WO2017206905A1

WO2017206905A1 - Ball-shaped vehicle

Info

Publication number: WO2017206905A1
Application number: PCT/CN2017/086611
Authority: WO
Inventors: 韩宇琦; 韩晓虎; 李畅; 袁爱华; 吴仁静; 王坚; 王志丹
Original assignee: 两只老虎秦皇岛科技有限公司
Priority date: 2016-06-03
Filing date: 2017-05-31
Publication date: 2017-12-07
Also published as: CN107456761A

Abstract

A ball-shaped vehicle, comprising an outer vehicle housing (101) and an internal frame. The internal frame is rotatably provided within the outer vehicle housing (101). The outer vehicle housing (101) is provided with at least a complete ring-shaped portion perpendicular to a ground surface. The ring-shaped portion has a first rotation axis, and is further provided with a transition portion forming a smooth transition with two end surfaces of the ring-shaped portion. The internal frame is connected to an inner wall of the outer vehicle housing (101) via a fixed position-limiting device and a movable position-limiting device, thereby allowing the internal frame to realize a rotational connection to the outer vehicle housing (101) around the first rotation axis, and a fixed-axis mounting along the direction of the first rotation axis. A driving mechanism is further installed on the outer vehicle housing (101) or internal frame. The driving mechanism is transmissionally-connected to a driving wheel (106). The driving wheel (106) is used to power a rotation of the outer vehicle housing (101) relative to the internal frame. A seat (124) is installed on the internal frame. A position of a vehicle driver relative to the outer vehicle housing (101) and to the inner frame is dynamic, thereby providing a rolling effect that improves a recreational value of riding the vehicle.

Description

球形车Spherical car

技术领域Technical field

本发明属于车辆技术领域，特别是涉及一种球形车。The invention belongs to the technical field of vehicles, and in particular relates to a spherical car.

背景技术Background technique

现有技术中，游乐园中的游乐用车或儿童的游乐用车，多是三轮或四轮的，乘客乘坐在上面进行诸如碰碰车等游乐活动。这种车辆，乘客是乘坐在车辆上方，如果遇到坑洼或小石子之类的阻碍，有可能导致车辆卡住或翻车，从而增加了乘客的危险性。而且，乘客只是坐在车上进行水平运动，无法获得前后摆动的运动感受。In the prior art, the amusement cars in the amusement park or the children's amusement cars are mostly three- or four-wheeled, and the passengers ride on the amusement activities such as bumper cars. In such a vehicle, the passenger is riding above the vehicle, and if it encounters obstacles such as potholes or pebbles, it may cause the vehicle to jam or roll over, thereby increasing the danger of the passenger. Moreover, the passenger is only sitting in the car for horizontal movement, and can not get the sports feeling of swinging back and forth.

发明内容Summary of the invention

本发明为克服现有技术中存在的技术问题而提供球形车，该车辆的驾乘者与外车壳和内框架的相对位置是可变的，即可获得摆动的效果。The present invention provides a spherical vehicle that overcomes the technical problems existing in the prior art, and the relative position of the occupant of the vehicle to the outer casing and the inner frame is variable, so that the swinging effect can be obtained.

一种球形车，包括外车壳和内框架装置，内框架装置转动设置在外车壳内；外车壳至少具有一个垂直于地面的完整环形部，环形部具有第一回转轴线，环形部还设有向环形的两端面圆滑过渡的过渡部，内框架装置与外车壳内壁之间通过固定限位装置和活动限位装置连接，用于实现内框架装置与外车壳的沿第一回转轴线的相对转动连接以及在第一回转轴线方向上的轴向固定，外车壳或内框架装置上还安装有驱动机构，驱动机构与驱动轮传动连接，驱动轮用于带动内框架装置与外车壳相对转动，内框架装置上安装有座椅。A spherical vehicle comprising an outer casing and an inner frame device, wherein the inner frame device is rotatably disposed in the outer casing; the outer casing has at least one complete annular portion perpendicular to the ground, the annular portion has a first axis of rotation, and the annular portion is further provided a transition portion that smoothly transitions to both end faces of the ring, and the inner frame device and the inner wall of the outer casing are connected by a fixed limiting device and a movable limiting device for realizing the first rotating axis of the inner frame device and the outer casing The relative rotation connection and the axial fixing in the direction of the first rotation axis, the outer casing or the inner frame device is further provided with a driving mechanism, and the driving mechanism is drivingly connected with the driving wheel, and the driving wheel is used for driving the inner frame device and the outer car The casing is relatively rotated, and a seat is mounted on the inner frame device.

通过将内框架装置转动设置在外车壳内，可以使得乘车人获得摆动的效果，从而丰富乘车人的感受，提高娱乐性。通过有固定限位装置和活动限位装置配合使得内框架装置与外车壳之间转动连接，可以使得乘坐者可以在车辆前进的同时，实现前后的摆动，提高了乘坐的乐趣。而且，通过驱动机构带动驱动轮，以带动外车壳与内框架装置相对旋转，如果内框架装置的位置不在最低处，那么内框架装置会自发的向下坠落，而外车壳的中部是环形的，将无法提供足够的扭矩，所以外车壳也会发生转动，即外车壳向重心偏移方向滚动，球形车向重心偏移方向运动。而且中部的环形部与两侧是平滑过渡的，当车辆发生倾斜的时候，会自发的将倾斜趋势转换为向侧面转动的趋势，提高了车辆运行的安全性。By rotating the inner frame device in the outer casing, the occupant can obtain the swinging effect, thereby enriching the feeling of the occupant and improving the entertainment. By having a fixed limit device and an active limit device, the inner frame device and the outer car shell are rotatably connected, so that the occupant can swing forward and backward while the vehicle is moving forward, thereby improving the riding pleasure. Moreover, the driving wheel is driven by the driving mechanism to drive the outer casing to rotate relative to the inner frame device. If the position of the inner frame device is not at the lowest position, the inner frame device spontaneously falls downward, and the middle portion of the outer casing is annular. It will not be able to provide enough torque, so the outer casing will also rotate, that is, the outer casing will roll in the direction of the center of gravity deviation, and the spherical car will move in the direction of the center of gravity deviation. Moreover, the annular portion of the middle portion and the two sides are smoothly transitioned. When the vehicle is tilted, the inclination tendency is spontaneously converted into a tendency to rotate to the side, thereby improving the safety of the vehicle operation.

进一步优选的技术方案，其附加特征在于：A further preferred technical solution is characterized in that:

外车壳为球形或椭圆球形，椭圆球形的圆截面位于环形部内，外车壳的侧面设有进出门。The outer casing is spherical or elliptical in shape, the elliptical spherical circular section is located in the annular portion, and the side of the outer casing is provided with an entrance and exit door.

通过将外车壳设置成球形或椭圆球形，可以提高车辆的外壳刚度，而且设置进出门，也便于人员上下车辆。By setting the outer casing to a spherical or elliptical shape, the rigidity of the outer casing of the vehicle can be improved, and the entrance and exit doors can be provided, and the person can get on and off the vehicle.

进一步优选的技术方案，其附加特征在于：外车壳为球形的一部分或椭圆球形的一部分、球形或椭圆球形，外车壳的圆截面位于环形部内。 A further preferred embodiment is characterized in that the outer casing is a part of a sphere or a part of an elliptical sphere, a spherical or elliptical sphere, and the circular cross section of the outer casing is located in the annular portion.

通过将外车壳设置成球形或椭圆球形的一部分，可以省去开闭门流程，便于人员上下车辆。By arranging the outer casing into a spherical or elliptical spherical portion, the opening and closing process can be omitted, facilitating the person to get on and off the vehicle.

进一步优选的技术方案，其附加特征在于：内框架装置包括内框架本体，固定限位装置为设置在外车壳内壁上的内框架运转轨道，内框架运转轨道为环形，环形的轴线为第一回转轴线，活动限位装置为限位轮和支撑轮，限位轮和支撑轮分别转动设置在内框架本体上，限位轮和支撑轮与内框架运转轨道滚动摩擦连接。A further preferred embodiment is characterized in that the inner frame device comprises an inner frame body, the fixed limiting device is an inner frame running track disposed on the inner wall of the outer casing, the inner frame running track is annular, and the annular axis is the first rotation The axis, the movable limiting device is a limiting wheel and a supporting wheel, and the limiting wheel and the supporting wheel are respectively rotated and arranged on the inner frame body, and the limiting wheel and the supporting wheel are frictionally connected with the inner frame running track.

通过限位轮，可以限制住内框架装置相对于外车壳的轴向运动，通过支撑轮可以承担内框架装置的重量和乘员的重量，并且减少内框架装置与外车壳之间的相对摩擦，降低了车辆运行所需要的功率，提高了效率。The axial movement of the inner frame device relative to the outer casing can be restricted by the limit wheel, and the weight of the inner frame device and the weight of the occupant can be borne by the support wheel, and the relative friction between the inner frame device and the outer casing can be reduced. It reduces the power required to operate the vehicle and improves efficiency.

再进一步优选的技术方案，其附加特征在于：内框架本体上设置有偏移轨道，偏移轨道为弧形或环形或直线形，弧形或环形的轴线为第二回转轴线，第二回转轴线与第一回转轴线空间垂直，乘坐机构设置有限位支撑轮组，限位支撑轮组与偏移轨道滚动摩擦连接。A further preferred technical solution is characterized in that the inner frame body is provided with an offset track, the offset track is curved or annular or linear, the arc or ring axis is the second axis of rotation, and the second axis of rotation The space is perpendicular to the first rotation axis, and the riding mechanism is provided with a limited support wheel set, and the limit support wheel set is frictionally connected with the offset track.

可以使得座椅与内框架本体之间发生一定角度的偏移，使球形车整体重心改变，使静止球形车产生侧向倾斜，使正在前后移动的球形车产生侧向倾斜转弯。An angular offset between the seat and the inner frame body can be caused to change the overall center of gravity of the spherical vehicle, causing the stationary spherical car to be laterally inclined, so that the spherical vehicle that is moving forward and backward produces a lateral oblique turn.

再进一步优选的技术方案，其附加特征在于：内框架本体安装有第一悬挂轴或第一悬挂机构，乘坐机构上设有与第一悬挂轴对应的第二悬挂机构或与第一悬挂机构对应的第二悬挂轴，第一悬挂机构能够与第一悬挂轴进行相对转动，第二悬挂机构能够与第二悬挂轴进行相对转动，第一悬挂机构绕着第二悬挂轴进行相对转动的转动轴线与第二回转轴线共线，第二悬挂机构绕着第一悬挂轴进行相对转动的转动轴线与第二回转轴线共线。Still further preferred embodiments are characterized in that the inner frame body is mounted with a first suspension shaft or a first suspension mechanism, and the ride mechanism is provided with a second suspension mechanism corresponding to the first suspension shaft or corresponding to the first suspension mechanism a second suspension shaft, the first suspension mechanism is rotatable relative to the first suspension shaft, the second suspension mechanism is rotatable relative to the second suspension shaft, and the first suspension mechanism is rotated relative to the second suspension shaft. Coordinate with the second axis of rotation, the axis of rotation of the second suspension mechanism relative to the first suspension axis is collinear with the second axis of rotation.

通过悬挂装置来安装座椅，可以准确的对座椅进行定位，提高座椅安装的稳定性，降低限位支撑轮组的载荷，使其更多的起到限位的作用而非承载的作用，这样有利于提高限位支撑轮组的使用寿命。By installing the seat through the suspension device, the seat can be accurately positioned, the stability of the seat installation can be improved, and the load of the limit support wheel set can be reduced, so that it can play more role as a limit rather than a load. This is beneficial to improve the service life of the limit support wheel set.

内框架本体安装有第一悬挂轴或第一悬挂机构，乘坐机构上设有与第一悬挂轴对应的第二悬挂机构或与第一悬挂机构对应的第二悬挂轴，第一悬挂机构能够与第二悬挂轴进行相对转动，第二悬挂机构能够与第一悬挂轴进行相对转动，第一悬挂机构绕着第二悬挂轴进行相对转动的转动轴线或第二悬挂机构绕着第一悬挂轴进行相对转动的转动轴线为第二回转轴线，第二回转轴线与第一回转轴线垂直。The inner frame body is mounted with a first suspension shaft or a first suspension mechanism, and the ride mechanism is provided with a second suspension mechanism corresponding to the first suspension shaft or a second suspension shaft corresponding to the first suspension mechanism, and the first suspension mechanism can The second suspension shaft is relatively rotated, and the second suspension mechanism is rotatable relative to the first suspension shaft. The first suspension mechanism rotates relative to the second suspension shaft or the second suspension mechanism rotates around the first suspension shaft. The axis of rotation of the relative rotation is a second axis of rotation that is perpendicular to the first axis of rotation.

通过悬挂装置来安装座椅，可以准确的对座椅进行定位，提高座椅安装的稳定性。By mounting the seat with the suspension device, the seat can be accurately positioned to improve the stability of the seat installation.

再进一步优选的技术方案，其附加特征在于：乘坐机构上设置驱动机构，驱动机构用于通过传动连接装置驱动乘坐机构与内框架装置沿第二回转轴线的相对转动，传动连接装置为胶轮、齿轮、链条、同步带、皮带、万向节或拉线。A further preferred embodiment is characterized in that: the riding mechanism is provided with a driving mechanism for driving the relative rotation of the riding mechanism and the inner frame device along the second rotating axis through the transmission connecting device, the transmission connecting device is a rubber wheel, Gears, chains, timing belts, belts, universal joints or pull wires.

通过设置传动装置将驱动机构的动力转化成乘坐机构和内框架装置的转动，可以充分利用电机等的转速，避免电机转速过低。By setting the transmission to convert the power of the drive mechanism into the rotation of the ride mechanism and the inner frame device, the rotation speed of the motor or the like can be fully utilized to avoid the motor rotation speed being too low.

更进一步优选的技术方案，其附加特征在于：乘坐机构上还安装有方向盘支架，方向盘支架上转动安装有转向传动轴，转向传动轴的一端周向固定有方向盘，转向传动轴与传动连接装置连接。A further preferred technical solution is characterized in that: the steering mechanism is further mounted with a steering wheel bracket, and the steering wheel bracket is rotatably mounted with a steering transmission shaft, and one end of the steering transmission shaft is fixed with a steering wheel, a steering transmission shaft and a transmission The connection device is connected.

通过设置方向盘支架，能够将方向盘的转动，转化成乘坐机构相对于内框架装置的摆动，从而能够使得驾驶者能够像驾驶汽车一样方便的实现对于球形车的转弯的操作。By providing the steering wheel bracket, the rotation of the steering wheel can be converted into the swing of the riding mechanism with respect to the inner frame device, thereby enabling the driver to realize the turning operation of the spherical car as easily as driving the automobile.

又进一步优选的技术方案，其附加特征在于：方向盘支架包括固定支架和活动支架，转向传动轴转动安装在活动支架上，固定支架与活动支架枢接，固定支架和活动支架中的一者设有弧形导向杆，另一者设有导向套，导向套能够在弧形导向杆上滑动，弧形导向杆的圆心为固定支架和活动支架枢接转动的中心，导向套上还螺纹连接有紧定螺钉。A further preferred technical solution is characterized in that: the steering wheel bracket comprises a fixed bracket and a movable bracket, the steering transmission shaft is rotatably mounted on the movable bracket, the fixed bracket is pivotally connected to the movable bracket, and one of the fixed bracket and the movable bracket is provided The other one is provided with a guiding sleeve, and the guiding sleeve is slidable on the curved guiding rod. The center of the curved guiding rod is the center of the pivoting movement of the fixed bracket and the movable bracket, and the guiding sleeve is also screwed tightly. Set the screw.

通过设置可以相对转动的固定支架和活动支架，可以使得活动支架可以处于不同的角度，从而能够使得方向盘可以处于不同高度，能够适应不同身高臂长的人的驾驶需要。By providing a fixed bracket and a movable bracket that can be rotated relative to each other, the movable bracket can be at different angles, so that the steering wheel can be at different heights, and can be adapted to the driving needs of people of different height and length.

更进一步优选的技术方案，其附加特征在于：乘坐机构上或还安装有摇摆驱动电机，摇摆驱动电机与传动连接装置传动连接。A further preferred embodiment is characterized in that the ride mechanism is also equipped with a rocking drive motor, and the rocking drive motor is in driving connection with the drive connection.

附图说明DRAWINGS

图1是本发明实施例1中的外车壳的立体外形图；Figure 1 is a perspective external view of an outer casing in Embodiment 1 of the present invention;

图2是本发明实施例1的剖视图，图2中不涉及镂空的信息；Figure 2 is a cross-sectional view of Embodiment 1 of the present invention, and Figure 2 does not relate to hollowed out information;

图3是本发明实施例1中的内框架装置的结构示意图；Figure 3 is a schematic structural view of an inner frame device in Embodiment 1 of the present invention;

图4是实施例1中的内框架装置下部的局部结构示意图；Figure 4 is a partial structural schematic view of the lower portion of the inner frame device in the first embodiment;

图5是实施例1中固定轮盘的结构示意图；Figure 5 is a schematic structural view of a fixed wheel in Embodiment 1;

图6是实施例2中的外车壳的立体示意图；Figure 6 is a perspective view of the outer casing of the second embodiment;

图7是图6的左视图；Figure 7 is a left side view of Figure 6;

图8是图7的B-B剖视图；Figure 8 is a cross-sectional view taken along line B-B of Figure 7;

图9是实施例2中的内框架装置的立体示意图；Figure 9 is a perspective view of the inner frame device of the second embodiment;

图10是实施例2中的内框架装置从另一方向观察的立体示意图；Figure 10 is a perspective view of the inner frame device of the second embodiment as viewed from another direction;

图11是实施例2中的悬挂装置的结构示意图；Figure 11 is a schematic structural view of a suspension device in Embodiment 2;

图12是实施例3中的内框架装置下部的局部结构示意图；Figure 12 is a partial structural view showing the lower portion of the inner frame device in the third embodiment;

图13是实施例4中的内框架装置的结构示意图；Figure 13 is a schematic structural view of an inner frame device in Embodiment 4;

图14是实施例4中的乘坐机构的驱动装置的局部结构示意图。Fig. 14 is a partial structural schematic view showing the driving device of the ride mechanism in the fourth embodiment.

具体实施方式detailed description

为能进一步了解本发明的发明内容、特点及功效，兹例举以下实施例，并详细说明如下：In order to further understand the contents, features and effects of the present invention, the following examples are exemplified and described in detail below:

实施例1：Example 1:

图1是本发明实施例1中的外车壳的立体外形图；图2是本发明实施例1的剖视图，图2中不涉及镂空的信息；图3是本发明实施例1中的内框架装置的结构示意图；图4是实施例1中的内框架装置下部的局部结构示意图；图5是实施例1中固定轮盘的结构示意图；1 is a perspective view of the outer casing of the first embodiment of the present invention; FIG. 2 is a cross-sectional view of the first embodiment of the present invention, and FIG. 2 does not relate to hollowing out information; FIG. 3 is an inner frame of the first embodiment of the present invention. Schematic diagram of the device; Figure 4 is the real A schematic structural view of a lower portion of the inner frame device in the first embodiment; FIG. 5 is a schematic structural view of the fixed wheel in the first embodiment;

图中，各个附图标记表示的含义如下；In the figures, the meanings of the various reference numerals are as follows;

101、外车壳；102、内框架本体；103、限位轮；104、支撑轮；105、驱动电机；106、驱动轮；107、偏移轨道；108、偏移限位轮；109、偏移支撑轮；110、固定轮盘；111、定位套筒；112、第一定位孔；113、弹性定位销；114、第二定位孔；115、限位手柄；123、内框架运转轨道；124、座椅；125、第一传动链轮；126、第二传动链轮；130、驱动轮轴；133、锂电池组。101, outer car shell; 102, inner frame body; 103, limit wheel; 104, support wheel; 105, drive motor; 106, drive wheel; 107, offset track; 108, offset limit wheel; Shift support wheel; 110, fixed wheel; 111, positioning sleeve; 112, first positioning hole; 113, elastic positioning pin; 114, second positioning hole; 115, limit handle; 123, inner frame running track; , seat; 125, first drive sprocket; 126, second drive sprocket; 130, drive axle; 133, lithium battery pack.

一种球形车，包括外车壳101和内框架装置，内框架装置转动设置在外车壳101内。A spherical vehicle includes an outer casing 101 and an inner frame device, and the inner frame device is rotatably disposed in the outer casing 101.

具体说来，外车壳101为球台形，由高分子材料分体制作并组合而成，其表面按附图1中的图案镂空，球台形的最大直径处为一个垂直于地面的完整环形部，环形部具有第一回转轴线，环形部还设有向环形的两端面圆滑过渡的过渡部，内框架装置与外车壳101的内壁之间通过固定限位装置和活动限位装置连接，用于实现内框架装置与外车壳101的沿第一回转轴线的相对转动连接以及在第一回转轴线方向上的轴向固定，外车壳101或内框架装置上还安装有驱动机构，驱动机构与驱动轮106传动连接，驱动轮106用于带动内框架装置与外车壳101相对转动，内框架装置上安装有座椅124。座椅上设置有安全带(图中未示出)。通过有固定限位装置和活动限位装置配合使得内框架装置与外车壳101之间转动连接，可以使得乘坐者可以在车辆前进的同时，实现前后的摆动，提高了乘坐的乐趣。而且，通过驱动机构带动驱动轮106，以带动外车壳101与内框架装置相对旋转，如果内框架装置的位置不在最低处，那么内框架装置会自发的向下坠落，而外车壳101的中部是环形的，将无法提供足够的扭矩，所以外车壳101也会发生转动，即外车壳101向重心偏移方向滚动，球形车向重心偏移方向运动。而且中部的环形部与两侧是平滑过渡的，当车辆发生倾斜的时候，会自发的将倾斜趋势转换为向侧面转动的趋势，提高了车辆运行的安全性。Specifically, the outer casing 101 is in the shape of a spherical table, which is made of a polymer material and is combined and formed, and its surface is hollowed out according to the pattern in FIG. 1. The maximum diameter of the spherical table is a complete annular portion perpendicular to the ground. The annular portion has a first rotation axis, and the annular portion is further provided with a transition portion that smoothly transitions to both end faces of the annular shape, and the inner frame device and the inner wall of the outer casing 101 are connected by a fixed limiting device and an active limiting device. In order to realize the relative rotational connection of the inner frame device and the outer casing 101 along the first rotation axis and the axial fixation in the direction of the first rotation axis, the outer casing 101 or the inner frame device is further provided with a driving mechanism, the driving mechanism The driving wheel 106 is used for driving the inner frame device to rotate relative to the outer casing 101, and the inner frame device is mounted with the seat 124. A seat belt (not shown) is provided on the seat. By the combination of the fixed limiting device and the movable limiting device, the inner frame device and the outer casing 101 are rotatably connected, so that the occupant can swing forward and backward while the vehicle is moving forward, thereby improving the riding pleasure. Moreover, the driving wheel 106 is driven by the driving mechanism to drive the outer casing 101 to rotate relative to the inner frame device. If the position of the inner frame device is not at the lowest position, the inner frame device will spontaneously fall downward, and the outer casing 101 The middle portion is annular and will not provide sufficient torque, so the outer casing 101 will also rotate, that is, the outer casing 101 rolls toward the center of gravity offset, and the spherical vehicle moves toward the center of gravity. Moreover, the annular portion of the middle portion and the two sides are smoothly transitioned. When the vehicle is tilted, the inclination tendency is spontaneously converted into a tendency to rotate to the side, thereby improving the safety of the vehicle operation.

进一步具体说来，外车壳101为球台形或椭圆球台形，椭圆球形的圆截面位于环形部内。通过将外车壳101设置成球台形或椭圆球台形，可以省去开合门116，便于人员上下车辆。More specifically, the outer casing 101 is in the shape of a spheroid or an elliptical spheroid, and a circular cross section of the ellipsoid is located in the annular portion. By arranging the outer casing 101 into a spherical shape or an elliptical spherical shape, the opening and closing door 116 can be omitted, so that the person can get on and off the vehicle.

进一步具体说来，内框架装置包括内框架本体102，内框架本体102整体形状为与球台形外车壳101相应的笼状结构，由刚性管组焊而成，增强内框架装置的整体结构强度。固定限位装置为两条设置在内壁上的内框架运转轨道123，两条内框架运转轨道123为同轴心等径的环形，环形的轴线为第一回转轴线，活动限位装置为限位轮103和支撑轮104，限位轮103和支撑轮104分别转动设置在内框架本体102上，限位轮103和支撑轮104与内框架运转轨道123滚动摩擦连接。具体的，支撑轮104与内框架运转轨道123的内圆周面滚动摩擦连接，用于保证内框架本体102与外车壳101之间的相对转动，限位轮103与内框架运转轨道123的内端面滚动摩擦连接，用于实现内框架本体102与外车壳101之间在第一回转轴线方向上的轴向固定。内框架本体102的底部还安装有电机驱动电源，电机驱动电源为锂电池组，额定输出电压为48V。More specifically, the inner frame device includes an inner frame body 102. The inner frame body 102 has an overall shape of a cage structure corresponding to the spherical outer casing 101, and is welded by a rigid tube to enhance the overall structural strength of the inner frame device. . The fixed limiting device is two inner frame running rails 123 disposed on the inner wall, and the two inner frame running rails 123 are concentric annular rings, the annular axis is the first turning axis, and the movable limiting device is a limit. The wheel 103 and the support wheel 104, the limit wheel 103 and the support wheel 104 are respectively rotatably disposed on the inner frame body 102, and the limit wheel 103 and the support wheel 104 are in rolling frictional connection with the inner frame running rail 123. Specifically, the support wheel 104 is in rolling frictional connection with the inner circumferential surface of the inner frame running rail 123 for ensuring relative rotation between the inner frame body 102 and the outer casing 101, and the limiting wheel 103 and the inner frame running rail 123 are inside. The end rolling frictional connection is used to achieve axial fixation between the inner frame body 102 and the outer casing 101 in the direction of the first axis of rotation. The bottom of the inner frame body 102 is also equipped with a motor driving power source, and the motor driving power source is a lithium battery pack, and the rated output voltage is 48V.

通过限位轮103，可以限制住内框架装置相对于外车壳101的轴向运动，通过支撑轮 104可以承担内框架装置的重量和乘员的重量，并且减少内框架装置与外车壳101之间的相对摩擦，降低了车辆运行所需要的功率，提高了效率。Through the limit wheel 103, the axial movement of the inner frame device relative to the outer casing 101 can be restricted by the support wheel The 104 can bear the weight of the inner frame device and the weight of the occupant, and reduce the relative friction between the inner frame device and the outer casing 101, reducing the power required for the operation of the vehicle and improving the efficiency.

再进一步具体说来，驱动机构包括驱动电机105，驱动电机105的功率为350W，额定电压48V；驱动电机105安装到内框架装置的底部中心处，驱动电机105安装有第一传动链轮125，第一传动链轮125与设置在驱动轮轴上的第二传动链轮126链传动连接，驱动轮轴130的两端分别安装有驱动轮106，驱动轮106与内框架运转轨道123滚动摩擦。More specifically, the driving mechanism includes a driving motor 105 having a power of 350 W and a rated voltage of 48 V; the driving motor 105 is mounted to the bottom center of the inner frame device, and the driving motor 105 is mounted with the first driving sprocket 125, The first drive sprocket 125 is coupled to the second drive sprocket 126 disposed on the drive axle. The drive wheels 106 are respectively mounted on the two ends of the drive axle 130. The drive wheels 106 are frictionally rubbed with the inner frame running rail 123.

通过将驱动电机105布置到车辆的中线位置处，有利于车辆保持平衡，提高车辆运行的稳定性。By arranging the drive motor 105 to the centerline position of the vehicle, it is advantageous for the vehicle to maintain balance and improve the stability of the vehicle operation.

更进一步具体说来，内框架本体102上设置有至少两根偏移轨道107，偏移轨道107为圆弧形，圆弧形的轴线为第二回转轴线，第二回转轴线与第一回转轴线空间垂直，座椅124设置有限位支撑轮组，限位支撑轮组与偏移轨道107滚动摩擦连接，限位支撑轮组包括偏移限位轮108和偏移支撑轮109。More specifically, the inner frame body 102 is provided with at least two offset rails 107, the offset rail 107 is a circular arc shape, the arc-shaped axis is a second rotation axis, and the second rotation axis and the first rotation axis The space is vertical, the seat 124 is provided with a limited support wheel set, and the limit support wheel set is in rolling frictional connection with the offset track 107. The limit support wheel set includes an offset limit wheel 108 and an offset support wheel 109.

通过设置偏移轨道107，可以使得座椅124与内框架本体102之间发生角度的旋转，不但是乘坐者可以在左右发生摆动，提供更多种的乘坐体验。而且，将座椅124偏移时可以导致车辆整体重心改变，进而可以用来改变车辆的运动方向。By providing the offset rail 107, an angular rotation between the seat 124 and the inner frame body 102 can be caused, and the occupant can swing around the left and right to provide a more variety of riding experience. Moreover, shifting the seat 124 can result in a change in the overall center of gravity of the vehicle, which in turn can be used to change the direction of motion of the vehicle.

更进一步具体说来，内框架本体102的前部设置有定位套筒111，定位套筒111上以周向固定的方式设置有固定轮盘110，固定轮盘110设有手持部。More specifically, the front portion of the inner frame body 102 is provided with a positioning sleeve 111. The positioning sleeve 111 is provided with a fixed wheel 110 in a circumferentially fixed manner, and the fixed wheel 110 is provided with a hand-held portion.

通过将固定轮盘110以周向固定的方式与内框架本体102连接，可以使得乘坐者手握固定轮盘110，对固定轮盘110施加扭矩，固定轮盘110的反作用力会使得乘坐者的身体和座椅124都发生摆动，从而改变车辆的重心所在位置，以实现转向功能。By connecting the fixed wheel 110 to the inner frame body 102 in a circumferentially fixed manner, the occupant can hold the fixed wheel 110 and apply torque to the fixed wheel 110. The reaction force of the fixed wheel 110 can make the occupant's reaction force Both the body and the seat 124 oscillate, thereby changing the position of the center of gravity of the vehicle to achieve the steering function.

又进一步具体说来，固定轮盘110设置有芯轴部；Still more specifically, the fixed wheel 110 is provided with a mandrel portion;

定位套筒111的套筒部上设置有多个第一定位孔112，芯轴部上设有用于限制芯轴部与套筒部的相对轴向位置的弹性定位销113；The sleeve portion of the positioning sleeve 111 is provided with a plurality of first positioning holes 112, and the core shaft portion is provided with an elastic positioning pin 113 for limiting the relative axial position of the mandrel portion and the sleeve portion;

芯轴部上设有多个第二定位孔114，定位套筒111的套筒部上螺旋安装有能够沿套筒部径向移动的限位手柄115，限位手柄115具有一内端部，内端部用于嵌入到第二定位孔114中以对芯轴部轴向固定和周向固定。第二定位孔114的外侧为内圆锥面，内侧为内圆柱面，相应的，限位手柄115的内端也为圆柱体，圆柱体的外侧连接有圆锥体。通过这样的设置，便于限位手柄115在旋转时方便的进入到第二定位孔114中，以准确地实现对芯轴部的轴向固定和径向固定，各个第二定位孔114之间的间距与各个第一定位孔112之间的间距分别相同。A plurality of second positioning holes 114 are defined in the mandrel portion, and a sleeve handle 115 is disposed on the sleeve portion of the positioning sleeve 111, and a limiting handle 115 is radially movable along the sleeve portion, and the limiting handle 115 has an inner end portion. The inner end portion is for fitting into the second positioning hole 114 to axially fix and circumferentially fix the mandrel portion. The outer side of the second positioning hole 114 is an inner conical surface, and the inner side is an inner cylindrical surface. Correspondingly, the inner end of the limiting handle 115 is also a cylinder, and the outer side of the cylinder is connected with a cone. With such an arrangement, the limit handle 115 is conveniently inserted into the second positioning hole 114 during rotation to accurately achieve axial fixation and radial fixation of the mandrel portion, between the second positioning holes 114. The pitch is the same as the spacing between the respective first positioning holes 112.

通过将固定轮盘110滑动的设置在定位套筒111上，并通过弹性定位销113进行初步定位，再由限位手柄115进行固定，可以使得固定轮盘110能够在使用的时候牢固地固定住。并且，在不同的身高臂长的人乘坐时还可以调节固定轮盘110与定位套筒111之间的相对位置，即与内框架本体102之间的相对位置，即与座椅124之间的相对位置，以适应各种身高的人都能够舒适的握持固定轮盘110以控制车辆的方向。 By fixing the fixed wheel 110 on the positioning sleeve 111 and performing preliminary positioning by the elastic positioning pin 113, and then being fixed by the limiting handle 115, the fixed wheel 110 can be firmly fixed during use. . Moreover, the relative position between the fixed wheel 110 and the positioning sleeve 111, that is, the relative position with the inner frame body 102, that is, with the seat 124, can also be adjusted when a person of different height and length is seated. The relative position, to accommodate various heights, can comfortably hold the fixed wheel 110 to control the direction of the vehicle.

进一步具体说来，驱动马达与控制装置电连接，控制装置安装在固定轮盘110上，控制装置包括控制单元及连接线缆组成，控制装置用于改变内框架装置的驱动马达的旋转方向和转速，以实现球形车的前进、倒退、加速和减速。More specifically, the drive motor is electrically connected to the control device, and the control device is mounted on the fixed wheel 110. The control device comprises a control unit and a connecting cable, and the control device is used for changing the rotation direction and the rotation speed of the driving motor of the inner frame device. To achieve the forward, reverse, acceleration and deceleration of the spherical car.

本实施例的动作原理为：The action principle of this embodiment is:

操作者由车体一侧进入驾驶舱，调整系好安全带，打开电源开关，按提示标示操作控制内框架驱动电机105的旋转方向和转速，通过扭转固定轮盘，通过反力作用使座椅移动，改变球壳的倾斜方向和倾斜角度，结合变换驱动电机的旋转方向和转速，即可控制球形车前进、倒退、转向、原地旋转或增减速度。The operator enters the cockpit from the side of the vehicle body, adjusts the seat belt, opens the power switch, and controls the rotation direction and rotation speed of the inner frame drive motor 105 according to the prompt indication. The wheel is fixed by twisting and the seat is acted upon by the reaction force. Moving, changing the tilting direction and tilting angle of the spherical shell, combined with changing the rotating direction and rotating speed of the driving motor, can control the forward, reverse, steering, in-situ rotation or increase/deceleration speed of the spherical vehicle.

实施例2：Example 2:

图6是实施例2中的外车壳的立体示意图；图7是图6的左视图；图8是图7的B-B剖视图；图9是实施例2中的内框架装置的立体示意图；图10是实施例2中的内框架装置从另一方向观察的立体示意图；图11是实施例2中的悬挂装置的结构示意图。图中，实施例1所用附图中已经出现的附图标记表示的含义沿用实施例1附图中的含义，新出现的各个附图标记表示的含义如下：Figure 6 is a perspective view of the outer casing of the embodiment 2; Figure 7 is a left side view of Figure 6; Figure 8 is a cross-sectional view of the frame of Figure 7; Figure 9 is a perspective view of the inner frame device of the second embodiment; It is a schematic perspective view of the inner frame device in the second embodiment viewed from the other direction; and FIG. 11 is a schematic structural view of the suspension device in the second embodiment. In the drawings, the reference numerals already appearing in the drawings used in Embodiment 1 have the meanings indicated in the drawings of Embodiment 1, and the newly appearing respective reference numerals have the following meanings:

116、开合门；117、横撑杆；118、悬挂装置底板；119、滑动轴承；120、悬挂轴；131、门锁；132、铰链；142、限位支撑轮。116, opening and closing door; 117, transverse strut; 118, suspension device bottom plate; 119, sliding bearing; 120, suspension shaft; 131, door lock; 132, hinge; 142, limit support wheel.

本实施例与实施例1的区别在于：The difference between this embodiment and Embodiment 1 is that:

外车壳101的形状为球形，外车壳101的侧面设有开合门116。通过将外车壳101设置成球形或椭圆球形，可以提高车辆的外壳刚度，而且设置开合门116，也便于人员上下车辆。The shape of the outer casing 101 is spherical, and the side of the outer casing 101 is provided with an opening and closing door 116. By arranging the outer casing 101 into a spherical or elliptical shape, the rigidity of the outer casing of the vehicle can be improved, and the opening and closing door 116 is provided, which also facilitates the person to get on and off the vehicle.

内框架本体102上还设有横撑杆117，横撑杆117上设有悬挂装置底板118，悬挂装置底板118上通过滑动轴承119滚动安装有与座椅124连接的悬挂轴120，悬挂轴120的轴线与第二回转轴线重合。对应的，偏移轨道107可以为一根呈整圆周的圆环形的偏移轨道107，限位支撑轮142可以是凹轮，限位支撑轮142仅仅起到限位作用即可，主要载荷均由悬挂轴120来承担。The inner frame body 102 is further provided with a transverse strut 117. The cross strut 117 is provided with a suspension bottom plate 118. The suspension device bottom plate 118 is rolled and mounted by a sliding bearing 119 with a suspension shaft 120 connected to the seat 124. The suspension shaft 120 is suspended. The axis coincides with the second axis of revolution. Correspondingly, the offset track 107 can be a circular orbital offset track 107. The limit support wheel 142 can be a concave wheel, and the limit support wheel 142 can only serve as a limit, the main load. Both are carried by the suspension shaft 120.

通过悬挂装置来安装座椅124，可以准确的对座椅124进行定位，提高座椅124安装的稳定性，降低限位支撑轮组的载荷，使其更多的起到限位的作用而非承载的作用，这样有利于提高限位支撑轮组的使用寿命。By mounting the seat 124 by the suspension device, the seat 124 can be accurately positioned, the stability of the seat 124 installation can be improved, and the load of the limit support wheel set can be reduced, so that more of the limit is used instead of The role of the load, which is beneficial to improve the service life of the limit support wheel set.

实施例3：Example 3:

图12是实施例3中的内框架装置下部的局部结构示意图；图中，实施例1所用附图中已经出现的附图标记表示的含义沿用实施例1附图中的含义，新出现的各个附图标记表示的含义如下：127、第一传动轴；128、第三传动链轮；129、第四传动链轮。Figure 12 is a partial structural schematic view of the lower portion of the inner frame device in the embodiment 3; in the drawings, the reference numerals already appearing in the drawings used in the embodiment 1 have the meanings indicated in the drawings of the first embodiment, and each of the newly appearing The meanings indicated by the reference numerals are as follows: 127, the first transmission shaft; 128, the third transmission sprocket; 129, the fourth transmission sprocket.

第一传动链轮125与设置在第一传动轴127上的第二传动链轮126链传动连接，第一传动轴127的两端分别安装有第三传动链轮128和第四传动链轮129，第三传动链轮128和第四传动链轮129分别与位于内框架装置一侧面的驱动轮轴130传动连接，驱动轮轴130上安装有驱动轮106。The first transmission sprocket 125 is coupled to the second transmission sprocket 126 disposed on the first transmission shaft 127. The third transmission sprocket 128 and the fourth transmission sprocket 129 are respectively mounted on both ends of the first transmission shaft 127. , the third drive sprocket 128 and The fourth drive sprocket 129 is respectively drivingly coupled to the drive axle 130 on one side of the inner frame device, and the drive axle 106 is mounted on the drive axle 130.

通过多根传动轴的方式实现了驱动电机105与驱动轮106的传动连接，有利于将驱动电机105布置到车辆的中线位置处，有利于车辆保持平衡，提高车辆运行的稳定性。The transmission connection between the driving motor 105 and the driving wheel 106 is realized by means of a plurality of transmission shafts, which facilitates the arrangement of the driving motor 105 to the center line position of the vehicle, which is beneficial to the vehicle to maintain balance and improve the stability of the vehicle operation.

实施例4：Example 4:

图13是实施例4中的内框架装置的结构示意图；图14是实施例4中的乘坐机构的驱动装置的局部结构示意图。图中，实施例1所用附图中已经出现的附图标记表示的含义沿用实施例1附图中的含义，新出现的各个附图标记表示的含义如下：Figure 13 is a schematic view showing the structure of the inner frame device in the fourth embodiment; and Figure 14 is a partial structural view showing the driving device of the ride mechanism in the fourth embodiment. In the drawings, the reference numerals already appearing in the drawings used in Embodiment 1 have the meanings indicated in the drawings of Embodiment 1, and the newly appearing respective reference numerals have the following meanings:

133、第二悬挂轴；134、第一悬挂机构；135、方向盘；136、活动支架；137、固定支架；138、转向传动轴；139、方向盘；140、导向套；141、弧形导向杆；143、偏移链轮。133, a second suspension shaft; 134, a first suspension mechanism; 135, a steering wheel; 136, a movable bracket; 137, a fixed bracket; 138, a steering transmission shaft; 139, a steering wheel; 140, a guide sleeve; 141, an arc guide rod; 143. Offset sprocket.

本实施例与实施例1的区别在于：内框架本体安装有第一悬挂机构134，具体说来，第一悬挂机构134可以是一个滚动轴承座，滚动轴承座可以安装在横撑杆117上，乘坐机构上设有与第一悬挂机构134对应的第二悬挂轴133，第一悬挂机构134能够与第二悬挂轴133进行相对转动，第一悬挂机构134绕着第二悬挂轴133进行相对转动的转动轴线与第二回转轴线共线。The difference between the embodiment and the embodiment 1 is that the inner frame body is mounted with the first suspension mechanism 134. Specifically, the first suspension mechanism 134 can be a rolling bearing seat, and the rolling bearing seat can be mounted on the transverse strut 117. A second suspension shaft 133 corresponding to the first suspension mechanism 134 is disposed. The first suspension mechanism 134 can rotate relative to the second suspension shaft 133, and the first suspension mechanism 134 rotates relative to the second suspension shaft 133. The axis is collinear with the second axis of revolution.

乘坐机构上还安装有方向盘支架，方向盘支架上转动安装有转向传动轴138，转向传动轴138的一端周向固定有方向盘，转向传动轴138与传动连接装置传动连接。A steering wheel bracket is further mounted on the riding mechanism, and a steering transmission shaft 138 is rotatably mounted on the steering wheel bracket. One end of the steering transmission shaft 138 is circumferentially fixed with a steering wheel, and the steering transmission shaft 138 is drivingly connected with the transmission connecting device.

方向盘支架包括固定支架137和活动支架136，转向传动轴138转动安装在活动支架136上，固定支架137与活动支架136枢接，固定支架137设有弧形导向杆141，活动支架136中设有导向套140，导向套140能够在弧形导向杆141上滑动，弧形导向杆141的圆心为固定支架137和活动支架136枢接转动的中心，导向套140上还螺纹连接有紧定螺钉。The steering bracket includes a fixing bracket 137 and a movable bracket 136. The steering shaft 138 is rotatably mounted on the movable bracket 136. The fixing bracket 137 is pivotally connected to the movable bracket 136. The fixing bracket 137 is provided with an arc guiding rod 141, and the movable bracket 136 is disposed in the movable bracket 136. The guiding sleeve 140 is slidable on the curved guiding rod 141. The center of the curved guiding rod 141 is the center of the pivotal rotation of the fixing bracket 137 and the movable bracket 136. The guiding sleeve 140 is also screwed with a set screw.

通过设置可以相对转动的固定支架137和活动支架136，可以使得活动支架136可以处于不同的角度，从而能够使得方向盘可以处于不同高度，能够适应不同身高臂长的人的驾驶需要。使用者可以松开紧定螺钉，调整导向套140在弧形导向杆141上的相对位置，即可调整活动支架136与固定支架137的相对角度。待角度调整到位后，可以锁紧紧定螺钉。By providing the fixed bracket 137 and the movable bracket 136 which are relatively rotatable, the movable bracket 136 can be at different angles, so that the steering wheel can be at different heights, and can be adapted to the driving needs of people of different height and length. The user can loosen the set screw and adjust the relative position of the guide sleeve 140 on the curved guide rod 141 to adjust the relative angle of the movable bracket 136 and the fixed bracket 137. After the angle is adjusted, the set screw can be locked.

具体说来，转向传动轴包括多根传动轴，方向盘与一根传动轴周向固定连接，多根转动轴之间通过万向联轴器连接，最后一根传动轴上周向固定连接有偏移链轮143，偏移链轮与设置在偏移轨道107上的链条(链条图中未示出)啮合。 Specifically, the steering transmission shaft includes a plurality of transmission shafts, and the steering wheel is fixedly connected to one of the transmission shafts in a circumferential direction, and the plurality of rotation shafts are connected by a universal joint, and the last transmission shaft is circumferentially fixedly connected. The shifting sprocket 143 meshes with a chain (not shown in the chain diagram) provided on the offset rail 107.

当需要改变球形车的运行方向时，使用者转动方向盘，方向盘带动传动轴转动，传动轴带动偏移链轮在偏移轨道107底面上的链条上滚动。根据牛顿第三定律，乘坐机构受到一个扭矩，则可以改变其角度，进而改变重心位置，从而实现了车辆的转向。When it is necessary to change the running direction of the spherical vehicle, the user rotates the steering wheel, and the steering wheel drives the transmission shaft to rotate, and the transmission shaft drives the offset sprocket to roll on the chain on the bottom surface of the offset rail 107. According to Newton's third law, when the rider receives a torque, it can change its angle and change the position of the center of gravity, thus realizing the steering of the vehicle.

尽管上面结合附图对本发明的优选实施例进行了描述，但是本发明并不局限于上述的具体实施方式，上述的具体实施方式仅仅是示意性的，并不是限制性的，本领域的普通技术人员在本发明的启示下，在不脱离本发明宗旨和权利要求所保护的范围情况下，还可以作出很多形式，例如：①以上各实施例中，内框架限位轮和内框架支撑轮均是设置在内框架本体上的，而内框架运转轨道是设置在外车壳内壁上的，实际上还可以将内框架运转轨道设置在内框架本体上，将内框架定位轮和内框架支撑轮设置在外壳体的内壁上；②在满足变例1的条件下，将以上各实施例中的驱动电机和驱动轮设置在外壳体内壁上，以实现外壳体内壁与内框架装置之间的相对转动；③上述实施例中在内框架装置和外车壳之间，均是采用限位轮和支撑轮两种轮子实现转动连接，实际上还可以采用凹轮实现转动连接；④以上实施例中采用的是链条链轮来实现从驱动电机到驱动轮的传动，实际上还可以采用同步齿形带和同步带轮的传动实现传动；⑤上述实施例中分别描述了外车壳为球形和球台形，实际上还可以是椭圆球形和椭圆球台形，或者母线为抛物线、双曲线的局部的回转体或橄榄形或枣弧形。⑥将实施例2中的滑动轴承替换为滚动轴承；⑦实施例1中的偏移轨道为弧形的，实施例2中的偏移轨道是整圆周的环形的，也采用了悬挂装置来确定座椅的移动中心，实际上弧形轨道也可以与悬挂装置一起配置；⑧还可以采用直线形的轨道替换掉实施例1的弧形轨道或实施例2的环形轨道，当然了，采用直线形轨道的时候，则不应将座椅安装到悬挂装置上；⑨还可以基于实施例2的方案，在内框架本体上的前侧也设置横撑杆，横撑杆上也设置悬挂装置，使得座椅可以以一种相当于吊床的方式安装到内框架本体上，以实现改变重心位置；⑽实施例4中，是悬挂轴安装在乘坐机构上，悬挂机构安装在横撑杆上，实际上还可以将悬挂轴和悬挂机构的位置互换，悬挂轴安装在横撑杆上，悬挂机构安装在乘坐机构上；⑾还可以只设置悬挂装置，而不设置偏移轨道；⑿还可以将导向套和弧形导向杆的位置互换；⒀或者还可以采用电机来驱动乘坐机构绕内框架本体进行旋转。将以上各个实施例中不相矛盾的技术手段相互组合，构成具体实施方式部分中没有直接描述的技术方案；⒁除了采用一部电机驱动两侧的驱动轮以外，还可以分别采用一部电机来带动每一侧的驱动轮。这些均属于本发明的保护范围之内。 Although the preferred embodiments of the present invention have been described above with reference to the drawings, the present invention is not limited to the specific embodiments described above, and the specific embodiments described above are merely illustrative and not restrictive. In the enlightenment of the present invention, many forms can be made without departing from the scope of the invention and the scope of the claims. For example, in the above embodiments, the inner frame limiting wheel and the inner frame supporting wheel are both It is disposed on the inner frame body, and the inner frame running track is disposed on the inner wall of the outer casing, and actually the inner frame running track can be disposed on the inner frame body, and the inner frame positioning wheel and the inner frame supporting wheel are disposed. On the inner wall of the outer casing; 2, under the condition that the modification 1 is satisfied, the driving motor and the driving wheel in the above embodiments are disposed on the inner wall of the outer casing to realize the relative rotation between the inner wall of the outer casing and the inner frame device. 3 In the above embodiment, between the inner frame device and the outer casing, the two positions of the limit wheel and the support wheel are used to realize the rotational connection. The concave connection can also be used to realize the rotary connection; in the above embodiment, the chain sprocket is used to realize the transmission from the drive motor to the drive wheel, and actually the transmission can be realized by the synchronous toothed belt and the synchronous pulley; 5 In the above embodiments, the outer car shell is described as a spherical shape and a spherical table shape, and may actually be an elliptical spherical shape and an elliptical spherical table shape, or the bus bar is a parabolic, hyperbolic partial revolving body or an olive or jujube arc. 6 Replace the sliding bearing in Embodiment 2 with a rolling bearing; 7 The offset track in Embodiment 1 is curved, and the offset track in Embodiment 2 is a circular ring of a whole circumference, and a suspension device is also used to determine the seat. The moving center of the chair, in fact, the curved track can also be configured together with the suspension device; 8 can also replace the curved track of the embodiment 1 or the circular track of the embodiment 2 with a linear track, of course, using a linear track When the seat is not installed on the suspension device; 9 can also be based on the embodiment 2, the front side of the inner frame body is also provided with a horizontal strut, the cross brace is also provided with a suspension device, so that the seat The chair can be mounted to the inner frame body in a manner equivalent to a hammock to achieve a change in the position of the center of gravity; (10) in the fourth embodiment, the suspension shaft is mounted on the ride mechanism, and the suspension mechanism is mounted on the cross brace, in fact The position of the suspension shaft and the suspension mechanism can be interchanged, the suspension shaft is mounted on the cross strut, and the suspension mechanism is mounted on the ride mechanism; (11) only the suspension device can be provided without setting the offset track; (12) It is also possible to interchange the position of the guide sleeve and the curved guide rod; (13) or a motor can be used to drive the ride mechanism to rotate about the inner frame body. Combining the non-contradictory technical means in the above embodiments to form a technical solution not directly described in the specific embodiment part; (14) In addition to using a motor to drive the driving wheels on both sides, a motor can be separately used. Drive the drive wheels on each side. These are all within the scope of the invention.

Claims

一种球形车，其特征在于：包括外车壳和内框架装置，内框架装置转动设置在外车壳内；所述外车壳至少具有一个垂直于地面的完整环形部，所述环形部具有第一回转轴线，所述环形部还设有向环形的两端面圆滑过渡的过渡部，所述内框架装置与所述外车壳内壁之间通过固定限位装置和活动限位装置连接，用于实现所述内框架装置与所述外车壳的沿所述第一回转轴线的相对转动连接以及在所述第一回转轴线方向上的轴向固定，所述外车壳或所述内框架装置上还安装有驱动机构，所述驱动机构与驱动轮传动连接，所述驱动轮用于带动所述内框架装置与所述外车壳相对转动，所述内框架装置上设置乘坐机构。A spherical vehicle, comprising: an outer casing and an inner frame device, wherein the inner frame device is rotatably disposed in the outer casing; the outer casing has at least one complete annular portion perpendicular to the ground, the annular portion having a a rotation axis, the annular portion is further provided with a transition portion that smoothly transitions to both end faces of the ring, and the inner frame device and the inner wall of the outer casing are connected by a fixed limiting device and a movable limiting device for Arelatively rotating the inner frame device and the outer casing along the first axis of rotation and axially fixing in the direction of the first axis of rotation, the outer casing or the inner frame device A driving mechanism is further mounted, and the driving mechanism is drivingly connected to the driving wheel, the driving wheel is configured to drive the inner frame device to rotate relative to the outer casing, and the inner frame device is provided with a riding mechanism.
根据权利要求1所述的球形车，其特征在于：The spherical vehicle according to claim 1, wherein:

所述外车壳为球形或椭圆球形，所述椭圆球形的圆截面位于所述环形部内，所述外车壳的侧面设有进出门。The outer casing is spherical or elliptical, the elliptical spherical circular section is located in the annular portion, and the outer casing is provided with an access door on the side.
根据权利要求1所述的球形车，其特征在于：所述外车壳为球形的一部分或椭圆球形的一部分，所述外车壳的圆截面位于所述环形部内。A spherical vehicle according to claim 1, wherein said outer casing is a part of a sphere or a part of an elliptical sphere, and a circular cross section of said outer casing is located in said annular portion.
根据权利要求1或2或3所述的球形车，其特征在于：所述内框架装置包括内框架本体，所述固定限位装置为设置在所述外车壳内壁上的内框架运转轨道，所述内框架运转轨道为环形，所述环形的轴线为所述第一回转轴线，所述活动限位装置为限位轮和支撑轮，所述限位轮和支撑轮分别转动设置在所述内框架本体上，所述限位轮和支撑轮与所述内框架运转轨道滚动摩擦连接。The spherical vehicle according to claim 1 or 2 or 3, wherein the inner frame device comprises an inner frame body, and the fixed limiting device is an inner frame running track disposed on an inner wall of the outer casing. The inner frame running track is annular, the axis of the ring is the first turning axis, the movable limiting device is a limiting wheel and a supporting wheel, and the limiting wheel and the supporting wheel are respectively rotated and disposed at the On the inner frame body, the limiting wheel and the supporting wheel are frictionally connected to the inner frame running track.
根据权利要求4所述的球形车，其特征在于：所述内框架本体上设置有偏移轨道，所述偏移轨道为弧形或环形或直线形，所述弧形或环形的轴线为第二回转轴线，所述第二回转轴线与所述第一回转轴线空间垂直，所述乘坐机构设置有限位支撑轮组，所述限位支撑轮组与所述偏移轨道滚动摩擦连接。The spherical vehicle according to claim 4, wherein the inner frame body is provided with an offset track, the offset track is curved or annular or linear, and the arc or ring axis is a second rotation axis, the second rotation axis is perpendicular to the first rotation axis, the riding mechanism is provided with a limited support wheel set, and the limit support wheel set is frictionally connected with the offset track.
根据权利要求5所述的球形车，其特征在于：所述内框架本体安装有第一悬挂轴或第一悬挂机构，所述乘坐机构上设有与所述第一悬挂轴对应的第二悬挂机构或与所述第一悬挂机构对应的第二悬挂轴，所述第一悬挂机构能够与所述第一悬挂轴进行相对转动，所述第二悬挂机构能够与所述第二悬挂轴进行相对转动，所述第一悬挂机构绕着所述第二悬挂轴进行相对转动的转动轴线与所述第二回转轴线共线，所述第二悬挂机构绕着所述第一悬挂轴进行相对转动的转动轴线与所述第二回转轴线共线。The spherical vehicle according to claim 5, wherein the inner frame body is mounted with a first suspension shaft or a first suspension mechanism, and the ride mechanism is provided with a second suspension corresponding to the first suspension shaft a mechanism or a second suspension shaft corresponding to the first suspension mechanism, the first suspension mechanism being rotatable relative to the first suspension shaft, the second suspension mechanism being capable of opposing the second suspension shaft Rotating, the rotation axis of the first suspension mechanism rotating relative to the second suspension shaft is collinear with the second rotation axis, and the second suspension mechanism is relatively rotated about the first suspension shaft The axis of rotation is collinear with the second axis of revolution.
根据权利要求4所述的球形车，其特征在于：所述内框架本体安装有第一悬挂轴或第一悬挂机构，所述乘坐机构上设有与所述第一悬挂轴对应的第二悬挂机构或与所述第一悬挂机构对应的第二悬挂轴，所述第一悬挂机构能够与所述第二悬挂轴进行相对转动，所述第二悬挂机构能够与所述第一悬挂轴进行相对转动，所述第一悬挂机构绕着所述第二悬挂轴进行相对转动的转动轴线或所述第二悬挂机构绕着所述第一悬挂轴进行相对转动的转动轴线为第二回转轴线，所述第二回转轴线与所述第一回转轴线垂直。The spherical vehicle according to claim 4, wherein the inner frame body is mounted with a first suspension shaft or a first suspension mechanism, and the ride mechanism is provided with a second suspension corresponding to the first suspension shaft a mechanism or a second suspension shaft corresponding to the first suspension mechanism, the first suspension mechanism being rotatable relative to the second suspension shaft, the second suspension mechanism being capable of opposing the first suspension shaft Rotating, a rotation axis of the first suspension mechanism rotating relative to the second suspension shaft or a rotation axis of the second suspension mechanism rotating relative to the first suspension shaft is a second rotation axis, The second axis of revolution is perpendicular to the first axis of revolution.
根据权利要求5或6或7所述的球形车，其特征在于：所述乘坐机构上设置驱动机构，所述驱动机构用于通过传动连接装置驱动所述乘坐机构与所述内框架装置沿所述第二回转轴线的相对转动，所述传动连接装置包括胶轮、齿轮、链条、同步带、皮带、万向节或拉线。The spherical vehicle according to claim 5 or 6 or 7, wherein the driving mechanism is provided on the riding mechanism The driving mechanism is configured to drive relative rotation of the riding mechanism and the inner frame device along the second rotating axis by a transmission connecting device, which comprises a rubber wheel, a gear, a chain, a timing belt, Belt, universal joint or cable.
根据权利要求5或6或7所述的球形车，其特征在于：所述乘坐机构上还安装有方向盘支架，所述方向盘支架上转动安装有转向传动轴，所述转向传动轴的一端周向固定有方向盘，所述转向传动轴与所述传动连接装置传动连接。The spherical vehicle according to claim 5 or 6 or 7, wherein the riding mechanism further has a steering wheel bracket, and the steering wheel bracket is rotatably mounted with a steering transmission shaft, and one end of the steering transmission shaft is circumferentially A steering wheel is fixed, and the steering drive shaft is drivingly connected to the transmission connection.
根据权利要求5或6或7所述的球形车，其特征在于：所述乘坐机构上或还安装有摇摆驱动电机，所述摇摆驱动电机与所述传动连接装置传动连接。 A spherical vehicle according to claim 5 or 6 or 7, characterized in that the ride mechanism is also provided with a rocking drive motor, the rocking drive motor being in driving connection with the drive connection.