweight motor (10-11), voltage reduction module (10-12) and storage battery (10-13), one end of the first micro controller system (10-1) is connected with an end of the first driving circuit (10-4), the other end of the first driving circuit (10-4) and first motor (10-7) of advancing is connected with the first balance motor (10-8), one end of second singlechip (10-2) is connected with an end of the second driving circuit (10-5), the other end of the second driving circuit (10-5) and second motor (10-9) of advancing is connected with the second balance motor (10-10), one end of the 3rd micro controller system (10-3) is connected with an end of the 3rd driving circuit (10-6), the other end of the 3rd driving circuit (10-6) is connected with counterweight motor (10-11), and the first micro controller system (10-1), second singlechip (10-2), the other end of the 3rd micro controller system (10-3) all is connected with an end of voltage reduction module (10-12), the other end of voltage reduction module (10-12) is connected with storage battery (10-13).
5. according to the independent self balancing device of claim 1 or 4 described a kind of horizontal two-wheeled electric bicycle, it is characterized in that: described first advance motor (10-9), the second balance motor (10-10) and the counterweight motor (10-11) of motor (10-7), the first balance motor (10-8), second of advancing is the stepping motor that can realize high-precision control, and sensor (8) is for realizing the gyroscope of high-precision sensing car body attitude.
6. according to the independent self balancing device of claim 1 or 4 described a kind of horizontal two-wheeled electric bicycle, it is characterized in that: described first advance motor (10-9), the second balance motor (10-10) and the counterweight motor (10-11) of motor (10-7), the first balance motor (10-8), second of advancing is the servomotor that can realize high-precision control, and sensor (8) is for realizing the angular transducer of high-precision sensing car body attitude.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2013102932504A CN103407530A (en) | 2013-07-14 | 2013-07-14 | Independent self-balance device of transverse two-wheeled electric bicycle |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2013102932504A CN103407530A (en) | 2013-07-14 | 2013-07-14 | Independent self-balance device of transverse two-wheeled electric bicycle |
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| CN103407530A true CN103407530A (en) | 2013-11-27 |
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| CN2013102932504A Pending CN103407530A (en) | 2013-07-14 | 2013-07-14 | Independent self-balance device of transverse two-wheeled electric bicycle |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104122098A (en) * | 2014-07-31 | 2014-10-29 | 河海大学常州校区 | Unmanned bicycle function testing experiment system |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101040233A (en) * | 2005-06-29 | 2007-09-19 | 丰田自动车株式会社 | Control method of mobile carriage and mobile carriage |
| CN201165299Y (en) * | 2007-11-19 | 2008-12-17 | 宋宇宁 | Self-balance electric vehicle |
| CN201228037Y (en) * | 2008-06-16 | 2009-04-29 | 周惠兴 | Two-wheel self balancing electric motor vehicle |
| KR20110027125A (en) * | 2009-09-09 | 2011-03-16 | 권성필 | Self balancing electric vehicle having two-wheel |
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2013
- 2013-07-14 CN CN2013102932504A patent/CN103407530A/en active Pending
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101040233A (en) * | 2005-06-29 | 2007-09-19 | 丰田自动车株式会社 | Control method of mobile carriage and mobile carriage |
| CN201165299Y (en) * | 2007-11-19 | 2008-12-17 | 宋宇宁 | Self-balance electric vehicle |
| CN201228037Y (en) * | 2008-06-16 | 2009-04-29 | 周惠兴 | Two-wheel self balancing electric motor vehicle |
| KR20110027125A (en) * | 2009-09-09 | 2011-03-16 | 권성필 | Self balancing electric vehicle having two-wheel |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104122098A (en) * | 2014-07-31 | 2014-10-29 | 河海大学常州校区 | Unmanned bicycle function testing experiment system |
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Application publication date: 20131127 |