CN211810034U - Double-motor anti-torque power system, control system and self-balancing vehicle - Google Patents
Double-motor anti-torque power system, control system and self-balancing vehicle Download PDFInfo
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- CN211810034U CN211810034U CN201922389085.8U CN201922389085U CN211810034U CN 211810034 U CN211810034 U CN 211810034U CN 201922389085 U CN201922389085 U CN 201922389085U CN 211810034 U CN211810034 U CN 211810034U
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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
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- B60K1/00—Arrangement or mounting of electrical propulsion units
- B60K1/02—Arrangement or mounting of electrical propulsion units comprising more than one electric motor
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- B60K17/00—Arrangement or mounting of transmissions in vehicles
- B60K17/04—Arrangement or mounting of transmissions in vehicles characterised by arrangement, location, or kind of gearing
- B60K17/12—Arrangement or mounting of transmissions in vehicles characterised by arrangement, location, or kind of gearing of electric gearing
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L15/00—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles
- B60L15/20—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed
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- 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
- B62M19/00—Transmissions characterised by use of non-mechanical gearing, e.g. fluid gearing
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- 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
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- 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
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- Mechanical Engineering (AREA)
- Transportation (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Power Engineering (AREA)
- Electric Propulsion And Braking For Vehicles (AREA)
- Connection Of Motors, Electrical Generators, Mechanical Devices, And The Like (AREA)
Abstract
The application discloses two motor antitorque power system, self-balancing car control system and self-balancing car of self-balancing car lateral stability, two motor antitorque power system include: the rotary power component, the power output shaft, the anti-torque/power linear conversion system and the battery are arranged on the frame; the rotary power assembly includes: the motor controller is connected with the battery through the motor controller, and the anti-torsion/power motor is in driving connection with the anti-torsion/power linear conversion system through a power output shaft and is used for outputting anti-torsion and/or power; and the anti-torsion/power linear conversion system is used for controlling the anti-torsion/power motor to output anti-torsion force and/or power and transmitting the power output by the anti-torsion/power motor to the wheels of the self-balancing vehicle through the transmission system. Therefore, the mode of combining the anti-torsion motor and the power motor is matched with the anti-torsion/power linear conversion system, the cost of the self-balancing vehicle is reduced, and the space occupation and the energy consumption are reduced.
Description
Technical Field
The application relates to the technical field of balance cars, in particular to a double-motor anti-torsion power system with lateral stability of a self-balance car, a self-balance car control system and the self-balance car.
Background
The existing self-balancing vehicle has the following three ways to keep stable:
1. the balance is achieved by adopting a gravity center adjusting mode;
2. a gyroscope rotating at a high speed is arranged in a vehicle body to keep the direction stable;
3. an independent anti-torque motor is adopted to provide anti-torque force to keep stability.
The three ways described above have the following drawbacks:
the center of gravity adjustment is similar to the way of keeping the body stable by body swing when riding a bicycle, and the adjustment capability is very limited and cannot resist large external interference.
For the stabilization by spinning the top at a high speed, the top itself needs to have a sufficiently large mass and a sufficiently high kinetic energy, i.e. a sufficiently high rotational speed, to provide a sufficiently large body stabilization capability. This means that a large extra weight, volume and extra energy consumption are required, adding extra costs.
The balance is kept through the counter-torque force, an independent counter-torque motor is needed, the size of the balance force is greatly related to the power of the counter-torque motor, and the extra high-power counter-torque motor means extra high cost, extra weight, extra volume and extra energy consumption.
SUMMERY OF THE UTILITY MODEL
The main purpose of this application is to provide a two motor anti-torque power system, self-balancing car control system and self-balancing car of self-balancing car lateral stability, aim at reducing the cost of self-balancing car, reduce space and occupy and energy consumption.
In order to achieve the above object, the present application provides a self-balancing car lateral stability's anti-power system that twists reverse of bi-motor, the self-balancing car includes frame and wheel, the anti-power system that twists reverse of bi-motor includes: the rotary power assembly, the power output shaft, the anti-torque/power linear conversion system and the battery are arranged on the frame; wherein:
the rotary power assembly includes: the anti-torsion/power motor is connected with the battery through the motor controller, and is in driving connection with the anti-torsion/power linear conversion system through the power output shaft and used for outputting anti-torsion and/or power;
the anti-torsion/power linear conversion system is used for controlling the anti-torsion/power motor to output anti-torsion and/or power and transmitting the power output by the anti-torsion/power motor to wheels of the self-balancing vehicle through a transmission system.
Optionally, the power take-off shaft comprises: the coaxial shaft comprises an inner shaft and a hollow outer shaft sleeved on the inner shaft, the inner shaft and the outer shaft are rotatably connected through a bearing, one of the two first transmission gears is sleeved at one end of the inner shaft, the other one of the two first transmission gears is sleeved at one end of the outer shaft, the two first transmission gears are respectively and correspondingly in driving connection with two anti-torque/power motors through two second transmission gears, and the two second transmission gears are respectively sleeved on motor shafts of the two anti-torque/power motors; the other end of the concentric shaft is in driving connection with the anti-torque/power linear conversion system.
Optionally, the pair of anti-torque/power motors are mounted side by side with their stators secured to the motor controller and the battery.
Optionally, the rotary power assembly further comprises: the power box is internally provided with a battery bin for accommodating the battery; one end of the power box is rotatably connected with the frame through a rotating shaft, and the other end of the power box is rotatably connected with an outer shaft of the concentric shaft through a bearing, so that the rotary power assembly can freely rotate on the frame around the power output shaft.
Optionally, the rotating shaft is a hollow shaft, and a conductive slip ring is arranged in the hollow shaft and used for supplying power to the electric component on the frame.
Optionally, the anti-torque/power linear conversion system comprises: the power conversion gear box to and set up power conversion shaft, power transmission output shaft, power output awl tooth and two power conversion awl teeth in the power conversion gear box, wherein:
the power conversion gear box is fixedly connected with the frame;
the power conversion shaft is coaxially arranged with an inner shaft of the concentric shaft and is in driving connection with one end of the inner shaft or is integrally arranged with the inner shaft;
one of the two power conversion bevel gears is sleeved on the outer shaft of the concentric shaft and is positioned at the other end in the power conversion gear box, and the other power conversion bevel gear is sleeved on the power conversion shaft;
the power transmission output shaft is perpendicular to the power conversion shaft and is sleeved with the power output bevel gear, and the power output bevel gear is arranged between the two power conversion bevel gears and is in transmission connection with the two power conversion bevel gears; and one end of the power transmission output shaft, which is far away from the power output bevel gear, is provided with a power output wheel, and the power output wheel is connected with the wheels of the self-balancing vehicle through the transmission system and transmits the power output by the anti-torsion/power motor to the wheels of the self-balancing vehicle.
Optionally, the anti-torque/power linear conversion system is further configured to control the two anti-torque/power motors to rotate in opposite directions with the same output power when the balance car needs full power output, the output anti-torque forces are offset with each other, the rotary power assembly is stationary relative to the frame, and all power is transmitted to the power conversion gear box through the power output shaft; when the balance car needs power and also needs counter-torque force to keep balance, the two counter-torque/power motors are controlled to generate power difference, the generated counter-torque force is inconsistent, and counter-torque force difference is formed, so that the rotary power assembly rotates relative to the frame, and the counter-torque force needed by correcting the car body is provided; when the balance car only needs counter-torque force, the two counter-torque/power motors are controlled to rotate in the same direction, the generated counter-torque force is the same in direction, the power output shafts are opposite in stress, the rotation is stopped, no power is output, the rotating power assembly rotates relative to the car frame, and power is completely used for counter-torque.
Optionally, the double-motor anti-twisting power system with the self-balancing vehicle laterally stable further comprises a motor bearing sleeved on the motor shaft, and the motor bearing is installed on the power box.
The embodiment of this application still provides a self-balancing car control system, the self-balancing car includes frame and wheel, self-balancing car control system includes: install bi-motor antitorque power system, transmission system and automobile body gesture detecting system on the frame, wherein:
the double-motor anti-torsion power system is the double-motor anti-torsion power system which is laterally stable in the self-balancing vehicle;
the transmission system is in transmission connection with the anti-torque/power linear conversion system and the wheels respectively and is used for transmitting the power output by the anti-torque/power motor to the wheels of the self-balancing vehicle;
the body posture detection system is connected with the anti-torsion/power linear conversion system and used for detecting the body transverse posture of the self-balancing car in real time, and when the body transverse posture of the self-balancing car reaches a preset overturning posture, the anti-torsion/power linear conversion system is started to control the anti-torsion/power motor to output anti-torsion force opposite to the body transverse posture so as to pull the body back to a balanced state.
Optionally, the transmission system is a belt transmission system or a chain transmission system or a shaft transmission system; the self-balancing car control system further comprises a shell, the double-motor anti-torsion power system and the car body posture detection system are installed in the shell, and the shell is fixed on the car frame.
The embodiment also provides a self-balancing vehicle, which comprises a vehicle frame, wheels and the self-balancing vehicle control system.
The double-motor anti-torque power system, the self-balancing vehicle control system and the self-balancing vehicle provided by the embodiment of the application are laterally stable, and a rotary power assembly, a power output shaft, an anti-torque/power linear conversion system and a battery are arranged on a frame; wherein: the rotary power assembly includes: the anti-torsion/power motor is connected with the battery through the motor controller, and is in driving connection with the anti-torsion/power linear conversion system through the power output shaft and used for outputting anti-torsion and/or power; the anti-torsion/power linear conversion system is used for controlling the anti-torsion/power motor to output anti-torsion and/or power and transmitting the power output by the anti-torsion/power motor to wheels of the self-balancing vehicle through a transmission system, so that the anti-torsion/power linear conversion system is matched in a two-in-one mode of the anti-torsion motor and the power motor, the cost of the self-balancing vehicle is reduced, the space occupation is reduced, and the energy consumption is reduced; in addition, the automatic control of the self-balancing vehicle can be realized by combining a transmission system and a vehicle body posture detection system.
Additional features of the present application and advantages thereof will be set forth in the description which follows, or may be learned by practice of the present application.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings used in the description of the embodiments will be briefly described below. It should be apparent that the drawings in the following description are embodiments of the present application and that other drawings may be derived from those drawings by a person of ordinary skill in the art without inventive step.
Fig. 1 is a schematic structural view of an embodiment of a self-balancing vehicle provided in the present application;
fig. 2 is a schematic structural diagram of a dual-motor anti-twisting power system according to an embodiment of the present application;
FIG. 3 is another schematic structural diagram of a dual-motor anti-torque power system according to an embodiment of the present disclosure;
FIG. 4 is a schematic diagram of an internal structure of an embodiment of a dual-motor anti-torque power system provided in an embodiment of the present application;
fig. 5 is a schematic perspective structure diagram of an embodiment of a dual-motor anti-torque power system according to an embodiment of the present disclosure.
Reference numerals:
1-a vehicle frame; 2-vehicle wheels;
3-a counter-torque/power motor; 4-a battery;
5-anti-torque/power linear conversion system; 6-a transmission system;
7-a body attitude detection system; 8-a housing;
9-rear wheel brake; 10-self-balancing vehicle;
11-a rotary power assembly; 12-a power take-off shaft;
13-concentric axis; 14-a first drive gear;
15-a second transmission gear; 16-a power box;
17-a battery compartment; 18-a power conversion gearbox;
19-a power conversion shaft; 20-a power transmission output shaft;
21-power conversion bevel gear; 22-power output bevel gear;
23-a power take-off wheel; 24-a motor bearing;
25-a bearing; 30-motor shaft;
31-a stator; 32-rotor.
Detailed Description
The technical solutions of the present application will be described clearly and completely with reference to the accompanying drawings, and it should be understood that the described embodiments are only some embodiments of the present application, but not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
In the description of the present application, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description and simplicity of description, and do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be construed as limiting the present application. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
In the description of the present application, it is to be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meaning of the above terms in the present application can be understood in a specific case by those of ordinary skill in the art.
Specifically, referring to fig. 1 and fig. 2, an embodiment of the present application provides a laterally stable dual-motor anti-twisting power system for a self-balancing vehicle 10, where the self-balancing vehicle 10 may be a two-wheeled self-balancing vehicle 10, such as a two-wheeled bicycle, a two-wheeled motorcycle, and the like. The scheme of the embodiment mainly realizes the control of the lateral stability of the two-wheeled self-balancing vehicle 10.
The self-balancing vehicle 10 comprises a frame 1 and wheels 2, wherein the wheels 2 comprise front wheels and rear wheels.
The dual-motor anti-torque power system comprises: a rotary power component 11, a power output shaft 12, a torque/power linear conversion system 5 and a battery 4 which are arranged on the frame 1; wherein:
the rotary power module 11 includes: the anti-torsion/power motor 3 is connected with the battery 4 through the motor controller, and the anti-torsion/power motor 3 is in driving connection with the anti-torsion/power linear conversion system 5 through the power output shaft 12 and is used for outputting anti-torsion force and/or power;
the anti-torsion/power linear conversion system 5 is used for controlling the anti-torsion/power motor 3 to output anti-torsion force and/or power, and transmitting the anti-torsion force and/or power output by the anti-torsion/power motor 3 to the wheels 2 of the self-balancing vehicle 10 through a transmission system 6. The transmission system 6 is in transmission connection with a torque/power linear conversion system 5 and the wheels 2 respectively, and is used for transmitting the torque and/or power output by the torque/power motor 3 to the wheels 2 of the self-balancing vehicle 10; in this embodiment, the transmission system 6 is in transmission connection with the rear wheel.
In the embodiment, through the above scheme, a rotary power assembly 11, a power output shaft 12, a torque/power linear conversion system 5 and a battery 4 are specifically arranged on the frame 1; wherein: the rotary power module 11 includes: the anti-torsion/power motor 3 is connected with the battery 4 through the motor controller, and the anti-torsion/power motor 3 is in driving connection with the anti-torsion/power linear conversion system 5 through the power output shaft 12 and is used for outputting anti-torsion force and/or power; the anti-torsion/power linear conversion system 5 is used for controlling the anti-torsion/power motor 3 to output anti-torsion and/or power, and transmitting the power output by the anti-torsion/power motor 3 to the wheels 2 of the self-balancing vehicle 10 through the transmission system 6, so that the anti-torsion/power linear conversion system 5 is matched in a two-in-one mode of the anti-torsion motor and the power motor, the cost of the self-balancing vehicle 10 is reduced, the space occupation is reduced, and the energy consumption is reduced; in addition, the automatic control of the self-balancing vehicle 10 can be realized by combining the transmission system 6 and the vehicle body posture detection system 7. The anti-torque/power linear conversion system 5 is used for converting torque force and power to each other, and the anti-torque/power motor 3 is used for providing torque force and power.
Specifically, as an embodiment, in the present embodiment, the anti-torque/power motor 3 includes: the transmission system 6 is in transmission connection with the anti-torsion/power linear conversion system 5 and the wheel 2 respectively, and is used for transmitting power output by the anti-torsion/power motor 3 to the wheel 2 of the self-balancing vehicle 10.
The stator 31 is fixed to the frame 1 together with the battery 4 and the motor controller. Thus, the stator 31 of the anti-torque/power motor 3 is fixed with other relatively large mass accessories of the body of the self-balancing vehicle 10 (the battery 4, which in this embodiment takes up a large weight of the body), to provide a mass large enough that the anti-torque/power linear conversion system 5 can freely rotate this part when needed.
The principle that the anti-torque/power linear conversion system 5 controls the anti-torque/power motor 3 to output the anti-torque force and/or the power is as follows:
when the balance car needs full power output, the anti-torque/power linear conversion system 5 controls the two anti-torque/power motors 3 to reversely rotate with the same output power, the output anti-torque forces are mutually offset, the rotary power component 11 is static relative to the car frame 1, and all power is transmitted to the power conversion gear box 18 through the power output shaft 12;
when the balance car needs power and also needs counter-torque force to keep balance, the counter-torque/power linear conversion system 5 controls the two counter-torque/power motors 3 to generate power difference, the generated counter-torque force is inconsistent, and counter-torque force difference is formed, so that the rotary power assembly 11 rotates relative to the frame 1, and the counter-torque force needed by correcting the car body is provided;
when the balance car only needs counter-torque force, the counter-torque/power linear conversion system 5 controls the two counter-torque/power motors 3 to rotate in the same direction, the generated counter-torque force is the same in direction, the power output shafts 12 are opposite in stress, the rotation is stopped, no power is output, the rotary power assembly 11 rotates relative to the car frame 1, and power is completely used for counter-torque.
As shown in fig. 2, in the present embodiment, the power output shaft 12 includes: the motor comprises a concentric shaft 13 and two first transmission gears 14 sleeved at one end of the concentric shaft 13, wherein the concentric shaft 13 comprises an inner shaft and a hollow outer shaft sleeved on the inner shaft, the inner shaft and the outer shaft are rotatably connected through a bearing, one of the two first transmission gears 14 is sleeved at one end of the inner shaft, the other one of the two first transmission gears 14 is sleeved at one end of the outer shaft, the two first transmission gears 14 are respectively and correspondingly in driving connection with two anti-torque/power motors 3 through two second transmission gears 15, and the two second transmission gears 15 are respectively sleeved on motor shafts 30 of the two anti-torque/power motors 3; the other end of the concentric shaft 13 is in driving connection with the anti-torque/power linear conversion system 5.
The pair of anti-torque/power motors 3 are installed side by side, and the stators 31 of the pair of anti-torque/power motors 3 are fixed with the battery 4.
Further, the rotary power assembly 11 further includes: the power box 16, the pair of anti-torque/power motors 3 and the power output shaft 12 are installed in the power box 16, and a battery compartment 17 for accommodating the battery 4 is further arranged in the power box 16; one end of the power box 16 is rotatably connected with the frame 1 through a rotating shaft, and the other end is rotatably connected with an outer shaft of the concentric shaft through a bearing, so that the whole rotary power assembly 11 can freely rotate on the frame 1 around the power output shaft 12.
The rotating shaft is a hollow shaft, and a conductive slip ring is arranged in the hollow shaft and used for supplying power and communicating with electric parts on the frame 1 (comprising a vehicle body posture detection system 7).
The anti-torque/power linear conversion system 5 includes: a power conversion gear box 18, and a power conversion shaft 19, a power transmission output shaft 20, a power output bevel gear 22 and two power conversion bevel gears 21 arranged in the power conversion gear box 18, wherein:
the power conversion gear box 18 is fixedly connected with the frame 1;
the power conversion shaft 19 is coaxially arranged with an inner shaft of the concentric shaft, is in driving connection with one end of the inner shaft or is integrally arranged with the inner shaft, and is rotatably connected with the power conversion gear box 18 through a bearing;
one of the two power conversion bevel gears 21 is sleeved on the outer shaft of the concentric shaft and is positioned at the other end in the power conversion gear box 18, and the other one is sleeved on the power conversion shaft 19. Wherein the bevel gear refers to a bevel gear.
The power transmission output shaft 20 is perpendicular to the power conversion shaft 19 and is sleeved with a power output bevel gear 22, and the power output bevel gear 22 is arranged between the two power conversion bevel gears 21 and is in transmission connection with the two power conversion bevel gears 21; one end of the power transmission output shaft 20, which is far away from the power output bevel gear 22, is provided with a power output wheel 23, the power output wheel 23 is connected with the wheel 2 of the self-balancing vehicle 10 through the transmission system 6, and the power output by the anti-torque/power motor 3 is transmitted to the wheel 2 of the self-balancing vehicle 10.
After the power of the concentric shaft 13 is transmitted to the power conversion gear box 18, the two power conversion bevel gears 21 drive the power output bevel gear 22 to be converted into rotation along the 90-degree direction of the power output shaft 12. The power output wheel 23 connected with the power output bevel gear 22 transmits power to a rear driving wheel, namely a rear wheel, of the balance car through belt or chain or shaft transmission; the power conversion gearbox 18 is fixed to the vehicle body, and other similar mechanical structures which can achieve the same power conversion purpose are also suitable.
The principle that the balance car is transversely stabilized through power conversion is as follows:
the rotating power assembly 11 as a whole rotates reversely by the double motors (i.e. the anti-torque/power motor 3), and the generated anti-torque forces are opposite.
When full power output is needed, the output power of the double motors is consistent, the rotating speed is consistent, the generated counter torque forces are consistent, the counter torque forces of the double motors are mutually offset, the rotating power assembly 11 is static relative to the frame 1, and all power is transmitted to the power conversion gear box 18 through the concentric shaft 13.
When power is needed and counter-torque force is also needed to keep balance, the double motors generate power difference, the generated counter-torque force is inconsistent, and counter-torque force difference is formed, so that the rotary power assembly 11 rotates relative to the vehicle body, and the counter-torque force needed by correcting the vehicle body is provided.
When only the counter torque force is needed, the double motors rotate in the same direction, the generated counter torque force is in the same direction, the power output shaft 12 is stressed oppositely, the rotation is stopped, no power is output, the rotating power component 11 rotates relative to the vehicle body at the moment, and the power is almost completely used for the counter torque force.
The double-motor power output of the rotary power assembly 11 is controlled by matching with a vehicle body posture detection system 7 fixedly mounted on a vehicle to generate different counter torque forces, so that the transverse balance of the vehicle body can be kept while the vehicle is kept to normally run/stand still.
As shown in fig. 4 and 5, the double-motor anti-torsion power system for lateral stability of a self-balancing vehicle provided in the embodiment of the present application further includes a motor bearing 24 sleeved on the motor shaft 30, and the motor bearing 24 is mounted on the power box 16. The motor shaft 30 is supported by the motor bearing 24, so that the stability of power transmission is improved, and the internal structure of the rotary power assembly 11 is firmer and more reliable.
The two motor antitorque power systems of self-balancing car lateral stability that this application embodiment provided can adopt following drive mode to realize the driving and/or the balance of self-balancing car:
(1) when the two anti-torque/power motors 3 are in the same rotating speed, one of the anti-torque/power motors 3 is in forward transmission, power is output to the power conversion bevel gear 21 through the second transmission gear 15, the first transmission gear 14 and the concentric shaft 13 which are matched with the anti-torque/power motor 3, the other anti-torque/power motor 3 reversely rotates and outputs power to the other power conversion bevel gear 21 through the second transmission gear 15, the first transmission gear 14 and the power conversion shaft 19, the two power conversion bevel gears 21 are opposite in rotating direction, and power is output to the power output bevel gear 22 to drive the rear wheel to achieve the purpose of advancing or retreating of the self-balancing vehicle.
(2) When the two anti-torque/power motors 3 are in the same rotating speed, and the two anti-torque/power motors 3 are simultaneously positively transmitted or simultaneously reversely rotated, the bearing 25 drives the rotary power assembly 11 to rotate, so that the self-balancing vehicle keeps balance in a non-running state.
(3) When the rotating speeds of the two anti-torsion/power motors 3 are inconsistent, one of the two anti-torsion/power motors 3 is in forward transmission to be power output, and the other two anti-torsion/power motors 3 can drive the rotating power assembly 11 to be in forward transmission or reverse rotation through the bearing 25 through the rotating speed difference, so that the self-balancing vehicle can keep balance while running.
In addition, as shown in fig. 1 and fig. 2, an embodiment of the present application further provides a control system for a self-balancing vehicle 10, where the self-balancing vehicle 10 includes a frame 1 and wheels 2, and the control system for the self-balancing vehicle 10 includes: install bi-motor anti-torque power system, transmission system 6 and automobile body gesture detecting system 7 on frame 1, wherein:
the double-motor anti-torsion power system is the double-motor anti-torsion power system which is transversely stable in the self-balancing vehicle 10;
the transmission system 6 is in transmission connection with the anti-torque/power linear conversion system 5 and the wheels 2 respectively, and is used for transmitting the power output by the anti-torque/power motor 3 to the wheels 2 of the self-balancing vehicle 10;
the body posture detection system 7 is connected with the anti-torsion/power linear conversion system 5 and is used for detecting the body transverse posture of the self-balancing car 10 in real time, and when the body transverse posture of the self-balancing car 10 is detected to reach a preset overturning posture, the anti-torsion/power linear conversion system 5 is started to control the anti-torsion/power motor 3 to output anti-torsion force opposite to the body transverse posture so as to pull the car body back to a balance state.
As an embodiment, the transmission system 6 may be a belt transmission system 6, a chain transmission system 6, or a shaft transmission system 6 (as shown in fig. 3), and of course, the present application is not limited to the above transmission modes, and in other embodiments, other transmission modes may also be adopted, and are not limited herein.
Further, the control system of the self-balancing vehicle 10 may further include a housing 8, wherein, as an implementation manner, the dual-motor anti-torsion power system and the vehicle body posture detection system 7 are installed in the housing 8, and the housing 8 is fixed on the vehicle frame 1. In other embodiments, it is also possible that some of the components are mounted within the housing 8, such as some or all of the dual motor anti-torque power system is mounted within the housing 8.
In this embodiment, the principle that the control system of the self-balancing vehicle 10 realizes the lateral stability control of the self-balancing vehicle 10 through the anti-torque/power linear conversion system 5, the vehicle body posture detection system 7 and the anti-torque/power motor 3 is as follows:
the body posture detection system 7 detects the transverse posture of the body of the self-balancing vehicle 10 in real time, and if the possibility that the body falls over to any side is found, the anti-torque/power linear conversion system 5 is started to provide anti-torque force in the opposite direction, so that the body is pulled back to a balanced state. Specifically, the anti-torsion/power linear conversion system 5 is started to control the anti-torsion/power motor 3 to output anti-torsion force opposite to the transverse posture of the vehicle body to the transmission system 6, then the transmission system 6 transmits the power output by the anti-torsion/power motor 3 to the wheels 2 of the self-balancing vehicle 10, and finally the vehicle body is in a balanced state, so that the transverse stability of the vehicle body is controlled.
Specifically, the rotary power assembly 11 as a whole rotates in opposite directions with the dual motors (i.e., the anti-torque/power motors 3) generating opposite anti-torque forces.
When full power output is needed, the output power of the double motors is consistent, the rotating speed is consistent, the generated counter torque forces are consistent, the counter torque forces of the double motors are mutually offset, the rotating power assembly 11 is static relative to the frame 1, and all power is transmitted to the power conversion gear box 18 through the concentric shaft 13.
When power is needed and counter-torque force is also needed to keep balance, the double motors generate power difference, the generated counter-torque force is inconsistent, and counter-torque force difference is formed, so that the rotary power assembly 11 rotates relative to the vehicle body, and the counter-torque force needed by correcting the vehicle body is provided.
When only the counter torque force is needed, the double motors rotate in the same direction, the generated counter torque force is in the same direction, the power output shaft 12 is stressed oppositely, the rotation is stopped, no power is output, the rotating power component 11 rotates relative to the vehicle body at the moment, and the power is almost completely used for the counter torque force.
The double-motor power output of the rotary power assembly 11 is controlled by matching with a vehicle body posture detection system 7 fixedly mounted on a vehicle to generate different counter torque forces, so that the transverse balance of the vehicle body can be kept while the vehicle is kept to normally run/stand still.
Because the mode of combining the anti-torque motor and the power motor is matched with the anti-torque/power linear conversion system 5, the cost of the self-balancing vehicle 10 is reduced, the space occupation is reduced, the energy consumption is reduced, and in addition, the anti-torque/power motor 3, the battery 4, the anti-torque/power linear conversion system 5 and the vehicle body posture detection system 7 are installed in the shell 8, so that the control system structure of the self-balancing vehicle 10 is more compact, and the space occupation is further reduced.
Further, in order to better control the vehicle speed, as an alternative embodiment, a rear wheel brake 9 may be further disposed on a rear wheel of the balance car, and the control system of the self-balancing car 10 further includes: and a rear wheel brake 9 arranged on the rear wheel of the self-balancing vehicle 10.
The present embodiment sets the rear wheel brake 9 in consideration of: when the anti-torque is provided, the output power of the power/anti-torque motor may become large, causing a sudden change in vehicle speed, particularly, causing acceleration to be controlled, and thus, the vehicle speed can be stabilized using the rear wheel brake 9. That is to say, when the self-balancing vehicle 10 provides the torque reversal, the vehicle speed can be stabilized by controlling the force of the rear wheel brake 9, so that unexpected speed change of the vehicle can not be generated, and the motion stability of the vehicle is improved.
It should be noted that the rear wheel brakes 9 are generally used in certain situations, such as when the vehicle does not need to accelerate, but the power is increased too much by the balance output, and the speed of the vehicle is controlled by the rear wheel brakes 9.
In addition, the embodiment of the present application further provides a self-balancing vehicle 10, which includes a frame 1, wheels 2, and the control system of the self-balancing vehicle 10 as described above.
Please refer to the above embodiments, and the principle that the control system of the self-balancing vehicle 10 implements the stability control of the self-balancing vehicle 10 will not be described herein.
Compared with the prior art, the technical scheme of the application has the following beneficial effects:
1. the power/anti-torque motor is combined into a whole, so that the cost of the self-balancing bicycle 10 can be greatly reduced, and particularly, the cost of the motor part can be reduced by half.
2. The power/anti-torque motor two-in-one machine can also reduce the size of the vehicle body, reduce unnecessary extra weight of the vehicle body, reduce energy consumption and improve cruising ability.
3. The power motor is moved to the vehicle body by adopting a mode of combining the power motor and the anti-torsion motor, so that the unsprung mass can be greatly reduced, and the damping performance is greatly improved.
Finally, it should be noted that: the above embodiments are only used for illustrating the technical solutions of the present application, and not for limiting the same; although the present application has been described in detail with reference to the foregoing embodiments, it should be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; and the modifications or the substitutions do not make the essence of the corresponding technical solutions depart from the scope of the technical solutions of the embodiments of the present application.
Claims (11)
1. A two motor anti-torque power system of self-balancing car lateral stability, the self-balancing car includes frame and wheel, its characterized in that, two motor anti-torque power system includes: the rotary power assembly, the power output shaft, the anti-torque/power linear conversion system and the battery are arranged on the frame; wherein:
the rotary power assembly includes: the anti-torsion/power motor is connected with the battery through the motor controller, and is in driving connection with the anti-torsion/power linear conversion system through the power output shaft and used for outputting anti-torsion and/or power;
the anti-torsion/power linear conversion system is used for controlling the anti-torsion/power motor to output anti-torsion and/or power and transmitting the power output by the anti-torsion/power motor to wheels of the self-balancing vehicle through a transmission system.
2. The laterally stabilized dual-motor anti-torque power system of a self-balancing vehicle of claim 1, wherein the power take-off shaft comprises: the coaxial shaft comprises an inner shaft and a hollow outer shaft sleeved on the inner shaft, the inner shaft and the outer shaft are rotatably connected through a bearing, one of the two first transmission gears is sleeved at one end of the inner shaft, the other one of the two first transmission gears is sleeved at one end of the outer shaft, the two first transmission gears are respectively and correspondingly in driving connection with two anti-torque/power motors through two second transmission gears, and the two second transmission gears are respectively sleeved on motor shafts of the two anti-torque/power motors; the other end of the concentric shaft is in driving connection with the anti-torque/power linear conversion system.
3. The laterally stabilized dual-motor anti-torque power system of a self-balancing vehicle of claim 2, wherein the pair of anti-torque/power motors are mounted side-by-side with their stators secured to a motor controller and the battery.
4. The laterally stabilized dual-motor anti-torque power system of a self-balancing vehicle of claim 3, wherein the rotary power assembly further comprises: the power box is internally provided with a battery bin for accommodating the battery; one end of the power box is rotatably connected with the frame through a rotating shaft, and the other end of the power box is rotatably connected with an outer shaft of the concentric shaft through a bearing, so that the rotary power assembly can freely rotate on the frame around the power output shaft.
5. The laterally stable dual-motor anti-torque power system of the self-balancing vehicle as claimed in claim 4, wherein the rotating shaft is a hollow shaft, and a conductive slip ring is arranged in the hollow shaft to supply power to the electric components on the vehicle frame.
6. The dual-motor anti-torque power system for lateral stabilization of a self-balancing vehicle of claim 4, wherein the anti-torque/power linear conversion system comprises: the power conversion gear box to and set up power conversion shaft, power transmission output shaft, power output awl tooth and two power conversion awl teeth in the power conversion gear box, wherein:
the power conversion gear box is fixedly connected with the frame;
the power conversion shaft is coaxially arranged with an inner shaft of the concentric shaft and is in driving connection with one end of the inner shaft or is integrally arranged with the inner shaft;
one of the two power conversion bevel gears is sleeved on the outer shaft of the concentric shaft and is positioned at the other end in the power conversion gear box, and the other power conversion bevel gear is sleeved on the power conversion shaft;
the power transmission output shaft is perpendicular to the power conversion shaft and is sleeved with the power output bevel gear, and the power output bevel gear is arranged between the two power conversion bevel gears and is in transmission connection with the two power conversion bevel gears; and one end of the power transmission output shaft, which is far away from the power output bevel gear, is provided with a power output wheel, and the power output wheel is connected with the wheels of the self-balancing vehicle through the transmission system and transmits the power output by the anti-torsion/power motor to the wheels of the self-balancing vehicle.
7. The laterally stabilized dual-motor anti-torque power system of the self-balancing vehicle of claim 4,
the anti-torque/power linear conversion system is also used for controlling the two anti-torque/power motors to reversely rotate at the same output power when the balance car needs full power output, the output anti-torque forces are mutually offset, the rotary power assembly is static relative to the car frame, and all power is transmitted to the power conversion gear box through the power output shaft; when the balance car needs power and also needs counter-torque force to keep balance, the two counter-torque/power motors are controlled to generate power difference, the generated counter-torque force is inconsistent, and counter-torque force difference is formed, so that the rotary power assembly rotates relative to the frame, and the counter-torque force needed by correcting the car body is provided; when the balance car only needs counter-torque force, the two counter-torque/power motors are controlled to rotate in the same direction, the generated counter-torque force is the same in direction, the power output shafts are opposite in stress, the rotation is stopped, no power is output, the rotating power assembly rotates relative to the car frame, and power is completely used for counter-torque.
8. The double-motor anti-torque power system with the lateral stability of the self-balancing vehicle as claimed in any one of claims 4 to 7, further comprising a motor bearing sleeved on the motor shaft, wherein the motor bearing is mounted on the power box.
9. A self-balancing vehicle control system, the self-balancing vehicle comprising a frame and wheels, the self-balancing vehicle control system comprising: install bi-motor antitorque power system, transmission system and automobile body gesture detecting system on the frame, wherein:
the double-motor anti-torsion power system is the self-balancing vehicle transverse stable double-motor anti-torsion power system in any one of claims 1-8;
the transmission system is in transmission connection with the anti-torque/power linear conversion system and the wheels respectively and is used for transmitting the power output by the anti-torque/power motor to the wheels of the self-balancing vehicle;
the body posture detection system is connected with the anti-torsion/power linear conversion system and used for detecting the body transverse posture of the self-balancing car in real time, and when the body transverse posture of the self-balancing car reaches a preset overturning posture, the anti-torsion/power linear conversion system is started to control the anti-torsion/power motor to output anti-torsion force opposite to the body transverse posture so as to pull the body back to a balanced state.
10. The self-balancing vehicle control system of claim 9, wherein the transmission system is a belt transmission system or a chain transmission system or a shaft transmission system; the self-balancing car control system further comprises a shell, the double-motor anti-torsion power system and the car body posture detection system are installed in the shell, and the shell is fixed on the car frame.
11. A self-balancing vehicle comprising a frame, wheels and a self-balancing vehicle control system as claimed in claim 9 or 10.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910456293.7A CN110171519A (en) | 2019-05-27 | 2019-05-27 | The anti-twisted dynamical system of bi-motor, control system and Self-Balancing vehicle |
| CN2019104562937 | 2019-05-27 |
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| CN211810034U true CN211810034U (en) | 2020-10-30 |
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| CN201910456293.7A Pending CN110171519A (en) | 2019-05-27 | 2019-05-27 | The anti-twisted dynamical system of bi-motor, control system and Self-Balancing vehicle |
| CN201922389085.8U Active CN211810034U (en) | 2019-05-27 | 2019-12-25 | Double-motor anti-torque power system, control system and self-balancing vehicle |
| CN201911358980.1A Pending CN110949587A (en) | 2019-05-27 | 2019-12-25 | Double-motor anti-torque power system, control method and self-balancing vehicle |
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| CN201911358980.1A Pending CN110949587A (en) | 2019-05-27 | 2019-12-25 | Double-motor anti-torque power system, control method and self-balancing vehicle |
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| WO (1) | WO2020237777A1 (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114955389A (en) * | 2022-03-29 | 2022-08-30 | 江苏长虹智能装备股份有限公司 | Left-right synchronous driving device |
Families Citing this family (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110843940B (en) * | 2019-12-25 | 2024-06-11 | 傲基科技股份有限公司 | Integrated flywheel and self-balancing vehicle |
| CN114074736A (en) * | 2021-12-29 | 2022-02-22 | 常州浩万新能源科技有限公司 | Anti-torsion power device, control system and control method applied to balance car |
| CN216468243U (en) * | 2021-12-29 | 2022-05-10 | 常州浩万新能源科技有限公司 | Be applied to bi-motor antitorque power device and balance car of balance car |
| CN115744296A (en) * | 2022-10-19 | 2023-03-07 | 江苏宏芯亿泰智能装备有限公司 | Roller way transmission device and glass substrate conveying line |
| CN117087450A (en) * | 2023-09-24 | 2023-11-21 | 常州浩万新能源科技有限公司 | Self-balancing power system, control method, control system and self-balancing vehicle |
Family Cites Families (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US9073600B2 (en) * | 2012-11-02 | 2015-07-07 | Kenneth Dalton Haan | Dual drive bicycle |
| CN203740084U (en) * | 2013-12-23 | 2014-07-30 | 昆明理工大学 | Mechanical self-balancing bicycle |
| CN206938990U (en) * | 2017-03-30 | 2018-01-30 | 广东工业大学 | A kind of self-balancing bicycle of intelligent drives |
| CN109204615B (en) * | 2017-06-29 | 2021-06-08 | 沈阳新松机器人自动化股份有限公司 | Support and self-balancing equipment |
| CN109466679B (en) * | 2018-12-27 | 2019-11-15 | 浙江大学 | A kind of double drive without person bicycle |
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2019
- 2019-05-27 CN CN201910456293.7A patent/CN110171519A/en active Pending
- 2019-07-04 WO PCT/CN2019/094704 patent/WO2020237777A1/en active Application Filing
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114955389A (en) * | 2022-03-29 | 2022-08-30 | 江苏长虹智能装备股份有限公司 | Left-right synchronous driving device |
Also Published As
| Publication number | Publication date |
|---|---|
| CN110171519A (en) | 2019-08-27 |
| WO2020237777A1 (en) | 2020-12-03 |
| CN110949587A (en) | 2020-04-03 |
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