CN104859770A

CN104859770A - Transformable self-balancing two-wheeled electric vehicle

Info

Publication number: CN104859770A
Application number: CN201410062268.8A
Authority: CN
Inventors: 周建; 魏文经; 牛国林; 张培峰; 魏培生; 周子浩
Original assignee: JIAXING SIMAILONG ELECTRONIC TECHNOLOGY Co Ltd
Current assignee: JIAXING SIMAILONG ELECTRONIC TECHNOLOGY Co Ltd
Priority date: 2014-02-24
Filing date: 2014-02-24
Publication date: 2015-08-26

Abstract

The invention provides a transformable self-balancing two-wheeled electric vehicle which comprises two motor wheels, a self-balancing controller system, a battery, a shell assembly, rotating positioning mechanisms, a steering mechanism and a switching sensing system, wherein the battery supplies operating power to the self-balancing two-wheeled electric vehicle; the self-balancing controller system is arranged in the shell assembly and used for controlling operation of the self-balancing two-wheeled electric vehicle. The self-balancing two-wheeled electric vehicle can be switched between two states, the traveling entertainment is improved, and further, the self-balancing two-wheeled electric vehicle is simple and stable in structure, light in mass, portable, is provided with a compact body and facilitates processing and manufacturing.

Description

Deformable self-balancing electric two-wheeled vehicle

Technical Field

The invention relates to the field of self-balancing electric vehicles, in particular to a self-balancing electric two-wheeled vehicle.

Background

The working principle of the self-balancing electric vehicle is that the posture state of the vehicle body is judged mainly through a built-in precise electronic gyroscope, and after a proper command is calculated through a precise and high-speed central microprocessor, a motor is driven to achieve the effect of balancing.

Specifically, the longitudinal axis of the overall gravity center of a driver standing on the vehicle and the vehicle is used as a reference line, when the axis inclines forwards, the built-in electric motor in the self-balancing electric vehicle body can generate forward force, on one hand, the torque for forward toppling of the driver and the vehicle is balanced, and on the other hand, the acceleration for advancing the vehicle is generated. Conversely, when the gyroscope finds that the center of gravity of the driver leans backwards, a backward force is generated to achieve a balancing effect. Therefore, as long as the driver changes the angle of the body of the driver to tilt forwards or backwards, the balance car will move forwards or backwards according to the tilting direction, and the speed is proportional to the tilting degree of the body of the driver.

There are many self-balancing electric bicycles, for example, chinese patent 200710130309 discloses a self-balancing electric bicycle having two wheels arranged in parallel, a platform for a rider to stand between the two wheels, which is designed as a single-axle and double-wheel, a common driving axle connecting the two wheels, and a handle bar for operation to improve the stability of the rider to stand and to control the direction of the bicycle. The driver stands in the inboard of two-wheeled, and through the human front and back acceleration and deceleration that control the vehicle that leans forward or pitch backward, turn the switching-over through hand (hold) and the sensing system that are equipped with on the automobile body, nevertheless because this kind of vehicle dead weight reaches about 40KG, inconvenient carrying, and manufacturing cost is very high not convenient for marketing.

US2011220427a1 discloses a self-balancing powered unicycle. The bicycle is provided with a wheel and a motor, a pedal is arranged on the left and the right respectively, and the bicycle body has the capability of front and back balance. The user stands on the pedals at the two sides, clamps the vehicle body through the inner sides of the shanks and adjusts the gravity center of the body to realize left-right balance. The vehicle body is only about 10KG, and the user can carry conveniently. However, the balance of the vehicle body is controlled by the user through the two feet and the lower legs, so that the balance difficulty is very high, the turning is not easy to control during the driving, and accidents or damage to the vehicle body are easy to occur.

Disclosure of Invention

Based on the existing defects, the invention provides a deformable portable self-balancing electric two-wheeled vehicle, wherein a vehicle body has a deformation function and is respectively provided with an unfolding state and a folding state, and a driver can stand on the inner sides of two wheels to drive in the unfolding state. Under the folding state, a driver can stand on the pedals arranged on the outer sides of the two wheels to drive, and meanwhile, the vehicle body is provided with the handheld handle, so that the vehicle body is convenient to carry.

Specifically, the invention provides a deformable self-balancing electric two-wheeled vehicle, which comprises two motor wheels, a self-balancing controller system, a battery and a casing assembly, wherein the battery provides running power for the self-balancing electric two-wheeled vehicle, the self-balancing control system is arranged in the casing assembly and is used for controlling the operation of the self-balancing electric two-wheeled vehicle, and the deformable self-balancing electric two-wheeled vehicle is characterized in that:

the self-balancing electric two-wheeled vehicle also comprises a rotary positioning mechanism, a steering mechanism and a switching induction system; wherein,

the electric locomotive wheels are arranged on the rotary positioning mechanism, and the rotary positioning mechanism is arranged on the left side and the right side of the self-balancing electric two-wheeled locomotive body and is used for switching the self-balancing electric two-wheeled locomotive to an unfolding state or a folding state;

the steering mechanism is arranged in the middle of the self-balancing electric two-wheeled vehicle body, so that the left part and the right part of the vehicle body form an individual body capable of rotating independently, and the left part and the right part of the vehicle body can rotate independently for a certain angle to control the turning of the vehicle body;

the switching induction system is used for inducing the unfolding state and the folding state of the vehicle body and correspondingly driving the self-balancing control system in the two states; and

when the self-balancing electric two-wheeled vehicle is in an unfolded state, the two electric locomotive wheels are respectively positioned at the left and right outer sides of the self-balancing electric two-wheeled vehicle body; when the self-balancing electric two-wheeled vehicle is in a folding state, the two motor wheels are positioned in the middle of the self-balancing electric two-wheeled vehicle body.

Preferably, the casing assembly includes a main casing, a left casing, a right casing and a casing cover, and a battery, a self-balancing control system and an installation space for switching the sensing system are arranged in the casing assembly.

In a preferred embodiment, the rotary positioning mechanisms on the left and right sides are each provided with two rotary connecting members rotatably connected to each other, one of the two motor wheels is fixed to and rotatable with one of the two rotary connecting members, and the other rotary connecting member is rotatably connected to the steering mechanism.

Preferably, the self-balancing electric two-wheeled vehicle is provided with a left rotating positioning mechanism and a right rotating positioning mechanism, the rotating positioning mechanisms are provided with a first rotating connecting piece, a rotating shaft, a second rotating connecting piece and a stepping motor, wherein,

one end of the first rotary connecting piece is rotatably connected with the pedal, the other end of the first rotary connecting piece is connected with one end of the second rotary connecting piece through the rotating shaft, and the other end of the second rotary connecting piece is connected with the steering mechanism through the other rotating shaft;

the stepping motors are arranged in the left shell and the right shell, each rotary positioning mechanism is provided with two stepping motors, one stepping motor is connected with one end of the first rotary connecting piece and one end of the second rotary connecting piece through the rotating shaft, and the other stepping motor is connected with the other end of the second rotary connecting piece and the steering mechanism through the other rotating shaft; and

the rotation of the stepping motor is controlled through an output signal of a self-balancing control system, the rotating shaft is made to rotate, and meanwhile, the first rotating connecting piece and the second rotating connecting piece are driven to rotate for 90 degrees together, so that the two states of unfolding and folding of the vehicle body are realized. Preferably, the second rotary connecting piece is also used for installing a left machine shell and a right machine shell.

Preferably, the self-balancing electric two-wheeled vehicle is provided with a left rotating positioning mechanism and a right rotating positioning mechanism, the rotating positioning mechanisms are provided with a first rotating connecting piece, a rotating shaft assembly and a second rotating connecting piece, wherein,

one end of the first rotary connecting piece is rotatably connected with the pedal, the other end of the first rotary connecting piece is connected with the second rotary connecting piece through the rotary shaft assembly, and the other end of the second rotary connecting piece is connected with a steering mechanism through the other rotary shaft assembly;

the self-balancing electric two-wheeled vehicle comprises a rotating shaft assembly, a rotating connecting piece I and a steering mechanism, wherein the rotating shaft assembly comprises a bolt, a spring and a nut, the bolt is provided with a radial bulge, the rotating connecting piece I and the steering mechanism are provided with grooves, when a self-balancing electric two-wheeled vehicle body is switched to a folding state from a unfolding state or is switched to the unfolding state from the folding state, the bolt is stressed to move outwards through a proper external force applied to the nut side, the spring is elastically deformed by the external force and is compressed, when the bulge on the bolt in the rotating shaft assembly between the rotating connecting piece I and the rotating connecting piece II is completely separated from the groove on the rotating connecting piece I and the bulge on the bolt in the rotating shaft assembly between the rotating connecting piece II and the steering mechanism is completely separated from the groove on the steering mechanism, the rotating connecting piece I and the rotating connecting piece II can respectively, therefore, the self-balancing electric two-wheeled vehicle body can be unfolded and folded.

Preferably, the self-balancing electric two-wheeled vehicle is provided with a left rotating positioning mechanism and a right rotating positioning mechanism, the rotating positioning mechanisms are provided with a first rotating connecting piece, two groups of ratchet wheel assemblies, two rotating shafts and a second rotating connecting piece, wherein,

one end of the first rotating connecting piece is rotatably connected with the pedal, the other end of the first rotating connecting piece is rotatably connected with one end of the second rotating connecting piece through one group of ratchet wheel assemblies and a rotating shaft, the other end of the second rotating connecting piece is connected with the steering mechanism through the other group of ratchet wheel assemblies and the other rotating shaft, and the first rotating connecting piece and the second rotating connecting piece are controlled to rotate together for 90 degrees under the action of external force on the ratchet wheel assemblies, so that the two states of unfolding and folding of the self-balancing electric two-wheeled vehicle body are realized.

Preferably, the two rotational positioning mechanisms have the same structure.

In a preferred embodiment, the self-balancing electric two-wheeled vehicle is provided with a steering mechanism, when the vehicle turns to the left, the steering mechanism on the left or the right rotates for a certain angle under the action of external force, and the motor on the left generates acceleration through the adjustment of a self-balancing control system, so that the rotating speed of wheels is accelerated, and a speed difference is formed between the two sides to realize the turning to the left; when turning to the right, make the right or left side to turn to the structure rotation certain angle through exogenic action, through self-balancing control system's regulation for the motor on the right produces the acceleration, and the wheel rotational speed accelerates, and both sides form the speed difference, realize turning to the right.

Preferably, the steering mechanism is composed of a main body bracket and steering members located on both left and right sides of the main body bracket, the steering members on both left and right sides being formed as members that can be rotated independently.

Preferably, the steering mechanism is provided with a main body bracket and two steering connecting pieces, the two steering connecting pieces are connected to two sides of the main body bracket, wherein,

the main body support consists of an upper main body support, a lower main body support and a bead pushing assembly, the bead pushing assembly comprises a bead pushing body and an elastic component, and the bead pushing assembly is positioned between the upper main body support and the lower main body support;

a lug is arranged at one end of the steering connecting piece connected with the main body bracket, and the lug presses and contacts the top bead assembly;

the other end that turns to the connecting piece with rotational positioning mechanism connects, just turn to the connecting piece can for main part support rotation certain angle, act on as the external force when turning to on the connecting piece, the elastic component pressurized of top pearl subassembly takes place deformation, thereby causes turn to the connecting piece and rotate certain angle, when the external force cancellation, the rethread the elastic component of top pearl subassembly resets, can make and turn to the connecting piece automatic re-setting.

Preferably, the steering mechanism is provided with a main body bracket and two steering connecting pieces, the two steering connecting pieces are connected to two sides of the main body bracket, the main body bracket is composed of an upper main body bracket and a lower main body bracket, wherein,

one end of the steering connecting piece is connected with the rotary positioning mechanism, the other end of the steering connecting piece is arranged in the main body support, and the steering connecting piece can rotate for a certain angle relative to the main body support;

the main part support is provided with a key, the steering connecting piece is provided with a corresponding groove, and the key is matched with the groove, so that the steering connecting piece can only rotate in a certain rotating angle, the steering function is guaranteed, and the steering connecting piece can be rapidly reset under the action of external force.

Preferably, the rotation angle range of the steering link is single-sided 5 to 15 degrees.

Preferably, steering mechanism is equipped with main part support, steering linkage spare and rotating assembly, the one end that turns to the connecting piece with rotating mechanism's swivel connected coupler, the other end passes through rotating assembly with main part leg joint, rotating assembly is equipped with rubber spring and rotation axis to when external force acts on when turning to the connecting piece, rubber spring receives the external force and winds the rotation axis takes place to deform, and makes the rotatory certain angle of steering linkage spare, when external force cancellation, rubber spring resumes, thereby realizes steering linkage spare automatic re-setting.

In a preferred embodiment, when the vehicle body is in a folding state, the switching induction system induces and feeds back to the control panel, and the control panel is switched to a control system mode in the folding state; when the vehicle body is in the unfolding state, the switching induction system induces and feeds back to the control panel, and the control panel is switched to a control system mode in the unfolding state.

According to another aspect of the present invention, there is provided a deformable self-balancing electric two-wheeled vehicle, including two motor wheels, a self-balancing controller system, a battery and a housing assembly, wherein the battery provides operating power for the self-balancing electric two-wheeled vehicle, and the self-balancing control system is disposed in the housing assembly and is used for controlling the operation of the self-balancing electric two-wheeled vehicle, and the deformable self-balancing electric two-wheeled vehicle is characterized in that:

the self-balancing electric two-wheeled vehicle also comprises a rotary positioning mechanism and a steering mechanism, and the self-balancing control system is provided with two separated gesture acquisition modules; wherein,

the two separated attitude acquisition modules are respectively positioned on the left side and the right side of the steering mechanism or on left and right motor wheels and are used for acquiring attitude parameters of the self-balancing electric two-wheeled vehicle; and

Preferably, the switching induction system is potentiometer induction or photoelectric induction or switch switching.

Preferably, the motor wheels are located one on each of the left and right sides of the vehicle body, and the left and right wheels may be on an axis.

Preferably, the motor wheel is a hub motor with an output shaft arranged on one side, and a tire is arranged on the hub motor.

Preferably, the self-balancing control system is provided with a microprocessor, an attitude acquisition module, a motor driving module, a display module, an operation module, a speed detection module, a current/voltage monitoring module, a power supply module and a battery protection module, wherein: the attitude acquisition module acquires attitude parameters of the vehicle body by adopting an accelerometer and a gyroscope, the motor driving module drives the motor to rotate, the display module displays the current states of the vehicle body and the battery, the operation module can set an operation mode and parameters, the speed detection module detects the current motor rotating speed, the current/voltage monitoring module monitors the motor driving voltage, the battery voltage and the system current, the power supply module provides power for the whole system, the battery protection module protects the charging and discharging and standby of the battery, and the central processing unit performs operation processing on the data of each module and drives the related output module.

The attitude parameters include: the pitch angle and angular velocity of the vehicle body.

Preferably, more than one set of self-balancing control system is provided, and most preferably, the attitude acquisition modules are respectively provided in more than one set of left and right casings, and respectively detect the angle and acceleration of the left and right wheels.

Preferably, the rotation angle of the steering mechanism can be controlled within a certain range, and most preferably the steering mechanism has a return function.

Preferably, the rotational positioning mechanism is provided at least one set on the left and right sides of the vehicle body, and more preferably, one set on each of the left and right sides. Preferably, one group of wheels can rotate upwards or downwards for a certain angle through rotation, and the wheels are positioned at the appointed position when the electric vehicle is in the appointed state of the vehicle body; the other group of wheels rotates the electric locomotive wheel and one group of the machine shell together by a certain angle through rotation, and the wheels and the machine shell are positioned at the appointed position when the locomotive body is in the appointed state.

Preferably, the main housing is provided on the main body support and provided with a handle portion.

Preferably, the housing assembly is made of a high strength plastic.

The self-balancing electric two-wheeled vehicle can be switched between two states, the driving entertainment is improved, and the self-balancing electric two-wheeled vehicle is small and exquisite in vehicle body, light in weight and convenient to carry. Simple structure is stable, does benefit to manufacturing.

Drawings

FIG. 1 is a perspective view of a self-balancing motorized two-wheeled vehicle having a flexible configuration for carrying the vehicle in an expanded configuration;

FIG. 2 is a perspective view of a self-balancing motorized two-wheeled vehicle having a flexible, portable configuration in an intermediate position;

FIG. 3 is a perspective view of a self-balancing motorized two-wheeled vehicle having a flexible, portable configuration in a collapsed configuration;

FIG. 4 is an exploded view of a self-balancing electric two-wheeled vehicle having a flexible, portable configuration and being deployed;

FIG. 5 is a cross-sectional view of a self-balancing motorized two-wheeled vehicle having a flexible, portable configuration in an expanded configuration;

FIG. 6 is a perspective view of a first rotational positioning mechanism of the self-balancing electric motorcycle of the present invention;

FIG. 7 is a perspective view of a second rotational positioning mechanism of the self-balancing electric motorcycle of the present invention;

FIG. 8 is a cross-sectional view of a second rotary positioning mechanism of the self-balancing electric two-wheeled vehicle of the present invention;

FIG. 9 is a perspective view of a third rotational positioning mechanism of the self-balancing electric motorcycle of the present invention;

FIGS. 10a and 10b are cross-sectional views of the ratchet wheel of the third rotary positioning mechanism of the self-balancing electric motorcycle of the present invention;

FIG. 11 is a perspective view of a first steering mechanism of the self-balancing electric two-wheeled vehicle of the present invention;

FIG. 12 is a cross-sectional view of a first steering mechanism of the self-balancing electric two-wheeled vehicle of the present invention;

FIG. 13 is a perspective view of a second steering mechanism of the self-balancing electric two-wheeled vehicle of the present invention;

FIGS. 14a and 14b are a front cross-sectional view and a side cross-sectional view, respectively, of a second steering mechanism of the self-balancing electric two-wheeled vehicle of the present invention;

FIG. 15 is a perspective view of a third steering mechanism of the self-balancing electric two-wheeled vehicle of the present invention;

FIG. 16 is a cross-sectional view of a third steering mechanism of the self-balancing electric two-wheeled vehicle of the present invention;

FIG. 17 is a perspective view of the switching induction system of the self-balancing electric motorcycle of the present invention in the deployed state; and

fig. 18 is a perspective view of a switching induction system of the self-balancing electric motorcycle according to the present invention in a collapsed state.

Detailed Description

The preferred embodiments of the present invention will be described in detail below with reference to the accompanying drawings so that the objects, features and advantages of the invention can be more clearly understood. It should be understood that the embodiments shown in the drawings are not intended to limit the scope of the present invention, but are merely intended to illustrate the spirit of the technical solution of the present invention.

Fig. 1-3 show perspective views of a deformable self-balancing electric motorcycle 100 in an expanded state, an intermediate state, and a collapsed state, respectively, according to an embodiment of the present invention. Fig. 4 shows an exploded perspective view of the self-balancing electric motorcycle 100 of fig. 1-3. As shown in fig. 1 to 4, in the present embodiment, the self-balancing electric two-wheeled vehicle 100 includes two motor wheels 1, a housing assembly 2, two rotation positioning mechanisms 3, a steering mechanism 4, a self-balancing controller system 5, a switching induction system 6, and a battery 7. Wherein, two motor wheel 1 can be rotatory through two rotational positioning mechanism 3 to realize two kinds of user state that fig. 1 and fig. 3 show, two motor wheels are located both sides promptly, and the driver stands in the expansion state in the middle of two motor wheels when driving to and two motor wheels are located the automobile body intermediate position, and the driver stands in the receipts of two motor wheel both sides when driving and closes the state.

The housing assembly 2 is composed of a left housing 21, a main housing 22, a right housing 23, a housing cover 24 and a housing cover 25. The inside of the casing component 2 is provided with a battery, a self-balancing controller system 5 and an installation space of a switching induction system 6. The left housing 21 and the right housing 23 are connected to a second rotary connecting member (described further below) of the rotary positioning mechanism 3, and when the vehicle body is switched between the unfolded or folded state, the left housing 21 and the right housing 23 rotate together with the second rotary connecting member by 90 °. The main chassis 22 is provided on a main body bracket (described further below) of the steering mechanism 4, and is provided with a handle portion 221. The housing cover 24 is provided on the left housing 21, and the housing cover 25 is provided on the right housing 23. Thus, the left housing 21, the main housing 22, the right housing 23, the housing cover 24 and the housing cover 25 form a relatively closed integral whole. Self-balancing control system 5 and battery 7 are housed within housing assembly 2 and secured within left housing 21 and right housing 23. The switching induction system 6 is housed within the main chassis 22. When the vehicle body is in the unfolded state, the electric wheels are positioned at two outer sides of the vehicle body, and the shell assembly 2 is positioned at the inner side and the upper side of the vehicle body. When the vehicle body is in a folding state, the electric locomotive wheels are positioned on two inner sides of the vehicle body, and the shell assembly is positioned on the outer side and the upper side of the vehicle body.

Preferably, each housing of the case assembly 2 is made of high strength plastic, such as modified engineering plastic of ABS + PC, PE + PBT, and the like.

As shown in fig. 4 and 5, the rotational positioning mechanisms 3 are provided on both left and right sides of the vehicle body, and are mainly used to switch the self-balancing electric motorcycle 100 between the two states of being unfolded and folded. Normally, during the switching from the unfolded state to the folded state, the electric motor wheel 1 is first rotated by 90 ° downwards or downwards by rotation, so that it is in the position shown in fig. 2; next, the electric wheel 1 is rotated by 90 ° together with the left and right housings 21 and 23 and brought into the position shown in fig. 3. During the process of switching from the folding state to the unfolding state, the rotation sequence is opposite. The rotational positioning mechanism 3 may have various structural forms as long as it can switch the self-balancing electric vehicle 100 between the unfolded state and the folded state, and a plurality of specific embodiments of the rotational positioning mechanism will be described in detail below.

As shown in fig. 4 and 5, the steering mechanism 4 is provided at a middle position of the vehicle body, and is generally composed of a main body frame and steering members located on both left and right sides of the main body frame. The left and right steering members are formed as members that can be independently rotated, and are mainly used to control the turning of the vehicle body. When turning to the left, make the left side turn to the component rotation certain angle through exogenic action, through feeding back the signal to self-balancing control system, a series of operations of rethread self-balancing control system, then give both sides motor wheel about signal output for the motor wheel rotational speed on the left side is slow, and the motor wheel rotational speed on the right side is fast, and both sides form the speed difference, realize turning to the left. When turning to the right, the steering component on the right rotates by a certain angle under the action of external force, signals are fed back to the self-balancing control system, then a series of operations are carried out by the self-balancing control system, and the signals are output to the motor wheels on the left and the right, so that the motor wheels on the right rotate slowly, the motor wheels on the left rotate quickly, and speed differences are formed on the two sides, so that the turning to the right is realized. The steering mechanism 4 may have various structural forms as long as it can achieve the left steering and the right steering of the self-balancing electric vehicle 100, and a plurality of specific embodiments of the steering mechanism 4 will be described in detail below.

During driving, a user only needs to apply acting force to the self-balancing electric two-wheeled vehicle in a certain direction through feet, the self-balancing electric two-wheeled vehicle can be steered, the steering is not controlled through body inclination like an existing electric monocycle, or the steering is controlled through hands by the existing electric two-wheeled vehicle, and therefore the operation is more convenient.

The motor wheel 1 is provided with a tire and a hub motor, the hub motor is provided with a single-side output shaft, and the tire is arranged on the hub motor. As shown in fig. 5, the left and right motor wheels 1 are arranged on the same axis, and the motor wheels 1 are connected to the steering mechanism 4 via a rotating shaft.

The self-balancing control system 5 is provided with a microprocessor, an attitude acquisition module, a motor driving module, a display module, an operation module, a speed detection module, a current/voltage monitoring module, a power supply module and a battery protection module, and is arranged inside the left casing 21 and the right casing 23, as shown in fig. 5. The attitude acquisition module acquires attitude parameters of the vehicle body by adopting an accelerometer and a gyroscope, the motor driving module drives the motor to rotate, the display module displays the current states of the vehicle body and the battery, the operation module can set an operation mode and parameters, the speed detection module detects the current motor rotating speed, the current/voltage monitoring module monitors the motor driving voltage, the battery voltage and the system current, the power supply module provides power for the whole system, the battery protection module protects the charging and discharging and standby of the battery, and the central processing unit performs operation processing on the data of each module and drives the related output module. The self-balancing control system is arranged in the casing assembly 2, and preferably, the self-balancing control system is provided with more than one group of posture acquisition modules which are respectively arranged in the left casing 21 and the right casing 23 and respectively detect the angle and the acceleration of the left motor wheel and the right motor wheel.

The batteries 7 are respectively arranged inside the left casing 21 and the right casing 23, and as shown in fig. 5, the whole vehicle obtains running power by providing output power for the motor wheels. The battery is usually a rechargeable battery such as a lithium battery or a secondary battery.

The switching induction system 6 is used for inducing the unfolding state and the folding state of the vehicle body and correspondingly driving the control system according to the two states. When the vehicle body is in a folding state, the switching induction system 6 induces and feeds back to the control system, and the control system switches to a control mode in the folding state, so that the vehicle body operates in the folding state, namely in a two-wheel vehicle mode under the monocycle. When the vehicle body is in the unfolding state, the switching induction system is used for inducing and feeding back to the control system, and the control system is used for switching to a control mode in the unfolding state. So that the vehicle body operates in a deployed state, i.e., a two-wheel vehicle mode.

The switching induction system can be potentiometer induction or photoelectric induction or switch switching or a reed switch. When the vehicle body is deformed and switched, a potentiometer induction or photoelectric induction or switch switching or a reed switch sends a signal to a central processing unit arranged on the self-balancing control system, and the self-balancing control system makes corresponding judgment to adjust the running mode of the vehicle body. The switching induction system can be regarded as a signal module, and the signal generated during the switching of the vehicle body can be used for judging whether the current vehicle body is in an unfolding mode or a folding mode and correspondingly controlling the vehicle body by adopting parameters in the unfolding mode or the folding mode.

In another embodiment, two gesture collection modules may be provided instead of the above-mentioned switching sensing system. The two attitude acquisition modules can be respectively positioned on the left side and the right side of the steering mechanism or respectively positioned on two motor wheels and are used for acquiring attitude parameters of the self-balancing electric two-wheeled vehicle. Here, the attitude parameters include a pitch angle and an angular velocity of the vehicle body. According to the pitching angle and the angular speed of the vehicle body, the central processing unit outputs a proper PDM wave to adjust the speed of the motor according to the current angle and the angular speed parameters so as to control the speed and the angle of the vehicle body.

The following describes the rotational positioning mechanism according to three embodiments of the present invention, and it is to be understood that the rotational positioning mechanism of the present invention is not limited to the embodiments described below.

Embodiment 1 of rotational positioning mechanism

Fig. 6 shows a schematic structural diagram of the rotational positioning mechanism 30 according to an embodiment of the present invention. As shown in fig. 6, the left and right sides of the body of the electric motorcycle are respectively provided with a rotary positioning mechanism 30, the rotary positioning mechanism 30 is provided with a first rotary connector 302, a rotary shaft 304, a second rotary connector 303 and a stepping motor 305, and is mainly used for switching the two states of unfolding and folding the body, and the second rotary connector 303 is also used for installing the left housings 21 and 23. One end of the first rotary connecting piece 302 is rotatably connected with the pedal 8, and the other end is connected with one end of the second rotary connecting piece 303 through a rotating shaft 304. The other end of the second rotary connecting piece 303 is connected with the steering mechanism through another rotary shaft 304. The stepping motors 305 are arranged in the left machine shell 21 and the right machine shell 23, two stepping motors 305 are respectively arranged on two sides of the electric two-wheeled vehicle, one stepping motor is connected with one end of the first rotating connecting piece 302 and one end of the second rotating connecting piece 303 through the rotating shaft 304, and the other stepping motor is connected with the other end of the second rotating connecting piece 303 and the steering mechanism through the other rotating shaft 304. The rotation of the stepping motor is controlled through an output signal of the self-balancing control system, the rotating shaft 304 is made to rotate, and meanwhile, the first rotating connecting piece 302 and the second rotating connecting piece 303 are driven to rotate together for 90 degrees, so that the two states of unfolding and folding of the vehicle body are realized.

When the vehicle body is switched from the unfolded state to the folded state, that is, from fig. 1 to fig. 2 to fig. 3, the rotation of the stepping motor is controlled by the output signal of the self-balancing control system, and the rotating shaft 304 rotates, and at the same time, the rotating connecting member 302 is driven to rotate together by 90 °, so that the wheel of the electric machine rotates downward by 90 °, and the wheel of the electric machine is positioned as shown in fig. 2. Then, the stepping motor drives the other rotating shaft to rotate, and simultaneously drives the second rotating connecting piece 303 to rotate together by 90 degrees, so that the two rotating connecting pieces are positioned as shown in fig. 3, namely, in a folded state, the electric locomotive wheels are positioned at the two inner sides of the locomotive body, and the machine shell assembly 2 is positioned at the outer side and the upper side of the locomotive body.

When the vehicle body is switched from the folding state to the unfolding state, the vehicle body is changed from the folding state to the unfolding state shown in fig. 2 to fig. 1, the rotation of the stepping motor is controlled through an output signal of the self-balancing control system, the rotating shaft 304 is made to rotate, and the second rotating connecting piece 303 is driven to rotate together leftwards or rightwards by 90 degrees, so that the vehicle body is in the position shown in fig. 2. Then, the stepping motor drives the other rotating shaft to rotate, and simultaneously drives the first rotating connecting piece 302 to rotate upwards together by 90 degrees, so that the rotating connecting pieces are positioned as shown in the position of fig. 1, namely, in an unfolded state, the wheels of the electric machine are positioned at two outer sides of the vehicle body, and the machine shell assembly is positioned at the inner side and the upper side of the vehicle body.

Embodiment 2 of rotational positioning mechanism

Fig. 7 and 8 show a schematic structural view of the rotational positioning mechanism 31 according to another embodiment of the present invention. As shown in fig. 7-8, the rotating positioning mechanism 31 has a first rotating connecting member 312, a second rotating connecting member 313 and a rotating shaft assembly 314, and is mainly used for switching the unfolding and folding states of the vehicle body. The left machine shell 21 and the right machine shell 23 are provided with a second rotating connecting piece 313. One end of the first rotary connecting piece 312 is rotatably connected with the pedal 8, and the other end of the first rotary connecting piece 312 is connected with the second rotary connecting piece 313 through the rotary shaft assembly 314. The other end of the second rotary connecting piece 313 is connected with the steering mechanism through another rotary shaft assembly 314. The rotating shaft assembly 314 is composed of a bolt 314a, a spring 314c, and a nut 314 b. When the vehicle body is switched from the unfolded state to the folded state or from the folded state to the unfolded state, by applying a suitable external force to the nut 314b side, the bolt is forced (as shown in fig. 8) to move outwards, the spring is elastically deformed and compressed by the external force, when the protrusion 314a1 on the bolt 314a in the rotating shaft assembly between the first rotating connecting piece 312 and the second rotating connecting piece 313 is completely disengaged from the groove 3121 on the first rotating connecting piece 312, and when the protrusion 314a1 on the bolt 314a in the rotating shaft assembly between the second rotating connecting piece 313 and the steering mechanism is completely disengaged from the groove 402a on the steering mechanism, the first rotating connecting piece 312 and the second rotating connecting piece 313 can be rotated by a certain angle, respectively, thereby realizing the two states of unfolding and folding of the vehicle body.

When the vehicle body is switched from the unfolded state to the folded state, namely, the vehicle body is changed from the unfolded state to the folded state to fig. 2 and then to fig. 3, a proper external force is applied to the side of the nut, so that the bolt is forced (as shown in fig. 8) to move outwards, the spring is elastically deformed and compressed by the external force, when the protrusion on the bolt is completely separated from the first rotary connecting piece and the groove on the steering mechanism, the first rotary connecting piece can rotate 90 degrees to realize that the motor vehicle wheel rotates 90 degrees downwards, the motor vehicle wheel is positioned at the position shown in fig. 2, and the second rotary connecting piece 313 rotates 90 degrees at the same time, and the rotary connecting pieces are positioned at the position shown in fig. 3, namely, the folded state, at the external force.

When the vehicle body is switched from the folding state to the unfolding state, namely, from the figure 3 to the figure 2 to the figure 1, a proper external force is applied to the side of the nut, so that the bolt is forced (as shown in figure 8) to move outwards, the spring is elastically deformed and compressed by the external force, and when the protrusion on the bolt is completely separated from the groove on the first rotary connecting piece and the steering mechanism, the second rotary connecting piece 313 can be rotated by 90 degrees, and the first rotary connecting piece and the second rotary connecting piece can be positioned as shown in figure 3; make a rotating connection spare 312 simultaneously rotatory 90, realize electric locomotive wheel upwards rotatory 90 to make electric locomotive wheel be in the position as figure 1, be in the state of closing promptly, external force cancellation this moment, the spring can automatic re-setting, also drives simultaneously the rotation axis subassembly automatic re-setting, electric locomotive wheel is located two outsides of automobile body, and the casing subassembly is located the inboard and the upside of automobile body.

Embodiment 3 of rotational positioning mechanism

Fig. 9 and 10 show a schematic structural view of a rotational positioning mechanism 32 according to yet another embodiment of the present invention. As shown in fig. 9-10, the rotational positioning mechanism 32 has a first rotational connecting member 322, two sets of ratchet assemblies 324, two rotational shafts 325 and a second rotational connecting member 323, and is mainly used to switch the vehicle body to be unfolded and folded. The left machine shell 21 and the right machine shell 23 are arranged on the second rotary connecting piece 322. One end of the first rotary connecting piece 322 is rotatably connected with the pedal, and the other end is rotatably connected with the second rotary connecting piece through a ratchet assembly 324 and a rotating shaft 325. The two groups of ratchet wheel assemblies are respectively fixed on the left machine shell 21 and the right machine shell 23 and are respectively connected with the first rotating connecting piece and the second rotating connecting piece through the rotating shaft 325. The other end of the second rotary connecting piece 322 is connected with the steering mechanism through another group of ratchet wheel assemblies and another rotary shaft. The first rotating connecting piece 322 and the second rotating connecting piece 323 are controlled to rotate together by 90 degrees through the rotating shaft 325 by external force acting on the ratchet assembly 324 (the ratchet principle is shown in fig. 10 a), so that the two states of unfolding and folding of the vehicle body are realized. The ratchet assembly 324 may employ any suitable ratchet assembly known in the art. A cross-sectional view of one of the ratchet assemblies 324 is illustrated in fig. 10a and 10 b.

As shown in fig. 10a and 10b, the ratchet assembly 324 comprises: housing 3241, gear 3242, moveable member 3243, positioning latch 3244, and key 3245. When an external force is applied to the ratchet wheel of the ratchet wheel assembly 324, the rotation shaft 325 can be controlled to rotate clockwise or counterclockwise by the rotation of the internal gear, and the rotation shaft 325 can be completely fixed by the engagement of the key 3245 and the groove on the gear 3242. When the movable member is in the state 1 shown in fig. 10a, the movable member can be in the state 1 by the elastic force of the elastic deformation of the positioning elastic pin pushing the movable member from the right lower side, and at this time, the movable member blocks the gear, so that the gear can only rotate counterclockwise but cannot rotate clockwise. When the gear is rotated counterclockwise to a certain angle, the key is inserted into the shell, so that the key is matched with the groove on the gear to completely fix the gear. When the state 2 is shown in fig. 10b, the movable element 3243 can be in the state 2 without rotating by pushing the movable element from the right lower side by the elastic force of the elastic deformation of the positioning elastic pin, and the movable element blocks the gear to make the gear rotate only clockwise but not counterclockwise. When rotated clockwise to a certain angle, the key 3245 is inserted into the housing so that the key mates with the groove on the gear to hold the gear fully in place.

When the vehicle body is switched from the unfolded state to the folded state, namely, the vehicle body is changed from the unfolded state to the folded state shown in fig. 2 to fig. 3, the external force acts on the ratchet wheel assembly 324, the rotating shaft 325 rotates, and simultaneously the first rotating connecting piece 322 is driven to rotate together for 90 degrees, so that the electric motor wheel rotates downwards for 90 degrees, and the electric motor wheel is positioned as shown in fig. 2; at the same time, the other rotation shaft 325 rotates and drives the second rotary connecting part 323 to rotate together by 90 degrees, so that they are at the position shown in fig. 3, i.e. at the folded state, the electric wheels are located at the two inner sides of the vehicle body, and the casing assembly is located at the outer side and the upper side of the vehicle body.

When the vehicle body is switched from the folded state to the unfolded state, that is, from fig. 3 to fig. 2 to fig. 1, an external force acts on the ratchet assembly 324, and the rotating shaft 325 is rotated, and at the same time, the second rotating connecting member 323 is driven to rotate together by 90 ° leftwards or rightwards, and the vehicle body is in the position as shown in fig. 2. Then, the other rotation shaft 325, at the same time, drives the rotation connecting members to rotate together by 90 ° upward, and makes them in the position as shown in fig. 1, i.e., in the unfolded state, the electric wheels are located at both outer sides of the vehicle body, and the housing assembly is located at the inner side and the upper side of the vehicle body.

The following describes steering mechanisms according to three embodiments of the present invention, and it should be understood that the steering mechanisms of the present invention are not limited to the embodiments described below.

Steering mechanism embodiment 1

Fig. 11 and 12 show a schematic structural view of a steering mechanism 40 according to an embodiment of the present invention. As shown in fig. 11 to 12, the steering mechanism 40 is provided with a main body frame 401 and two steering link members 402, and the two steering link members 402 are connected to both sides of the main body frame 401. The main chassis 22 is fixed to the main body frame 401. The main body support 401 is composed of an upper main body support 4011, a lower main body support 4012 and a top bead assembly 4013, and is mainly used as a support of the whole electric vehicle. Top bead assembly 4013 comprises a top bead and a resilient member, and when assembled, top bead assembly 4013 is positioned between upper body support 4011 and lower body support 4012, and tab 402a on steering linkage 402 presses against top bead assembly 4013. One end of the steering connecting piece 402 is connected with the second rotating connecting piece of the rotating positioning mechanism, the other end is arranged in the main body bracket 401, and the steering connecting piece 402 can rotate for a certain angle relative to the main body bracket 401. When external force acts on the steering connecting piece 402, the elastic component of the ejecting ball component 4013 is pressed to deform, so that the steering connecting piece 402 rotates for a certain angle, and when the external force is cancelled, the elastic component of the ejecting ball component resets, so that the steering connecting piece automatically resets.

When turning to the left, make the left side turn to the certain angle of connecting piece rotation through exogenic action, through feeding back the signal to self-balancing control system, a series of operations of rethread self-balancing control system, then give the electric locomotive wheel on both sides about signal output for the electric locomotive wheel rotational speed on the left side is slow, and the electric locomotive wheel rotational speed on the right is fast, and both sides form the speed difference, realize turning to the left. When the turning is finished, the steering connecting piece can be automatically reset through the elastic component of the top ball component. When turning to the right, the steering connecting piece on the right rotates by a certain angle under the action of external force, signals are fed back to the self-balancing control system, then a series of operations are carried out on the self-balancing control system, and the signals are output to the motor wheels on the left and the right, so that the motor wheels on the right rotate slowly, the motor wheels on the left rotate quickly, and speed differences are formed on the two sides, so that the turning to the right is realized. When the turning is finished, the steering connecting piece can be automatically reset through the elastic component of the top ball component.

Steering mechanism embodiment 2

Fig. 13 and 14a, 14b show a schematic structural view of a steering mechanism 41 according to another embodiment of the present invention. As shown in fig. 13 to 14, the steering mechanism 41 is provided with a main body bracket 411 and two steering links 412, and the two steering links 412 are connected to both sides of the main body bracket 411. The main chassis 22 is fixed to the main body frame 411. The body mount 411 is composed of an upper body mount 4111 and a lower body mount 4112, and is mainly used as a support for the entire electric vehicle. One end of the turning connecting piece 412 is connected to the second rotating connecting piece of the rotating positioning mechanism, and the other end is disposed in the main body bracket 411, and the turning connecting piece 412 can rotate a certain angle relative to the main body bracket 411. When an external force is applied to the rotating link 412, the steering link 402 can be rotated by a certain angle, and then the steering link can be restored by the external force.

Specifically, the steering linkage 412 can rotate counterclockwise or clockwise, but the rotation angle of the steering linkage 412 can only rotate within a small angle range through the cooperation of the keys 4111a and 4111b on the main body bracket 4111 and the grooves 412a and 412b on the steering linkage 412, so that the steering function can be ensured, and the steering linkage 412 can be quickly reset through external force. Preferably, the steering linkage is rotated at a single angle of 5 to 15 degrees.

When turning to the left, make the left side turn to the connecting piece and rotate certain angle through exogenic action, through feeding back the signal to self-balancing control system, a series of operations of rethread self-balancing control system, then give both sides motor wheel about signal output for the motor wheel rotational speed on the left side is slow, and the motor wheel rotational speed on the right side is fast, and both sides form the speed difference, realize turning to the left, when the turn finishes, rethread exogenic action can make the connecting piece that turns to reset. When turning to the right, the steering connecting piece on the right is rotated by a certain angle under the action of external force, signals are fed back to a self-balancing control system, a series of operations are performed through the self-balancing control system, and then the signals are output to the motor wheels on the left and the right sides, so that the rotating speed of the motor wheels on the right is low, the rotating speed of the motor wheels on the left is high, speed differences are formed on the two sides, the turning to the right is realized, and when the turning is finished, the steering connecting piece can be reset under the action of the external force.

Steering mechanism embodiment 3

Fig. 15 and 16 show a schematic structural view of a steering mechanism 42 according to still another embodiment of the present invention. As shown in fig. 15 to 16, the steering mechanism 42 is provided with a main body support 421, a steering link 422 and a rotating member 423, and the main body support 421 is connected to the main chassis 22, mainly for supporting as a whole. One end of the steering link 422 is connected to the rotary link of the rotary mechanism, and the other end is connected to the main body support 42 via the rotary member 423. The rotating assembly 423 is provided with a rubber spring 4231 and a rotating shaft 4232, when external force acts on the steering connecting piece 422, the rubber spring 4231 is deformed around the rotating shaft 4232 under the action of the external force, the steering connecting piece 422 rotates for a certain angle, and when the external force is cancelled, the rubber spring 4231 recovers, so that the steering connecting piece 422 can automatically reset. Preferably, the steering linkage is rotated at a single angle of 5 to 15 degrees.

When turning to the left, make the left side turn to the connecting piece and rotate certain angle through exogenic action, through feeding back the signal to self-balancing control system, a series of operations of rethread self-balancing control system, then give both sides motor wheel about signal output for the motor wheel rotational speed on the left side is slow, and the motor wheel rotational speed on the right is fast, both sides and formation speed difference, realize turning to the left, when the turn finishes, when external force cancels, rubber spring resumes, the connecting piece automatic re-setting that turns to that can realize. When turning to the right, make the right turn to connect rotatory certain angle through exogenic action, through feeding back the signal to self-balancing control system, a series of operations of rethread self-balancing control system, then give both sides motor wheel about signal output for the motor wheel rotational speed on the right is slow, and the motor wheel rotational speed on the left side is fast, and both sides form the speed difference, realize turning to the right, when the turn finishes, when external force cancels, rubber spring resumes, can realize turning to connecting piece automatic re-setting.

Advantageous effects

In the self-balancing electric two-wheeled vehicle, the vehicle body has a deformable function, namely can be in a folded state, so that the electric vehicle wheels are positioned on two inner sides of the vehicle body, the shell assembly is positioned on the outer side and the upper side of the vehicle body, or in an unfolded state, so that the electric vehicle wheels are positioned on two outer sides of the vehicle body, and the shell assembly is positioned on the inner side and the upper side of the vehicle body. Thereby satisfying different requirements of different users, ensuring safer and more effective driving and improving the driving entertainment of the self-balancing electric two-wheeled vehicle. Meanwhile, the self-balancing electric two-wheeled vehicle is small and exquisite in body, light in weight and convenient to carry due to the arrangement of the handle. And it, this self-balancing electric two wheeler simple structure is stable, does benefit to manufacturing.

While the preferred embodiments of the present invention have been illustrated and described in detail, it should be understood that various changes and modifications of the invention can be effected therein by those skilled in the art after reading the above teachings of the invention. Such equivalents are intended to fall within the scope of the claims appended hereto.

Claims

1. The utility model provides a deformable self-balancing electric two wheeler, self-balancing electric two wheeler includes two motor wheels, self-balancing controller system, battery and casing subassembly, the battery do self-balancing electric two wheeler provide the power of operation, self-balancing control system establish the casing subassembly in, be used for control the operation of self-balancing electric two wheeler move its characterized in that:

2. The self-balancing electric motorcycle of claim 1, wherein the housing assembly comprises a main housing, a left housing, a right housing and a housing cover, and a battery, a self-balancing control system and a switching induction system are installed in the housing assembly.

3. The self-balancing powered two-wheeled vehicle of claim 1, wherein the left and right side rotary positioning mechanisms are each provided with two rotary links rotatably coupled to each other, one of the two motor wheels being fixed to and rotatable with one of the two rotary links, the other rotary link being rotatably coupled to the steering mechanism.

4. The self-balancing electric motorcycle of claim 3, wherein the self-balancing electric motorcycle is provided with a left rotary positioning mechanism and a right rotary positioning mechanism, the rotary positioning mechanisms are provided with a first rotary connector, a second rotary connector and a stepping motor, wherein,

the rotation of the stepping motor is controlled through an output signal of a self-balancing control system, the rotating shaft is made to rotate, and meanwhile, the first rotating connecting piece and the second rotating connecting piece are driven to rotate for 90 degrees together, so that the two states of unfolding and folding of the vehicle body are realized.

5. The self-balancing electric two-wheeled vehicle according to claim 3, wherein the self-balancing electric two-wheeled vehicle is provided with a left rotary positioning mechanism and a right rotary positioning mechanism, the rotary positioning mechanisms are provided with a first rotary connecting piece, a second rotary connecting piece and a rotating shaft assembly, wherein,

6. The self-balancing electric two-wheeled vehicle according to claim 3, wherein the self-balancing electric two-wheeled vehicle is provided with a left rotary positioning mechanism and a right rotary positioning mechanism, the rotary positioning mechanisms are provided with a first rotary connecting piece, two sets of ratchet assemblies, two rotary shafts and a second rotary connecting piece,

7. The self-balancing electric two-wheeled vehicle as claimed in claim 1, wherein the self-balancing electric two-wheeled vehicle is provided with a steering mechanism, when turning to the left, the left or right steering mechanism is rotated by a certain angle through the action of external force, and the right motor generates acceleration through the adjustment of a self-balancing control system, so that the rotation speed of the wheels is increased, and the two sides form a speed difference, thereby realizing turning to the left; when turning to the right, the steering structure on the right or left rotates by a certain angle under the action of external force, and the motor on the left generates acceleration through the adjustment of the self-balancing control system, so that the rotating speed of the wheels is increased, and speed difference is formed on two sides, thereby realizing turning to the right.

8. The self-balancing electric motorcycle of claim 7, wherein the steering mechanism is provided with a main body bracket and two steering links connected to both sides of the main body bracket, wherein,

9. The self-balancing electric motorcycle of claim 7, wherein the steering mechanism is provided with a main body bracket and two steering links connected to both sides of the main body bracket, the main body bracket being composed of an upper main body bracket and a lower main body bracket, wherein,

10. The self-balancing electric two-wheeled vehicle as claimed in claim 7, wherein the steering mechanism is provided with a main body bracket, a steering connecting member and a rotating assembly, one end of the steering connecting member is connected with the rotating connecting member of the rotating mechanism, the other end of the steering connecting member is connected with the main body bracket through the rotating assembly, the rotating assembly is provided with a rubber spring and a rotating shaft, so that when external force is applied to the steering connecting member, the rubber spring is deformed around the rotating shaft under the action of the external force and rotates the steering connecting member by a certain angle, and when the external force is cancelled, the rubber spring is restored, so that the steering connecting member is automatically reset.

11. The self-balancing electric bicycle according to claim 1, wherein when the bicycle body is in the folded state, the switching induction system induces and feeds back to the control panel, and the control panel is switched to the control system mode in the folded state; when the vehicle body is in the unfolding state, the switching induction system induces and feeds back to the control panel, and the control panel is switched to a control system mode in the unfolding state.

12. The self-balancing electric motorcycle of claim 11, wherein the switching induction system is potentiometer induction, photoelectric induction or switch switching.

13. The utility model provides a deformable self-balancing electric two wheeler, self-balancing electric two wheeler include two motor wheels, self-balancing controller system, battery and casing subassembly, the battery do self-balancing electric two wheeler provide the power of operation, self-balancing control system establish the casing subassembly in, be used for control the operation of self-balancing electric two wheeler move its characterized in that: