CN112298426B - Deformable balance car for car frame - Google Patents
Deformable balance car for car frame Download PDFInfo
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- CN112298426B CN112298426B CN202011333116.9A CN202011333116A CN112298426B CN 112298426 B CN112298426 B CN 112298426B CN 202011333116 A CN202011333116 A CN 202011333116A CN 112298426 B CN112298426 B CN 112298426B
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- handlebar
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- 230000007246 mechanism Effects 0.000 claims description 15
- 239000000725 suspension Substances 0.000 claims description 11
- 230000035939 shock Effects 0.000 claims description 8
- 238000000034 method Methods 0.000 abstract description 6
- 230000008569 process Effects 0.000 abstract description 5
- 238000013016 damping Methods 0.000 description 9
- 230000000694 effects Effects 0.000 description 6
- 230000005489 elastic deformation Effects 0.000 description 5
- 230000003139 buffering effect Effects 0.000 description 3
- 238000013461 design Methods 0.000 description 3
- 238000009434 installation Methods 0.000 description 3
- 238000001514 detection method Methods 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012545 processing Methods 0.000 description 2
- 238000006467 substitution reaction Methods 0.000 description 2
- 238000010521 absorption reaction Methods 0.000 description 1
- 230000001133 acceleration Effects 0.000 description 1
- 230000009471 action Effects 0.000 description 1
- 230000000712 assembly Effects 0.000 description 1
- 238000000429 assembly Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000003238 somatosensory effect Effects 0.000 description 1
- 230000006641 stabilisation Effects 0.000 description 1
- 238000011105 stabilization Methods 0.000 description 1
Classifications
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- 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
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- 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
- B62K11/02—Frames
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Motorcycle And Bicycle Frame (AREA)
- Automatic Cycles, And Cycles In General (AREA)
Abstract
The invention relates to the technical field of balance vehicles, and discloses a deformable balance vehicle for a vehicle frame, which comprises the following components: the bicycle comprises a first frame body, a second frame body, a handlebar assembly, an elastic part and two wheels; the second frame bodies are correspondingly arranged below the first frame bodies at intervals; the handle bar assembly is rotatably arranged on the first frame body and the second frame body respectively; when the handle bar assembly swings left and right, the first frame body can move left and right in parallel relative to the second frame body along with the handle bar assembly; one end of the elastic component is connected with the first frame body, and the other end of the elastic component is connected with the second frame body; the two wheels are respectively rotatably arranged on the left side and the right side of the first frame body and are respectively rotatably connected with the left side and the right side of the second frame body. The first frame body is matched with the handle bar assembly to swing left and right and realize parallelogram deformation between the second frame body, so that the frame and a driver keep a uniform posture, and the situation of overturning and the like in the driving process is avoided.
Description
Technical Field
The invention relates to the technical field of balance vehicles, in particular to a deformable balance vehicle for a vehicle frame.
Background
Electric balance cars, also called somatosensory cars, thinking cars, shooting cars, etc. There are mainly one-wheel and two-wheel types on the market. The principle of operation is based mainly on a basic principle called "dynamic stabilization". The balance car detects the change of the car body posture by using a gyroscope and an acceleration sensor in the car body, and accurately drives a motor to perform corresponding adjustment by using a servo control system so as to keep the balance of the system. Is a novel green environment-friendly product which is used as a walking tool and is used for leisure and recreation by modern people.
The balance car generally comprises a main frame, a driving battery, a control circuit board, two hub motors and the like. Among them, in the current balance car, the support is in order to possess stronger rigidity atress structure, often with the support design more compact, has sacrificed its elastic structure design, leads to the whole effect of moving away to avoid possible earthquakes of balance car relatively poor, has the relatively poor problem of user experience.
Disclosure of Invention
The purpose of the invention is that: the utility model provides a but frame deformation balance car, at high-speed steering in-process, first support body is through cooperating the handlebar subassembly and swing about with realize parallelogram deformation between the second support body to make frame and driver keep unified gesture, avoid taking place the condition such as upset in the travel.
In order to achieve the above object, the present invention provides a frame deformable balance car, comprising: the bicycle comprises a first frame body, a second frame body, a handlebar assembly, an elastic part and two wheels;
The first frame body is used for a user to stand;
The second frame bodies are correspondingly arranged below the first frame bodies at intervals;
the handle bar assembly is rotatably arranged on the first frame body and the second frame body respectively; when the handle bar assembly swings left and right, the first frame body can move left and right in parallel relative to the second frame body along with the handle bar assembly;
One end of the elastic component is connected with the first frame body, and the other end of the elastic component is connected with the second frame body; after the first frame body moves left and right in parallel relative to the second frame body, the elastic component can drive the first frame body to reset automatically;
The two wheels are respectively rotatably arranged on the left side and the right side of the first frame body and are respectively rotatably connected with the left side and the right side of the second frame body.
In some embodiments, the device further comprises two mounting plates rotatably mounted on the left and right sides of the first frame, and rotatably connected with the left and right sides of the second frame, respectively.
In some embodiments, each of the wheels is resiliently coupled to one of the mounting plates.
In some embodiments, a rotational gap is left between the mounting plate and the first frame; a rotating gap is reserved between the mounting plate and the second frame body.
In some embodiments, the vehicle further comprises a controller, a battery pack and two driving motors, wherein the controller is electrically connected with the driving motors, the controller is installed on the first frame body, the battery pack is installed on the second frame body, the fixed ends of the driving motors are respectively installed on the left side and the right side of the mounting plate, and the power output ends of the driving motors are connected with the wheels and used for driving the wheels to rotate.
In some embodiments, an angle sensor for detecting a rotation angle of the handlebar assembly relative to the first frame body is provided between the handlebar assembly and the first frame body; or an angle sensor for detecting the rotation angle of the handlebar assembly relative to the second frame body is arranged between the handlebar assembly and the second frame body; the angle sensor is electrically connected with the controller;
When the angle sensor detects that the handlebar assembly rotates by different angles relative to the first frame body or the second frame body, the controller respectively controls the rotation speeds of the driving motors to be different so as to form a differential speed.
In some embodiments, the handle bar assembly comprises a linkage member and a handle bar, wherein the linkage member is respectively connected with the first frame body and the second frame body in a rotating way, and the handle bar is installed at the top end of the linkage member; the angle sensor comprises a first angle sensor arranged on the first frame body or the second frame body and a second angle sensor arranged on the linkage piece; the first angle sensor is electrically connected with the controller and is used for detecting the swing angle of the handle bar of the first frame body or the second frame body and the linkage thereof; the second angle sensor is electrically connected with the controller and is used for detecting the rotation angle of the handlebar relative to the linkage.
In some embodiments, a first centering mechanism capable of enabling the linkage to swing and return automatically relative to the first frame body is connected between the linkage and the first frame body, and a second centering mechanism capable of enabling the handlebar to rotate and return automatically relative to the connecting rod is connected between the connecting rod and the handlebar.
In some embodiments, the first frame body includes a bearing plate and two first mounting rods, and the first mounting rods are respectively arranged at the front side and the rear side of the bearing plate; the second frame body comprises a mounting plate and two second mounting rods, the second mounting rods are respectively arranged on two sides of the mounting plate, the mounting plate is correspondingly arranged below the bearing plate, and the two second mounting rods are respectively arranged below the two first mounting rods; the linkage piece is respectively connected with the first mounting rod and the second mounting rod on the same side in a rotating way.
In some embodiments, the elastic parts are arranged at two ends of the bottom of the first frame body; or the elastic components are provided with four, and are respectively positioned at the four end corners of the bottom of the first frame body.
Compared with the prior art, the transformable balance car for the car frame has the beneficial effects that: when a user stands on the first frame body, the first frame body and the second frame body are in linkage of left-right swinging through the handle bar assembly to generate parallelogram deformation, and the first frame body and a human body keep the same posture when facing to a road surface with a high-low drop and high-speed steering, so that side turning is prevented when the user runs on the road surface with the high-low drop; after parallelogram deformation is generated between the first frame body and the second frame body, the elastic part connected between the first frame body and the second frame body can generate elastic deformation due to the deformation, and when the straight line running is restored and the road surface is stable, the elastic part resets the first frame body to the position right above the second frame body through elasticity, so that the primary elastic deformation is completed; the whole frame can only swing left and right and elastically deform in the vertical direction with the same plane in the forward and backward directions under the interference action of the linkage part, and cannot swing back and forth and elastically deform in the forward and backward directions, so that the structure is limited, the rigidity strength of the whole frame is greatly enhanced, the driving stability of a user is also improved, the phenomenon that the body is tilted forward or backward due to the condition of a road surface or unexpected stress in the driving process of the user is avoided, and the practicability is higher; when the frame is stressed and deformed, the front deformation surface and the rear deformation surface are deformed in a parallelogram structure, and the arrangement of the structure can optimize the whole stress condition of the frame and has a large contribution degree to the whole stability of the frame.
Drawings
FIG. 1 is a schematic view of the overall structure of a frame deformable balance car of the present invention;
FIG. 2 is an exploded schematic view of the frame deformable balance car structure of the present invention;
FIG. 3 is a schematic view of a first frame structure of the present invention;
FIG. 4 is a schematic view of a second frame structure of the present invention;
FIG. 5 is a schematic view of the frame deformable balance car of the present invention in a high speed right steering condition;
FIG. 6 is a schematic view of the frame deformable balance car of the present invention in a high speed left steering condition;
FIG. 7 is a schematic view of a frame deformable balance car in a first damping state;
fig. 8 is a schematic diagram II of a shock absorbing state of the deformable balance car of the frame of the present invention.
110, A frame; 1. a first frame body; 101. a bearing plate; 102. a first mounting bar; 2. a second frame body; 201. a mounting plate; 202. a second mounting bar; 3. a battery pack; 4. a handle bar assembly; 401. a handle bar; 402. a connecting rod; 403. a linkage member; 5. an elastic member; 6. a connecting piece; 7. a controller; 8. a second angle sensor; 9. a first angle sensor; 10. a first mounting groove; 11. a suspension damping mechanism; 1101. a mounting base; 1102. an elastic member; 1103. a servo motor; 1104. a frame body; 1105. a fixing plate; 12. a wheel; 13. and driving the motor.
Detailed Description
The following description of the embodiments of the present application will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present application, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the application without making any inventive effort, are intended to be within the scope of the application.
In the description of the present application, it should be understood that the terms "center," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," and the like indicate orientations or positional relationships based on the orientation or positional relationships shown in the drawings, merely to facilitate describing the present application and simplify the description, and do not indicate or imply that the devices or elements referred to must have a specific orientation, be configured and operated in a specific orientation, and thus should not be construed as limiting the present application.
The terms "first," "second," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include one or more such feature. In the description of the present application, unless otherwise indicated, the meaning of "a plurality" is two or more.
In the description of the present application, it should be noted that, unless explicitly specified and limited otherwise, the terms "mounted," "connected," and "connected" are to be construed broadly, and may be either fixedly connected, detachably connected, or integrally connected, for example; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communication between two elements. The specific meaning of the above terms in the present application will be understood in specific cases by those of ordinary skill in the art.
As shown in fig. 1 and 2, a deformable balance car according to some embodiments of the present application includes: the vehicle comprises a vehicle frame 110, a controller 7, a suspension damping mechanism 11, two driving motors 13 and two wheels 12; the controller 7 is mounted on the frame 110; the suspension damping mechanism 11 comprises a frame 1104, a mounting seat 1101 and an elastic member 1102, wherein the frame 1104 is respectively arranged on the left side and the right side of the frame 110, one end of the elastic member 1102 is connected with the frame 1104, and the other end is connected with the mounting seat 1101; the fixed shaft of each driving motor 13 is correspondingly connected with one of the mounting seats 1101, and the driving motor 13 is electrically connected with the controller 7; each wheel 12 is respectively connected with the power output end of one of the driving motors 13; the elastic member 1102 can elastically drive the mounting seat 1101 and the wheel 12 to passively move up or down relative to the frame 110 when the wheel 12 is impacted by an uneven road surface.
Based on the above scheme, the suspension damping mechanisms 11 are suspended on two sides of the frame 110, the frame 1104 is suspended relative to the frame 110, when the vehicle runs on an uneven road, the wheels 12 contact with an obstacle, and due to the existence of the elastic member 1102, the elastic member 1102 passively contracts to drive the mounting seat 1101 to move upwards, and then drive the wheels 12 to move upwards, so that the frame 110 maintains a relatively stable state, and the purpose of passive damping is achieved.
In some embodiments, the suspension damping mechanism 11 further includes a servo motor 1103, where the servo motor 1103 is mounted on a side portion of the frame 1104 and is electrically connected to the controller 7, and a power output end of the servo motor 1103 is connected to the elastic member 1102; the controller 7 can control the servo motor 1103 to rotate, and further drive the elastic member 1102 to move up or down, so that the mounting seat 1101 moves up or down actively. The device also comprises a level sensor, wherein the level sensor is arranged on the frame 110 or the controller 7 and is used for detecting the level height of the left end and the right end of the frame 110, and the level sensor is electrically connected with the controller 7; when the level sensor detects that the horizontal heights of the left and right ends of the frame 110 are inconsistent, the controller 7 controls the servo motor 1103 at the high end of the frame 110 to drive the elastic member 1102 to move upwards, so that the mounting seat 1101 and the wheels 12 move upwards.
Based on the above scheme, when the deformable balance car of the frame runs on a complex road surface which is not horizontal, the suspension damping mechanism 11 damps due to the fact that the suspension elastic piece 1102 stretches and contracts to jump singly, the possibility of rollover is greatly reduced, when the frame 110 inclines left and right, the controller 7 converts the inclination angle captured by the left and right horizontal sensors into a driving signal to drive the servo motor 1103, the servo motor 1103 rotates to lift or move the elastic piece 1102 downwards, and the inclination of the frame 110 is corrected, so that driving stability and safety are further guaranteed. The horizontal sensors are arranged in a mode of matching a deformable balance car with a servo motor 1103, the left horizontal sensor and the right horizontal sensor are arranged on the car frame 110, the inclination angle information of the car frame 110 is detected, the controller 7 converts the inclination angles captured by the left horizontal sensor and the right horizontal sensor into driving signals to drive the servo motor 1103, and the servo motor 1103 rotates to lift or move down the elastic piece 120 so as to correct the inclination of the car frame 110, so that the driving stability and safety are further ensured.
In some embodiments, the elastic member 1102 is provided on both left and right sides of the frame 1104, and the elastic members 1102 are each cylindrical; the mounting seat 1101 is provided with connecting holes which are connected with the elastic pieces 1102 in a one-to-one correspondence.
In some embodiments, the servo motor 1103 is provided with two or four; when two servo motors 1103 are provided, each servo motor 1103 is respectively disposed on the left and right frames 1104, and one servo motor 1103 drives the two elastic members 1102 on the same side to stretch; when four servo motors 1103 are provided, two servo motors 1103 are respectively provided on each frame 1104, each servo motor 1103 is connected with the elastic member 1102 in a one-to-one correspondence, and one servo motor 1103 drives one elastic member 1102 to stretch and retract correspondingly.
In some embodiments, the vehicle frame further comprises two mounting plates 6, each mounting plate 6 is rotatably mounted on the left and right sides of the vehicle frame 110, and guide grooves matched and connected with the frame 1104 are formed in the mounting plates 6.
In some embodiments, the suspension damper 11 further includes a fixing plate 1105, where the fixing plate 1105 is fixedly connected to the mounting plate 6, the fixing plate 1105 is provided with a fixing slot corresponding to the guide slot, a mounting hole is defined between the fixing slot and the guide slot, and the frame 1104 is mounted on the mounting hole.
In some embodiments, the frame 110 includes a first frame body 1, a second frame body 2, a handlebar assembly 4, and an elastic member 5; the first frame body 1 is used for a user to stand; the second frame bodies 2 are correspondingly arranged below the first frame bodies 1 at intervals; the handle bar assembly 4 is rotatably mounted on the first frame body 1 and the second frame body 2 respectively; when the handle bar assembly 4 swings left and right, the first frame body 1 can move left and right in parallel relative to the second frame body 2 along with the handle bar assembly 4; one end of the elastic component 5 is connected with the first frame body 1, and the other end is connected with the second frame body 2; after the first frame 1 moves in parallel left and right relative to the second frame 2, the elastic member 5 can drive the first frame 1 to automatically reset.
Based on the scheme, the application works based on the inverted pendulum principle, when the bicycle is used, a driver stands on the first frame body 1 vertically to hold the handlebar assembly 4, when the body of the driver leans forward and pushes the assembly 4, the first frame body 1 and the second frame body 2 can follow the forward lean, the gyro assembly for sensing the pitching angle of the bicycle frame in the controller 7 detects a dip angle signal, the signal is processed by the controller 7 to become a motor driving signal, and the motor is driven to rotate to drive the bicycle body to move, so that balance, forward and backward are maintained; a cuboid shape is formed between the first frame body 1 and the second frame body 2, and a handle bar assembly 4 is arranged at the front ends of the first frame body 1 and the second frame body 2, namely, the front advancing side of the whole frame; the handlebar component 4 mainly swings with the first frame body 1 and is stably connected with the first frame body 1 and the second frame body 2; when a user stands on the first frame body 1 and holds the handle bar assembly 4, the user controls the handle bar assembly 4 to swing left and right, the controller 7 obtains the swing information of the handle bar assembly 4 and sends related control signals to the power assembly after processing, so that the power assemblies at the left end and the right end of the vehicle body generate speed difference, further steering is realized, the handle bar assembly 4 swings left and right through linkage with the first frame body 1, parallelogram deformation is equivalent to the generation between the handle bar assembly 4 and the second frame body 2 when the first frame body 1 swings, and the handle bar assembly 4 and the first frame body 1 can roll along with the user in a parallelogram deformation mode, so that overturning caused by centrifugal force is avoided; after parallelogram deformation is generated between the first frame body 1 and the second frame body 2, the elastic part 5 connected between the first frame body 1 and the second frame body 2 generates elastic deformation due to the deformation, and when the straight line running is restored and the road surface is stable, the elastic part 5 resets the first frame body 1 to the position right above the second frame body 2 through elasticity, so that the elastic deformation is completed once; the suspension damping mechanism 11 plays a certain role in buffering when the frame deformable balance car runs on a left-right fluctuating road surface and an obstacle road surface, so that the car body is kept in a relatively stable state, and a user is prevented from falling.
In some embodiments, the device further comprises two mounting plates 6 rotatably mounted on the left and right sides of the first frame 1, and rotatably connected with the left and right sides of the second frame2, respectively; the mounting plate 6 is provided with a guide groove which is matched and connected with the servo motor 1103. The effect that mounting panel 6 set up is connected first support body 1 and second support body 2, is simultaneously in order to connect the installation wheel 12, and the mounting panel 6 all leaves the space between first support body 1 and the second support body 2, in order to take place parallelogram deformation at first support body 1 and second support body 2, remains certain activity space between mounting panel 6 and first support body 1 and the second support body 2 to ensure that deformation can be accomplished, be unlikely to lead to can not taking place deformation because mounting panel 6 blocks.
In some embodiments, the device further comprises a battery pack 3 and two driving motors 13, the controller 7 is electrically connected with the driving motors 13, the controller 7 is mounted on the first frame 1, the battery pack 3 is mounted on the second frame 2, the fixed end of each driving motor 13 is connected with the mounting seat 1101, and the power output end of each driving motor 13 is connected with the corresponding wheel 12 and used for driving the corresponding wheel 12 to rotate. The battery pack 3 provides power for the driving motor 13, and the driving motor 13 drives the wheels 12 to rotate so as to drive the deformable balance car of the frame to move; the rotation speed of the left driving motor 13 and the rotation speed of the right driving motor 13 are controlled, so that the rotation speed difference is generated between the two driving motors 13, and the steering of the frame deformable balance car can be realized.
In some embodiments, an angle sensor for detecting a rotation angle of the handlebar assembly 4 relative to the first frame 1 is disposed between the handlebar assembly 4 and the first frame 1, and the angle sensor is electrically connected to the controller 7; wherein, when the angle sensor detects that the handle bar assembly 4 rotates by different angles relative to the first frame body 1, the controller 7 respectively controls the rotation speed of each driving motor 13 to be different so as to form a differential speed.
In some embodiments, the handlebar assembly 4 includes a linkage 403 and a handlebar 401, the linkage 403 is rotatably connected to the first frame 1 and the second frame 2 respectively, and the handlebar 401 is mounted on a top end of the linkage 403; the angle sensor comprises a first angle sensor 9 arranged on the first frame body 1 and a second angle sensor 8 arranged on the linkage piece 403; the first angle sensor 9 is electrically connected with the controller 7, and is configured to detect a swinging angle of the first frame 1 and the handle 401 linked with the first frame; the second angle sensor 8 is electrically connected to the controller 7, and is configured to detect a rotation angle of the handlebar 401 relative to the linkage 403. The first angle sensor 9 is installed on any movable angle of the first frame body 1, so that the swinging angle of the first frame body 1 can be detected, and as the first frame body 1 and the handle bar 401 are linked, the handle bar 401 swings to drive the first frame body 1 to swing, which is equivalent to the swinging angle of the handle bar 401 and the first frame body 1 detected by the first angle sensor 9, and the angle information is sent to the controller 7, the controller 7 sends related driving instructions to the power assembly 12 after processing, and the driving motors on the left side and the right side generate rotation speed difference, so that steering is realized. The second angle sensor 8 is used for singly detecting the rotation angle of the handle bar 401, and after the controller 7 acquires the rotation angle information of the handle bar 401 and processes, a relevant driving instruction is sent to the driving motor to control steering, when the second angle sensor 8 is matched with the first angle sensor 9 for use, the steering control precision is higher, and the error in the detection process can be reduced.
In some embodiments, the handlebar assembly 4 further includes a connecting rod 402, one end of the connecting rod 402 is connected to the linkage 403, and the other end is connected to the handlebar 401. The connecting rod 402 is arranged to adapt to the design of the handlebars 401 with different heights, and the height of the connecting rod 402 is designed according to the requirements so as to match the handlebars 401 held by users with different heights; the connecting rod 402 may be provided in a telescopic type, the height of which is freely adjusted during use, and in addition, the connecting rod 402 and the handle bar 401 may be integrally formed.
In some embodiments, a first centering mechanism capable of enabling the linkage 403 to swing and return automatically relative to the first frame 1 is connected between the linkage 403 and the first frame 1, and a second centering mechanism capable of enabling the handlebar 401 to rotate and return automatically relative to the connecting rod 402 is connected between the connecting rod 402 and the handlebar 401.
In some embodiments, the linkage member 403 is rotatably connected to the first frame 1 and the second frame 2, respectively, and the linkage member 403 is capable of linking the first frame 1 to swing parallel to the second frame 2 against the elastic force of the elastic member 5. Because the linkage member 403 is rotationally connected with the first frame 1, when the handlebar 401 swings left and right, the linkage member 403 will first follow the swing and then drive the first frame 1 to follow the swing, which is equivalent to that the linkage member 403 swings relative to the second frame 2 by a certain angle, the swinging angles of the first frame 1 and the handlebar 401 are consistent, and the inclination angle of the human body is ensured to be consistent with the swinging angles of the first frame 1 and the handlebar 401, thereby ensuring that
In some embodiments, the first frame 1 is provided with a first mounting groove 10 for accommodating the controller 7; the second frame body 2 is provided with a second mounting groove for accommodating the battery pack 3. The vehicle frame deformable balance vehicle needs the controller 7 to control running and needs the battery pack 3 to provide a power source, the first mounting groove 10 for mounting the controller 7 is configured on the first frame body 1, the second mounting groove for mounting the battery pack 3 is configured on the second frame body 2, the surface of the controller 7 and the battery pack 3 protruding out of the vehicle frame is avoided, and the overall aesthetic property of the vehicle frame is ensured.
In some embodiments, the linkage 403 further includes a third mounting groove for accommodating the second angle sensor 8, where the third mounting groove corresponds to the axle center of the handlebar 401. The second angle sensor 8 is mainly used for detecting the rotation angle of the handlebar 401, the handlebar 401 is connected with the connecting rod 402, the second angle sensor 8 is installed on the third installation groove of the linkage member 403, the rotation angle of the linkage member 403 detected by the second angle sensor 8 is the rotation angle of the handlebar 401, in addition, the position of the third installation groove can be the position close to the first frame body 1 in a downward direction, the detection precision can be improved, and the controller 7 of the frame deformable balance car can conveniently carry out corresponding control and adjustment.
In some embodiments, as shown in fig. 3 and fig. 4, the first rack 1 includes a bearing plate 101 and two first mounting rods 102, where the first mounting rods 102 are respectively disposed on front and rear sides of the bearing plate 101; the second frame 2 includes a connecting plate 201 and two second mounting rods 202, the second mounting rods 202 are respectively disposed on two sides of the connecting plate 201, the connecting plate 201 is correspondingly disposed below the bearing plate 101, and the two second mounting rods 202 are respectively disposed below the two first mounting rods 102; the linkage 403 is rotatably connected to the first mounting lever 102 and the second mounting lever 202 on the same side, respectively. The bearing plate 101 is used for a user to stand, the front end and the rear end of the bearing plate 101 are both connected with the first mounting rod 102, the first mounting rod 102 is connected with the linkage piece 403, the connecting plate 201 and the corresponding second mounting rod 202 are arranged to be matched with the bearing plate 101 and the first mounting rod 102, the linkage piece 403 is rotationally connected with the first mounting rod 102 and the second mounting rod 202, namely, force is transmitted through the first mounting rod 102 and the second mounting rod 202 when the bearing plate is swung, and in this case, the influence on the mounting components on the bearing plate 101 and the connecting plate 201 can be avoided.
In some embodiments, the elastic members 5 are at least four, and are respectively located at four end corners of the bottom of the first frame 1. In order to ensure that the frame is stable when parallelogram deformation occurs and the first frame body 1 can be completely reset to the position right above the second frame body 2, the number of the elastic parts 5 is preferably four, and the elastic parts are respectively positioned at four end corners, so that when deformation occurs, the stress of the first frame body 1 and the second frame body 2 is uniform and the frame is more stable when reset; the elastic member 5 is a spring.
Based on the above embodiment, when the deformable balance car of the frame realizes high-speed right steering, the state is shown in fig. 5, and the first frame body is shifted to the left; when the frame deformable balance car realizes high-speed left steering, the state is as shown in fig. 6, and the first frame body is deviated to the right; when the frame deformable balance car runs on uneven road, the state of the frame deformable balance car without the servo motor is shown in fig. 7, the car body is deformed in a parallelogram shape, the purpose of buffering and shock absorbing can be achieved, the state of the frame deformable balance car with the servo motor is shown in fig. 8, the car body can be kept horizontal, and the shock absorbing effect is better.
In summary, according to the deformable balance car for the car frame, the effect of buffering and shock absorbing is achieved through elastic deformation, meanwhile, the shock absorbing effect of the deformable balance car for the car frame is further improved through the cooperation of the suspension shock absorbing mechanism and shock absorption, the use experience of a user is improved, and the safety in the use process is guaranteed.
The foregoing is merely a preferred embodiment of the present invention, and it should be noted that modifications and substitutions can be made by those skilled in the art without departing from the technical principles of the present invention, and these modifications and substitutions should also be considered as being within the scope of the present invention.
Claims (6)
1. A frame deformable balance car, comprising:
The first frame body is used for a user to stand;
The second frame bodies are correspondingly arranged below the first frame bodies at intervals;
The handle bar assembly is rotatably installed on the first frame body and the second frame body respectively; when the handle bar assembly swings left and right, the first frame body can move left and right in parallel relative to the second frame body along with the handle bar assembly;
one end of the elastic component is connected with the first frame body, and the other end of the elastic component is connected with the second frame body; after the first frame body moves left and right in parallel relative to the second frame body, the elastic component can drive the first frame body to reset automatically;
The two wheels are respectively rotatably arranged on the left side and the right side of the first frame body and are respectively rotatably connected with the left side and the right side of the second frame body;
The two mounting plates are respectively rotatably mounted on the left side and the right side of the first frame body and are respectively rotatably connected with the left side and the right side of the second frame body;
A rotating gap is reserved between the mounting plate and the first frame body; a rotating gap is reserved between the mounting plate and the second frame body;
the first frame body comprises a bearing plate and two first mounting rods, and the first mounting rods are respectively arranged on the front side and the rear side of the bearing plate; the second frame body comprises a mounting plate and two second mounting rods, the second mounting rods are respectively arranged on two sides of the mounting plate, the mounting plate is correspondingly arranged below the bearing plate, and the two second mounting rods are respectively arranged below the two first mounting rods;
An angle sensor for detecting the rotation angle of the handlebar assembly relative to the first frame body is arranged between the handlebar assembly and the first frame body; or an angle sensor for detecting the rotation angle of the handlebar assembly relative to the second frame body is arranged between the handlebar assembly and the second frame body;
The handle bar assembly comprises a linkage piece and a handle bar, the linkage piece is respectively connected with the first frame body and the second frame body in a rotating way, and the handle bar is arranged at the top end of the linkage piece; the angle sensor comprises a first angle sensor arranged on the first frame body or the second frame body and a second angle sensor arranged on the linkage piece;
the linkage piece is respectively connected with the first mounting rod and the second mounting rod on the same side in a rotating way.
2. The frame deformable balance car of claim 1 wherein each of said wheels is resiliently coupled to one of said mounting plates by a suspension shock absorbing mechanism.
3. The frame deformable balance car of claim 1, further comprising a controller, a battery pack and two driving motors, wherein the controller is electrically connected with the driving motors, the controller is mounted on the first frame body, the battery pack is mounted on the second frame body, the fixed ends of the driving motors are respectively mounted on the left side and the right side of the mounting plate, and the power output ends of the driving motors are connected with the wheels for driving the wheels to rotate.
4. The frame deformable balance car of claim 3, wherein the angle sensor is electrically connected to the controller;
When the angle sensor detects that the handlebar assembly rotates for different angles relative to the first frame body or the second frame body, the controller respectively controls the rotation speeds of the driving motors to be different so as to form a differential speed;
The first angle sensor is electrically connected with the controller and is used for detecting the swing angle of the handle bar of the first frame body or the second frame body and the linkage thereof; the second angle sensor is electrically connected with the controller and is used for detecting the rotation angle of the handlebar relative to the linkage.
5. The frame deformable balance car of claim 4, wherein the handlebar assembly further comprises a connecting rod, one end of the connecting rod is connected with the linkage, the other end of the connecting rod is connected with the handlebar, a first centering mechanism capable of enabling the linkage to swing back relative to the first frame body is connected between the linkage and the first frame body, and a second centering mechanism capable of enabling the handlebar to rotate back relative to the connecting rod is connected between the connecting rod and the handlebar.
6. The frame deformable balance car of claim 1, wherein the elastic members are provided in two and are respectively located at two end corners of the bottom of the first frame body; or the elastic components are provided with four, and are respectively positioned at the four end corners of the bottom of the first frame body.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011333116.9A CN112298426B (en) | 2020-11-24 | 2020-11-24 | Deformable balance car for car frame |
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| CN202011333116.9A CN112298426B (en) | 2020-11-24 | 2020-11-24 | Deformable balance car for car frame |
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| CN112298426A CN112298426A (en) | 2021-02-02 |
| CN112298426B true CN112298426B (en) | 2024-07-02 |
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| CN202011333116.9A Active CN112298426B (en) | 2020-11-24 | 2020-11-24 | Deformable balance car for car frame |
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| CN115571252B (en) * | 2022-11-22 | 2023-04-28 | 成都倒立摆科技有限公司 | Frame deformation mechanism |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN214112769U (en) * | 2020-11-24 | 2021-09-03 | 成都倒立摆科技有限公司 | Frame deformable balance car |
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| US8070172B1 (en) * | 2010-02-12 | 2011-12-06 | TreMoto, LLC | Leaning vehicle suspension |
| CN207173844U (en) * | 2017-08-07 | 2018-04-03 | 昆山百瑞康儿童用品有限公司 | A kind of balance car |
| CN107719551B (en) * | 2017-10-30 | 2021-05-18 | 深圳市未来狗科技有限公司 | All-terrain balance car |
| CN109178177B (en) * | 2018-10-31 | 2020-08-25 | 深圳市未来狗科技有限公司 | Multimode turns to self-balancing electric motor car |
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| CN214112769U (en) * | 2020-11-24 | 2021-09-03 | 成都倒立摆科技有限公司 | Frame deformable balance car |
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