CN202080392U

CN202080392U - Elastic steering reset mechanism for self-balancing two-wheel electric vehicle

Info

Publication number: CN202080392U
Application number: CN2010206881202U
Authority: CN
Inventors: 闫学凯; 周伟; 胡志诚
Original assignee: DONGGUAN ROBSTEP ROBOT Co Ltd
Current assignee: DONGGUAN ROBSTEP ROBOT Co Ltd
Priority date: 2010-12-30
Filing date: 2010-12-30
Publication date: 2011-12-21
Anticipated expiration: 2020-12-30

Abstract

The utility model relates to an elastic steering reset mechanism for a self-balancing two-wheel electric vehicle, which comprises an elastic body, an elastic guide pillar, an elastic body pressing steel sheet, an ejector rod, a rotary shaft connected with a rocker, a buffer pad, a first bearing, a second bearing, a positioning pin, a steering sensor fixing part and a potentiometer. One end of the elastic body is mounted in the elastic body guide pillar, the elastic body pressing steel sheet is mounted in the elastic body guide pillar and pressed at the upper end of the elastic body, the lower end of the rotary shaft is provided a horizontal plane in a cutting manner, the rotary shaft is in transmission connection with the elastic body through the guide pillar, the buffer pad is fit with the lower plane of the rotary shaft, the first bearing and the second bearing are arranged at two ends of the rotary shaft respectively, and the steering sensor fixing part is connected with the tail end of the rotary shaft. The elastic steering reset mechanism is simple in structure, small in size, easy to be mounted and flexible in steering.

Description

The automobile-used flexible restoring organ that turns to of a kind of self-balancing two-wheel electric

Technical field

The utility model relates to a kind of flexible restoring organ that turns to, especially a kind of flexible restoring organ that turns to that is used on the self-balancing electric motor car with two wheels.

Background technology

The self-balancing electric motor car with two wheels is parallel layout the about a kind of tire, adopts the inverted pendulum principle to realize the battery-driven car of self-balancing; The conversion that it comes human body and body gravity by built-in gyroscope of car body and acceleration pick-up, thereby the direction and the speed of control car, and can realize that no-radius turns to.This self-balancing electric motor car with two wheels convenient environment friendly is a kind of good short distance running vehicle.But, its steering hardware space that still is significantly improved.

In the existing technology, it is open in 200920281856.5 the Chinese patent literature 1 at for example number of patent application that the automobile-used steering hardware of a kind of self-balancing two-wheel electric has been arranged.In patent documentation 1, its described steering hardware comprises base plate (1) and the horizontal rotating shaft (4) of captiveing joint with it by bracing frame (2), one end of horizontal rotating shaft (4) is fixedly connected with control lever (3), the other end of horizontal rotating shaft (4) is provided with rotation direction sensor (8), on horizontal rotating shaft (4), be fixed with along the axis symmetry, vertical bearing bracket (6), oad and the essentially identical elastic body of physical property (5) be installed in the below or the top of bearing bracket (6) both sides with control lever (3).

The principle of work of the steering hardware described in the patent documentation 1 is: during use, the operator comes controlling level rotating shaft (4) to rotate along axis direction by wigwag motion control lever (3), because the end of horizontal rotating shaft (4) also is connected with rotation direction sensor (8), so the size of horizontal rotating shaft (4) rotational angle can become instruction by rotation direction sensor (8), turning to and speed output of control motor, thus turning to of two-wheel car controlled.Joystick (3) is the operator not under the situation of the application of force, the contour elastic body (5) of the both sides of horizontal rotating shaft (4) contacts with heavy frame (6), because two elastic bodys (5) are highly equal, thereby make bearing bracket (6) remain on level attitude, and joystick (3) is in the position of upright center.When joystick (3) was applied external force and makes its swing toward direction, an end of the heavy frame (6) on the horizontal rotating shaft (4) can compresses elastomeric (5), and the other end and elastic body (5) disengage.When the operator stopped the application of force, the elastic force of elastic body (5) can make heavy frame (6) get back to level attitude, and promptly joystick (3) is got back to and the upright position that hits exactly of S. A..

But in the steering hardware described in the above-mentioned patent documentation 1, it is horizontal mounting structure, makes car body tediously long, and volume is bigger; Its mechanism's peripheral hardware is not easy to keep a public place clean, and has also increased productive costs; During joystick left and right sides deflection, the application of force will increase with the increase of the angle of deflection, and especially deflection does not stress at the beginning substantially, and is wayward; The installation of symmetrical elastic body position is difficult to guarantee contour, and joystick can not guarantee to be parked in midway location; The joystick rotational angle does not have spacing, rotates excessively, and heavy frame and elastic body can stagger and break down.

Novel content

In order to solve the existing problem of background technology, the utility model has adopted following technical scheme: the utility model steering hardware comprises an elastic body; A guide pillar; Described elastic body one end is contained in the elastic body guide pillar; Compression elasticity body steel disc, described compression elasticity body steel disc is contained in the elastic body guide pillar, and is pressed in elastomeric upper end; A push rod; A S. A. that connects rocking bar, end-grain cutting has a horizontal surface under it, and this S. A. and described elastic body are in transmission connection by guide pillar; A cushion rubber of fitting with the S. A. lower plane; Place the clutch shaft bearing and second bearing of rotating shaft terminal; A locating dowel pin; A rotation direction sensor connecting element, it links to each other with S. A. is terminal; A potential device.

Further, described elastic body is gas spring or wire spring or rubber spring or polyurethane spring.

Further, shaft part of described S. A. is provided with plane characteristic, and S. A. is not subjected under the situation of external force, and this plane and described elastic body or guide pillar end face fit tightly.

Its motion principle is: during pivotal handle, the driven rotary axle rotates, and rotation direction sensor connecting element and S. A. end are connected, and the size of S. A. rotational angle can be transformed into instruction by rotation direction sensor, turning to and speed output of control motor, thus turning to of two-wheel car controlled.The S. A. that rotates is pressed onto cushion rubber, makes it press push rod to make elastomer contracts, and when push rod is descending when running into the elastic body guide pillar, handle rotates the position that reaches capacity; During reversing sense, principle is also like this; Unclamp handle, handle is because the restoring force effect automatically restores to midway location.

Flexible restoring organ of the present utility model has the following advantages:

(1) no gap has guaranteed to make handgrip reset to midway location at every turn, and about be difficult for to produce the gap;

(2) from the zero-bit to the extreme angles, can both provide the comfortable continuous dynamics that turns to;

(3) longitudinal construction is built in the car lower house, has shortened the length of car body;

(4) not high to elastomeric accuracy requirement, to make easily, and inhibiting device is arranged, elastic body is difficult for losing efficacy;

(5) reliability height, compression member is not easy to wear;

(6) by being provided with described plane characteristic at shaft part of described S. A., S. A. is not subjected under the situation of external force, and this plane and elastic body or guide pillar end face fit tightly, thereby guarantees that S. A. is in the zero-bit state.

Description of drawings

Fig. 1,2 is patent documentation 1 a described steering hardware scheme drawing in the background technology.

Fig. 3 is the front elevation of a kind of embodiment of the utility model flexible restoring organ.

Fig. 4 is the cutaway view of the utility model flexible restoring organ along A-A.

Fig. 5 is the lateral plan of the utility model flexible restoring organ.

Fig. 6 is the cutaway view of the utility model flexible restoring organ along B-B.

Fig. 7 is the front elevation of the utility model flexible restoring organ embodiment 1.

Fig. 8 is the lateral plan of the utility model flexible restoring organ embodiment 1.

Fig. 9 is the cutaway view of the utility model flexible restoring organ embodiment 1 along C-C.

Figure 10 is the front elevation of the utility model flexible restoring organ embodiment 2.

Figure 11 is the lateral plan of the utility model flexible restoring organ embodiment 2.

Figure 12 is the cutaway view of the utility model flexible restoring organ embodiment 2 along D-D.

The specific embodiment

For further understanding feature of the present utility model, technological means and the specific purposes that reached, function, the utility model is described in further detail below in conjunction with the accompanying drawing and the specific embodiment.

Fig. 3 is the embodiment of the utility model flexible restoring organ to Figure 12, specifically, Fig. 3 to Fig. 6 be according to first embodiment of flexible restoring organ of the present utility model front elevation, lateral plan with and the cross section view of A-A and B-B; Fig. 7 to Fig. 9 be according to second embodiment of flexible restoring organ of the present utility model front elevation, lateral plan with and the cross section view of C-C; Figure 10 to Figure 12 be according to the 3rd embodiment of flexible restoring organ of the present utility model front elevation, lateral plan with and the cross section view of D-D.

As shown in Figure 4, the flexible restoring organ of the utility model first embodiment comprises an elastic body (2), and the one end is contained in elastic body guide pillar (3) lining; An elastic body guide pillar (3); A compression elasticity body steel disc (4), it is contained in elastic body guide pillar (3) lining, and is pressed in the upper end of elastic body (2); A push rod (5); A cushion rubber (6) of fitting with S. A. (7) lower plane; A S. A. (7) that connects rocking bar, shaft part partly has plane characteristic in the middle of the S. A.; A locating dowel pin (10); Place the clutch shaft bearing (11) and second (14) at S. A. (7) two ends; A rotation direction sensor connecting element (12), itself and S. A. (7) end are connected; A rotation direction sensor (13).

As shown in Figure 4, during pivotal handle (1), will rotate by driven rotary axle (7), the size of S. A. (7) rotational angle can be transformed into instruction by rotation direction sensor (13), controls turning to and speed output of motor, thereby controls turning to of two-wheel car, the S. A. (7) that rotates is pressed onto cushion rubber (6), make it press push rod (5) that elastic body (2) is shunk, when push rod (5) is descending when running into elastic body guide pillar (3), handle (1) rotates the position that reaches capacity; During reversing sense, principle is also like this; Unclamp handle (1), handle (1) is because the restoring force effect automatically reverts to midway location.By being provided with described plane characteristic, this plane receives the elastic force of elastic body (2) when turning to, and makes S. A. (7) produce reverse torque, has the trend of recovering zero-bit.

Shown in Fig. 7,8 and 9, the single elastic body Bringing-back mechanism in the centre of the utility model second embodiment comprises elastic body push rod (1L) and (1R), roller (2L) and (2R), pin (3L) and (3R), elastic body (4), lining (5L) and (5R), retainer (6), handle depression bar (7L) and (7R), bearing carrier ring (8), rotating shaft (9), the arm of force under the handle (10) and nut (11).

Shown in Fig. 7 and 9, shake when by doing and illustrating exerting oneself arm (10), to drive handle depression bar (7L), make roller (2L) extruding elastic body push rod (1L), under the pressure effect of elastic body push rod (1L), elastic body (4) compression, the other end of elastic body (4) is withstood by another one elastic body push rod (7R), when elastic body push rod (7L) is run into elastic body push rod (7R), the pendulum angle position that reaches capacity; During reversing sense, its principle is also like this; When unclamping the arm of force under the handle (10), under the effect of elasticity muscle power, can automatically revert to midway location.

Shown in Figure 10,11 and 12, two elastic body Bringing-back mechanisms of the utility model the 3rd embodiment comprise retainer (1L) and (1R), elastic body nut (2L) and (2R), elastic body (3L) and (3R), linear bearing (4L) and (4R), elastic body push rod (5L) and (5R), the arm of force under the handle (6), pin (7), roller (8), bearing carrier ring (9), and rotating shaft (10).

Shown in Figure 10 and 12, shake when by doing and illustrating exerting oneself arm (6), to drive roller (89) extruding elastic body push rod (5L), elastic body push rod (5L) compresses elastomeric (3L), and the elastic body push rod (5R) of another side is motionless, when roller (8) was run into retainer (1L), the position reached capacity; During reversing sense, its principle is also like this; When unclamping the arm of force under the handle (6), under the effect of elasticity muscle power, can automatically revert to midway location.

Claims

1. automobile-used flexible restoring organ that turns to of self-balancing two-wheel electric, it is characterized in that: it comprises an elastic body (2); A guide pillar (3); Described elastic body (2) one ends are contained in the elastic body guide pillar (3); Compression elasticity body steel disc (4), described compression elasticity body steel disc (4) is contained in the elastic body guide pillar (3), and is pressed in the upper end of elastic body (2); A push rod (5); A S. A. (7) that connects rocking bar, end-grain cutting has a horizontal surface under it, and this S. A. (7) is in transmission connection by guide pillar (3) with described elastic body (2); A cushion rubber (6) of fitting with S. A. (7) lower plane; Place the clutch shaft bearing (11) and second bearing (14) at S. A. (7) two ends; A locating dowel pin (10); A rotation direction sensor connecting element (12), it links to each other with S. A. (7) is terminal; A potential device (13).

2. according to the automobile-used flexible restoring organ that turns to of the described self-balancing two-wheel electric of claim 1, it is characterized in that: described elastic body (2) is gas spring or wire spring or rubber spring or polyurethane spring.

3. according to claim 1 or the automobile-used flexible restoring organ that turns to of 2 described self-balancing two-wheel electrics, it is characterized in that: (7) shaft parts of described S. A. are provided with plane characteristic, S. A. (7) is not subjected under the situation of external force, and this plane and described elastic body (2) or guide pillar end face fit tightly.