WO2017210855A1 - 一种平衡运输工具 - Google Patents

一种平衡运输工具 Download PDF

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Publication number
WO2017210855A1
WO2017210855A1 PCT/CN2016/085078 CN2016085078W WO2017210855A1 WO 2017210855 A1 WO2017210855 A1 WO 2017210855A1 CN 2016085078 W CN2016085078 W CN 2016085078W WO 2017210855 A1 WO2017210855 A1 WO 2017210855A1
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Prior art keywords
rotating member
balance
power source
vehicle
transmission mechanism
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PCT/CN2016/085078
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English (en)
French (fr)
Inventor
罗春晖
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罗春晖
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Application filed by 罗春晖 filed Critical 罗春晖
Priority to PCT/CN2016/085078 priority Critical patent/WO2017210855A1/zh
Priority to CN201680003274.3A priority patent/CN107074307A/zh
Publication of WO2017210855A1 publication Critical patent/WO2017210855A1/zh

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D55/00—Endless track vehicles
    • B62D55/02—Endless track vehicles with tracks and additional ground wheels
    • 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

Definitions

  • the invention relates to the field of balance vehicle attitude conversion structure, in particular to a balance transportation vehicle.
  • Electric balance car also known as body car, thinking car, camera car, etc.;
  • Dynamic Stabilization which uses gyroscopes and accelerometers inside the car body to detect The change of the attitude of the car body, and the servo control system, accurately drive the motor to adjust accordingly to maintain the balance of the system; it is a new type of green environmental protection product used by modern people as a means of transportation and recreation;
  • the driving method is as follows:
  • the handle can be controlled, similar to a car.
  • the steering wheel if it is just a single-wheeled electric balance car, it can be tilted to different degrees on both sides according to the demand;
  • the human body Under normal circumstances, in the driving of the balance car, the human body needs to consume a certain amount of physical energy, and it functions as a part of balancing, especially for the novice, the driving balance car will be very tired;
  • the object of the present invention is to overcome the above-mentioned deficiencies in the prior art, and to provide a method for adapting to various road surfaces, reducing the body energy consumption of the driver when carrying people, reducing the energy consumption of the device when loading the object, and not relying on the principle of "dynamic balance".
  • a balanced transport that individually adjusts the overall center of gravity of the unit.
  • the present invention provides the following technical solutions:
  • a balanced transportation vehicle that includes:
  • a first rotating component mounted on the vehicle body and driven to rotate by the first power source to drive the vehicle body to move;
  • a second rotating member rotatably mounted on a carrier, the carrier being rotatable about a central axis of rotation of the first rotating member
  • the first rotating component drives the second rotating component to rotate by the transmission mechanism
  • the second power source is also capable of driving the second rotating member to rotate around its own axis move;
  • the second rotating member When the second power source is activated, the second rotating member is driven to rotate about the first rotating member to change the center of gravity of the balance vehicle.
  • the second rotating component When the second power source is not activated, the second rotating component is driven by the first rotating component to rotate on the vehicle body through the transmission mechanism, and then the first rotating component drives the second rotating component to rotate through the transmission mechanism, which is an equilibrium state.
  • a force is applied to rotate the second rotating member, and the carrier on which the second rotating member is mounted is rotated coaxially with the central axis of rotation of the first rotating member (ideally, this rotation is an articulation
  • the state is basically unaffected by the frictional force. This frictional force is called X). Because the front is an equilibrium state, and the first rotating component is in contact with the ground during driving, the transmission mechanism and the first rotating component are integrally synchronized.
  • the balance transportation vehicle can be supported only by the first rotating component, or can be supported by the first rotating component plus the transmission mechanism and/or the second rotating component to adapt to various road surfaces, and at the same time, the above structure can be
  • the overall center of gravity of the device can be individually adjusted without the aid of the "dynamic balance" principle (there is no contradiction in which the shift must be balanced in the case of unsuitable shifting as described in the background art), and the driver's physical energy consumption is reduced when manned Similarly, when the load is loaded, the energy consumption of the device is reduced.
  • the first rotating component is a wheel, and the other rotating component is selected. As in the form of a cylinder) works better.
  • the transmission mechanism is a crawler belt, which can better synchronize the linear speeds of the first rotating component and the second rotating component with the track connection respectively, and can also prevent the second power source from slipping when starting. Phenomenon (such as what may occur when the transmission uses a conveyor belt).
  • a first clutch mechanism is disposed between the vehicle body and the first rotating component, and the second rotating component cooperates with a function of rotating the first rotating component to jointly brake the traveling mechanism.
  • the braking effect is better;
  • the carrier is respectively provided with a second clutch mechanism between the first rotating component and the second rotating component, and the mutual cooperation can realize the conversion of various states.
  • the second rotating member is fitted inside the transmission mechanism, and after the second rotating member moves downward around the first rotating member, the transmission mechanism (such as the crawler belt) and the A rotating component together supports the vehicle.
  • the carrier is mounted with a weight device located on a side of the carrier opposite the second rotating member.
  • the weight of the weight of the fitting device is adjustable.
  • the transmission mechanism and the first rotating member are connected by a shifting device for rotating the linear speed of the transmission mechanism and the maximum diameter surface of the first rotating member
  • the line speed is the same, in such a manner that the transmission mechanism does not need to fit on the outermost side of the first rotating component, so that when the first rotating component separately supports the transporting tool, the first rotating component can directly contact the ground, which can be better Drive to reduce the influence of the transmission mechanism on the driving state.
  • the first state is that the balance vehicle is supported on the ground only by the first rotating member, travels in a dynamic and stable manner, or is dynamic. a stable way plus the way to “change the center of gravity of the balanced transport”;
  • the second state is that the balance transportation vehicle is simultaneously supported on the ground by the first rotating component and the transmission mechanism;
  • the first state and the second state are achieved by the second power source driving the second rotating member to rotate about the first rotating member.
  • the carrier is a support rod
  • the second rotating member is mounted at an outer end of the support rod
  • the support rod is rotatably mounted in a middle portion of the vehicle body.
  • the vehicle body is further provided with a weight mechanism, and the mechanism includes a weight, and the position of the weight is adjustable to assist the vehicle body to achieve better balance.
  • Figure 1 is a front elevational view showing the structure of the embodiment of the present application.
  • Figure 2 is a plan view showing the structure of the embodiment of the present application.
  • Figure 3 is a side view showing the structure of the embodiment of the present application.
  • FIG. 4 is a schematic diagram of the first state and the second state of the structure in the embodiment of the present application.
  • Figure 5 is a schematic view showing the structure of the upper and lower stairs in the embodiment of the present application.
  • FIG. 6 is a structural view of a pit in the embodiment of the present application.
  • Figure 7 is a structural obstacle diagram in the embodiment of the present application.
  • a balanced transport vehicle includes:
  • the vehicle body 1 is used for loading or carrying people (in the present embodiment, it is used for carrying materials, and the vehicle body 1 has a space for storing), and the vehicle body 1 is provided with a center of gravity detecting device;
  • the first power source (for the hub motor);
  • first rotating member 2 mounted on the vehicle body 1 and driven to rotate by the first power source to drive the vehicle body 1 to move, the first rotating member 2 being
  • the number of wheels and wheels is two, which are respectively disposed on both sides of the vehicle body 1, and correspondingly, two second rotating members 3 (also in the embodiment) are provided;
  • the second rotating member 3 is rotatably mounted on a carrier 8 (in the embodiment, the carrier 8 is a support rod, and the second rotating member 3 is mounted outside the support rod End, the support rod is rotatably mounted in the middle of the vehicle body 1), the carrier 8 is rotatable about a central axis of rotation of the first rotating member 2, and the second rotating member 3 is fitted to the transmission mechanism 5 internal;
  • the first rotating member 2 drives the second rotating member 3 to rotate by the transmission mechanism 5
  • the transmission mechanism 5 is a crawler belt
  • two freely rotatable slaves are arranged side by side on the support rod
  • the movable wheel 4 and the driven wheel 4 are fitted inside the crawler belt, and the crawler belt is formed with a convex structure under the support of the driven wheel 4, so that the position of the second rotating member 3 is moved, and when the crawler belt is lowered, the contact area between the crawler belt and the ground is increased, so that the vehicle is transported.
  • the overall support effect is better;
  • a second power source (which may be an in-wheel motor), the second power source is also capable of driving the second rotating member 3 to rotate about its own axis, and a first clutch is disposed between the vehicle body 1 and the first rotating member 2 a mechanism, the carrier 8 and the first rotating member 2 and the second rotating member 3 are respectively provided with a second clutch mechanism (the first clutch mechanism and the second clutch mechanism are the disc brake mechanism 7 in this embodiment);
  • the second rotating component 3 When the second power source is activated, the second rotating component 3 is driven to rotate around the first rotating component 2 to change the center of gravity of the balance vehicle, and the second power source is detected after the center of gravity detecting device detects the center of gravity deviation The start adjusts the center of gravity of the vehicle to reach a new equilibrium.
  • the carrier 8 is mounted with a weight device 6 on the opposite side of the carrier 8 and the second rotating member 3, and the weight of the fitting device can be
  • the vehicle body 1 is further provided with a weighting mechanism 9 which includes a weighting block, and the position of the weighting block is adjustable to assist the vehicle body 1 to achieve better balance.
  • the transmission mechanism 5 and the first rotating member 2 are connected by a shifting device for linearly rotating the linear velocity of the transmission mechanism 5 and the maximum radial surface of the first rotating member 2 the same.
  • the transport device includes two states, the first state is that the balance transport vehicle is supported on the ground only by the first rotating component 2;
  • the second state is that the balance transportation vehicle is simultaneously supported on the ground by the first rotating component 2 and the transmission mechanism 5 (track);
  • the first state and the second state are achieved by the second power source driving the second rotating member 3 to rotate about the first rotating member 2.
  • FIG 4-7 The specific driving process is shown in Figure 4-7.
  • the left side is the case where the balanced transportation vehicle is driven under poor road conditions (such as cross-country climbing, etc.) or the gear is lowered when braking or braking, and the right side is In the case where the road condition is good, only the first rotating member 2 supports the driving in a dynamic stable manner (or dynamic stabilization plus the gravity adjustment method in the structure of the present application);
  • FIG. 5 is a schematic view of the balance transporting vehicle up and down the stairs, and the overall center of gravity of the balance vehicle can be controlled by the position adjustment of the second rotating component 3 so that the phenomenon of tipping or the like does not occur;
  • Figure 6 is the case where the balance transportation vehicle passes through the pit.
  • the track is controlled to be lowered, and the balance transportation means is supported by at least two places to prevent it from falling into the pit;
  • Figure 7 shows the situation in which the balance vehicle passes the obstacle.
  • the track first contacts the obstacle, increases the stability of the balance vehicle, and the balance vehicle continues to advance.
  • the first rotating member 2 contacts the obstacle, because there is also a front Track support, so encountering obstacles does not cause the balance vehicle to tip over and be safer.
  • a structure different from that of Embodiment 1 is that, in the second state, the transmission mechanism 5 is not in contact with the ground, and in the second state, the balance transportation vehicle simultaneously passes the first rotation.
  • the component 2 and other supporting structures (such as the driven wheel 4 in Embodiment 1) are supported on the ground. If so, the transmission mechanism 5 (may not be a crawler belt, the conveyor belt can be used) does not bypass the driven wheel 4, but merely bypasses the
  • the second rotating member 3 can be rotated to complete the process of rotating the second rotating member 3 around the first rotating member 2; the transmission mechanism 5 can also be other structures, not limited to the crawler belt or the conveyor belt.
  • the structure for supporting the vehicle together with the first rotating member 2 is not limited to the driven wheel 4, but may be other structures mounted on the support rod.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Transportation (AREA)
  • Handcart (AREA)
  • Motorcycle And Bicycle Frame (AREA)

Abstract

一种平衡运输工具，其包括：车体（1），车体用于载物或载人；第一动力源；第一转动部件（2），第一转动部件安装在车体上，并由第一动力源驱动转动，从而带动车体移动；第二转动部件（3），第二转动部件转动地安装在一载体（8）上，载体能够绕第一转动部件转动的中心轴旋转；传动机构（5），第一转动部件通过传动机构带动第二转动部件转动；第二动力源，第二动力源也能够驱动第二转动部件转动；第二动力源启动时，驱动第二转动部件绕第一转动部件转动以改变平衡运输工具的重心；所述平衡运输工具能适应多种路面、载人时减小驾驶者体能消耗、载物时减小装置能源消耗、可单独调整装置整体的重心。

Description

一种平衡运输工具 技术领域
本发明涉及平衡车姿态转换结构领域，特别涉及一种平衡运输工具。
背景技术
电动平衡车，又叫体感车、思维车、摄位车等；
市场上主要有独轮和双轮两类，其运作原理主要是建立在一种被称为“动态稳定”(Dynamic Stabilization)的基本原理上，利用车体内部的陀螺仪和加速度传感器，来检测车体姿态的变化，并利用伺服控制***，精确地驱动电机进行相应的调整，以保持***的平衡；是现代人用来作为代步工具、休闲娱乐的一种新型的绿色环保的产物；
而其驾驶方法如下：
类似人体自身的平衡***，当身体重心前倾时，为了保证平衡，需要往前走，重心后倾时同理，转向时，如果平衡车有类似把手的结构，则控制把手即可，类似汽车的方向盘，如果只是独轮的电动平衡车，则根据需求像两侧不同程度地倾斜身体即可；
一般情况下，平衡车的驾驶中，人体需要消耗一定的体能，充当部分保持平衡的职能，特别对于新手来说，驾驶平衡车会很累；
其次，对于无人驾驶的平衡车机构，没有了驾驶者对平衡的调整，机器自我进行调整能源消耗过大；
同时，上述两种情况对平衡的调整都是通过“动态平衡”，也就是说，必然 要加速或者减速，但是某些情况下不适合做这样的变速，比如，前方有障碍的情况，这时整体平衡车(包括驾驶者或者不包括)的重心靠前，这时需要加速来使平衡车重新达到平衡，显然，在这种情况下这种加速是不合理的；
而且，目前的平衡车的行驶路况也太单一，对于路况较差的路面，比如山路等，则无法有较好的驾驶体验，甚至充满危险。
发明内容
本发明的目的在于克服现有技术中所存在的上述不足，提供一种适应多种路面、载人时减小驾驶者体能消耗、载物时减小装置能源消耗、可不借助“动态平衡”原理单独调整装置整体重心的平衡运输工具。
为了实现上述发明目的，本发明提供了以下技术方案：
一种平衡运输工具，其包括：
车体，所述车体用于载物或载人；
第一动力源；
第一转动部件，所述第一转动部件安装在所述车体上，并由所述第一动力源驱动转动，从而带动所述车体移动；
第二转动部件，所述第二转动部件转动地安装在一载体上，所述载体能够绕所述第一转动部件转动的中心轴旋转；
传动机构，所述第一转动部件通过所述传动机构带动所述第二转动部件转动；
第二动力源，所述第二动力源也能够驱动所述第二转动部件绕自身轴线转 动；
所述第二动力源启动时，驱动所述第二转动部件绕第一转动部件转动以改变所述平衡运输工具的重心。
在第二动力源未启动时，第二转动部件被第一转动部件通过传动机构带动在车体上转动，然后第一转动部件通过传动机构带动第二转动部件转动，此时是一个平衡状态，当第二动力源启动时，给予一个使第二转动部件转动的力，而第二转动部件安装的载体又是和第一转动部件转动中心轴同轴转动的(理想状态下这个转动就是一个铰接的状态，基本不受摩擦力影响，这个摩擦力称为X)，而因为之前是一个平衡状态，且行驶过程中第一转动部件是接触地面的，传动机构和第一转动部件是一体地同步地进行运转的，而地面给予第一转动部件的摩擦力一定是大于所述X的，所以，一旦第二动力源启动时，驱动第二转动部件的转动一定会使所述平衡状态被打破，第二转动部件和传动机构接触处，以及第一转动部件和传动机构的接触处，两处的线速度会不一样(之前是一样的)，则形成一个速度差，这个速度差，则会使第二转动部件在传动机构上移动，则“改变所述平衡运输工具的重心”，使重心往前或者往后移动，使整个运输工具达到一个新的平衡；
通过这种过程，可以使平衡运输工具可以仅仅由第一转动部件支撑，也可以由第一转动部件加上传动机构和/或第二转动部件一起支撑，适应多种路面，同时，上述结构可以不借助“动态平衡”原理单独调整装置整体重心(不会出现背景技术中所述的那样，在不适宜变速的情况下还必须变速达到平衡的矛盾状态)，载人时减小驾驶者体能消耗，同理，载物时减小装置能源消耗。
作为本发明的优选方案，所述第一转动部件为轮，比选用其他转动部件(比 如圆筒的形式)效果更好。
作为本发明的优选方案，所述传动机构为履带，能够更好地同步第一转动部件和第二转动部件上分别和履带连接处的线速度，也可以防止第二动力源启动时出现打滑的现象(比如传动机构采用传送带时可能出现的现象)。
作为本发明的优选方案，所述车体和第一转动部件之间设置有第一离合机构，和第二转动部件相对第一转动部件转动的功能相配合，可以共同对行驶机构进行制动，制动效果更好；所述载体分别和第一转动部件以及第二转动部件之间设置有第二离合机构，相互配合可实现多种状态的转换。
作为本发明的优选方案，所述第二转动部件配合在所述传动机构内部，在所述第二转动部件绕所述第一转动部件往下移动后，可使传动机构(比如履带)和第一转动部件一起共同支撑运输工具。
作为本发明的优选方案，所述载体上安装有配重装置，所述配重装置位于载体上和所述第二转动部件相对的一侧。
作为本发明的优选方案，所述配装装置的配重重量可调。
作为本发明的优选方案，所述传动机构和所述第一转动部件间通过一变速装置连接，所述变速装置用于使所述传动机构的线速度和所述第一转动部件最大径表面转动的线速度相同，这种方式可以使传动机构不用配合在第一转动部件的最外侧，那么在第一转动部件单独支撑运输工具时，可以通过第一转动部件直接接触地面，则可以比较好地行驶，减小传动机构对行驶状态的影响。
作为本发明的优选方案，包括两种状态，第一种状态为：所述平衡运输工具仅通过所述第一转动部件支撑于地面，以动态稳定的方式行驶，或者以动态 稳定的方式加上“改变所述平衡运输工具的重心”的方式；
第二种状态为：所述平衡运输工具同时通过所述第一转动部件和所述传动机构支撑于地面；
所述第一种状态和第二种状态通过所述第二动力源驱动所述第二转动部件绕第一转动部件转动实现。
作为本发明的优选方案，所述载体为支撑杆，所述第二转动部件安装在所述支撑杆的外端，所述支撑杆转动地安装在所述车体中部。
作为本发明的优选方案，所述车体上还设置有配重机构，该机构内包含配重块，配重块的位置可调，辅助所述车体达到更好地平衡。
与现有技术相比，本发明的有益效果：
适应多种路面、载人时减小驾驶者体能消耗、载物时减小装置能源消耗、可不借助“动态平衡”原理单独调整装置整体重心。
附图说明：
图1为本申请实施例中结构的正视图；
图2为本申请实施例中结构的俯视图；
图3为本申请实施例中结构的侧视图；
图4为本申请实施例中结构所述第一种状态和第二种状态的示意图；
图5为本申请实施例中结构上、下楼梯示意图；
图6为本申请实施例中结构过坑图；
图7为本申请实施例中结构过障碍图；
图中标记：1-车体，2-第一转动部件，3-第二转动部件，4-从动轮，5-传动机构，6-配重装置，7-碟刹机构，8-载体，9-配重机构。
具体实施方式
下面结合实施例及具体实施方式对本发明作进一步的详细描述。但不应将此理解为本发明上述主题的范围仅限于以下的实施例，凡基于本发明内容所实现的技术均属于本发明的范围。
实施例1
如图1-3，一种平衡运输工具，其包括：
车体1，所述车体1用于载物或载人(本实施例中为用于载物，车体1上具备储物的空间)，车体1上具备一重心检测装置；
第一动力源(为轮毂电机)；
第一转动部件2，所述第一转动部件2安装在所述车体1上，并由所述第一动力源驱动转动，从而带动所述车体1移动，所述第一转动部件2为轮，轮的数量为两个，分别设置在所述车体1两侧，同时，对应的设置有两个第二转动部件3(本实施例中也为轮)；
第二转动部件3，所述第二转动部件3转动地安装在一载体8上(本实施例中，所述载体8为支撑杆，所述第二转动部件3安装在所述支撑杆的外端，所述支撑杆转动地安装在所述车体1中部)，所述载体8能够绕所述第一转动部件2转动的中心轴旋转，所述第二转动部件3配合在所述传动机构5内部；
传动机构5，所述第一转动部件2通过所述传动机构5带动所述第二转动部件3转动，所述传动机构5为履带，所述支撑杆上并排设置有两个可自由旋转的从动轮4，从动轮4配合在履带内部，履带在从动轮4的支撑下形成凸起的结构，使第二转动部件3位置移动从而履带下放时，增加履带和地面间的接触面积，使运输工具整体的支撑效果更好；
第二动力源(可为轮毂电机)，所述第二动力源也能够驱动所述第二转动部件3绕自身轴线转动，所述车体1和第一转动部件2之间设置有第一离合机构，所述载体8分别和第一转动部件2以及第二转动部件3之间设置有第二离合机构(第一离合机构和第二离合机构在本实施例中均为碟刹机构7)；
所述第二动力源启动时，驱动所述第二转动部件3绕第一转动部件2转动以改变所述平衡运输工具的重心，在所述重心检测装置检测出重心偏离后通过第二动力源的启动调整运输工具的重心，达到新的平衡状态。
本实施例中，所述载体8上安装有配重装置6，所述配重装置6位于载体8上和所述第二转动部件3相对的一侧，所述配装装置的配重重量可调，本实施例中，所述车体1上还设置有配重机构9，该机构内包含配重块，配重块的位置可调，辅助所述车体1达到更好地平衡。
所述传动机构5和所述第一转动部件2间通过一变速装置连接，所述变速装置用于使所述传动机构5的线速度和所述第一转动部件2最大径表面转动的线速度相同。
具体的，运输装置包括两种状态，第一种状态为：所述平衡运输工具仅通过所述第一转动部件2支撑于地面；
第二种状态为：所述平衡运输工具同时通过所述第一转动部件2和所述传动机构5(履带)支撑于地面；
所述第一种状态和第二种状态通过所述第二动力源驱动所述第二转动部件3绕第一转动部件2转动实现。
具体行驶过程如图4-7，图4中，左边是所述平衡运输工具在路况较差的情况下进行行驶(如越野爬山等)或者减速或制动时，履带下放的情况，右边则是路况较好的情况下只通过第一转动部件2进行支撑通过动态稳定的方式(或者动态稳定加上本申请结构中重力调节的方式)进行行驶的情况；
图5则是所述平衡运输工具上下楼梯的示意图，可以通过第二转动部件3的位置调整，控制平衡运输工具的整体重心，使其不会出现倾翻等现象；
图6则是所述平衡运输工具过坑的情况，通过第二转动部件3的位置调整，控制履带下放，通过至少前后两处对平衡运输工具进行支撑，防止其落入坑中；
图7则是所述平衡运输工具过障碍的情况，当遇见障碍时，履带先接触障碍，增加平衡运输工具的稳定性，平衡运输工具继续前进，第一转动部件2接触到障碍，由于前方也有履带支撑，所以遇到障碍并不会使平衡运输工具倾翻，更安全。
实施例2
本实施例中，和实施例1不同的结构在于，在所述第二种状态下，所述传动机构5不与地面接触，第二状态下，所述平衡运输工具同时通过所述第一转动部件2和其他支撑结构(如实施例1中的从动轮4)支撑于地面，如果这样设置，则传动机构5(可不为履带，传送带即可)则不绕过从动轮4，仅仅绕过第 二转动部件3即可，实现第二转动部件3绕第一转动部件2转动的过程；所述传动机构5也可为其他结构，不仅仅限定在履带或者传送带，同样的，第二状态下，与所述第一转动部件2配合一起支撑运输工具的结构也不仅仅限定于从动轮4，可以为其他的安装于支撑杆上的结构。

Claims (11)

  1. 一种平衡运输工具，其特征在于，包括：
    车体，所述车体用于载物或载人；
    第一动力源；
    第一转动部件，所述第一转动部件安装在所述车体上，并由所述第一动力源驱动转动，从而带动所述车体移动；
    第二转动部件，所述第二转动部件转动地安装在一载体上，所述载体能够绕所述第一转动部件转动的中心轴旋转；
    传动机构，所述第一转动部件通过所述传动机构带动所述第二转动部件转动；
    第二动力源，所述第二动力源也能够驱动所述第二转动部件绕自身轴线转动；
    所述第二动力源启动时，驱动所述第二转动部件绕第一转动部件转动以改变所述平衡运输工具的重心。
  2. 根据权利要求1所述的一种平衡运输工具，其特征在于，所述第一转动部件为轮。
  3. 根据权利要求1所述的一种平衡运输工具，其特征在于，所述传动机构为履带。
  4. 根据权利要求1所述的一种平衡运输工具，其特征在于，所述车体和第一转动部件之间设置有第一离合机构，所述载体分别和第一转动部件以及第二转动部件之间设置有第二离合机构。
  5. 根据权利要求1所述的一种平衡运输工具，其特征在于，所述第二转动部件配合在所述传动机构内部。
  6. 根据权利要求1任意一项所述的一种平衡运输工具，其特征在于，所述载体上安装有配重装置，所述配重装置位于载体上和所述第二转动部件相对的一侧。
  7. 根据权利要求6任意一项所述的一种平衡运输工具，其特征在于，所述配装装置的配重重量可调。
  8. 根据权利要求1-7任意一项所述的一种平衡运输工具，其特征在于，所述传动机构和所述第一转动部件间通过一变速装置连接，所述变速装置用于使所述传动机构的线速度和所述第一转动部件最大径表面转动的线速度相同。
  9. 根据权利要求8任意一项所述的一种平衡运输工具，其特征在于，包括两种状态，第一种状态为：所述平衡运输工具仅通过所述第一转动部件支撑于地面；
    第二种状态为：所述平衡运输工具同时通过所述第一转动部件和所述传动机构支撑于地面；
    所述第一种状态和第二种状态通过所述第二动力源驱动所述第二转动部件绕第一转动部件转动实现。
  10. 根据权利要求9任意一项所述的一种平衡运输工具，其特征在于，所述载体为支撑杆，所述第二转动部件安装在所述支撑杆的外端，所述支撑杆转动地安装在所述车体中部。
  11. 根据权利要求10任意一项所述的一种平衡运输工具，其特征在于，所 述车体上还设置有配重机构，该机构内包含配重块，配重块的位置可调。
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