CN111114681A - Two-wheeled electric vehicle with stability increased through electronic gyroscope and balancing method thereof - Google Patents
Two-wheeled electric vehicle with stability increased through electronic gyroscope and balancing method thereof Download PDFInfo
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- CN111114681A CN111114681A CN202010030117.XA CN202010030117A CN111114681A CN 111114681 A CN111114681 A CN 111114681A CN 202010030117 A CN202010030117 A CN 202010030117A CN 111114681 A CN111114681 A CN 111114681A
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- 238000005096 rolling process Methods 0.000 claims description 4
- 238000001514 detection method Methods 0.000 claims description 3
- 230000006641 stabilisation Effects 0.000 abstract 1
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62K—CYCLES; CYCLE FRAMES; CYCLE STEERING DEVICES; RIDER-OPERATED TERMINAL CONTROLS SPECIALLY ADAPTED FOR CYCLES; CYCLE AXLE SUSPENSIONS; CYCLE SIDE-CARS, FORECARS, OR THE LIKE
- B62K11/00—Motorcycles, engine-assisted cycles or motor scooters with one or two wheels
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62J—CYCLE SADDLES OR SEATS; AUXILIARY DEVICES OR ACCESSORIES SPECIALLY ADAPTED TO CYCLES AND NOT OTHERWISE PROVIDED FOR, e.g. ARTICLE CARRIERS OR CYCLE PROTECTORS
- B62J99/00—Subject matter not provided for in other groups of this subclass
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62K—CYCLES; CYCLE FRAMES; CYCLE STEERING DEVICES; RIDER-OPERATED TERMINAL CONTROLS SPECIALLY ADAPTED FOR CYCLES; CYCLE AXLE SUSPENSIONS; CYCLE SIDE-CARS, FORECARS, OR THE LIKE
- B62K21/00—Steering devices
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Abstract
本发明涉及一种通过电子陀螺增稳的二轮电动车及其平衡方法，包括前轮自动转向机（1）、后轮自动转向机（6）、蓄电池组吊篮自动调节器（7）以及陀螺稳定控制器（2）。本发明通过前轮自动转向机、后轮自动转向机以及蓄电池组吊篮自动调节器与陀螺稳定控制器相互配合，使整车随时保持平衡，在停止状态和行驶状态下即使侧向受到冲击仍能保持不倾倒，并且能够在停止状态、前进状态、后退状态之间平稳转换。
The invention relates to a two-wheeled electric vehicle stabilized by an electronic gyroscope and a balancing method thereof, comprising a front wheel automatic steering machine (1), a rear wheel automatic steering machine (6), an automatic adjuster (7) for a battery pack hanging basket and Gyro Stabilized Controller (2). The invention cooperates with the front wheel automatic steering machine, the rear wheel automatic steering machine, the battery group basket automatic adjuster and the gyro stabilization controller, so that the whole vehicle can keep the balance at any time, even if the side is impacted in the stopped state and the driving state. It can keep from tipping over, and can smoothly transition between stop state, forward state, and reverse state.
Description
Technical Field
The invention relates to a two-wheeled electric vehicle, in particular to a two-wheeled electric vehicle with stability increased through an electronic gyroscope and a balancing method thereof.
Background
The two-wheel electric vehicle is a vehicle which takes a battery as an energy source, converts electric energy into mechanical energy to move through a controller, a motor and other components, and controls the current to change the speed.
When the passenger uses the existing two-wheel electric vehicle, no matter the vehicle is in a moving or stopping state, if the passenger moves the gravity center greatly, including the action of getting on or off the vehicle, the risk of toppling over easily occurs to the vehicle, and the safety of the passenger is not facilitated. When the vehicle is subjected to lateral impact, the vehicle is very easy to topple to one side, so that danger is caused.
Disclosure of Invention
The invention designs a two-wheeled electric vehicle for increasing stability through an electronic gyroscope and a balancing method thereof, and solves the technical problems that when the gravity center of the existing two-wheeled electric vehicle is greatly moved, the vehicle is easy to topple over, and the stability is poor when the vehicle is impacted laterally, so that the safety of passengers is not facilitated.
In order to solve the technical problems, the invention adopts the following scheme:
a two-wheeled electric vehicle for increasing stability through an electronic gyroscope comprises front wheels (3), rear wheels (4), a vehicle body bracket (5), a storage battery and a storage battery basket (8); the automatic steering machine (1) for the front wheels is further provided, and is used for adjusting the gravity center of the vehicle body bracket (5) by adjusting the forward or backward direction or/and speed of the front wheels (3) and changing the roll angle of the vehicle body bracket (5);
a rear wheel automatic steering machine (6) which adjusts the center of gravity of the vehicle body support (5) by adjusting the direction or/and speed of forward or backward movement of the rear wheel (4), but does not directly change the roll angle of the vehicle body support (5);
a battery pack basket automatic regulator (7) that changes the center of gravity of the body mount (5) to maintain balance;
and the gyro stability controller (2) is used for detecting the roll data of the body support (5), and adjusting one or more of the front-wheel automatic steering machine (1), the rear-wheel automatic steering machine (6) and the storage battery hanging basket automatic regulator (7) according to a detection result, so that the whole car is kept in balance under a dynamic state or a static state at any time.
Preferably, the front wheel automatic steering machine (1) comprises a control unit which changes the running state of the front wheel (3) by controlling the running speed or the running direction of a built-in hub motor of the front wheel (3); or/and the front wheel automatic steering machine (1) comprises a front wheel steering unit, and the front wheel steering unit realizes the adjustment of the swinging direction and the swinging amplitude of the front wheel (3) through the mutual matching of a driving device and a transmission structure.
Preferably, the driving device in the front wheel steering unit comprises a first steering motor (11), the transmission structure comprises a first output gear (12), a first steering gear (13) and a tap rotating shaft (14), the first steering motor (11) is installed on a first bracket (15), the first steering motor (11) is connected with the first output gear (12), the first output gear (12) is in gear engagement with the first steering gear (13), the first steering gear (13) is fixed on the tap rotating shaft (14) and is coaxial with the tap rotating shaft, the tap rotating shaft (14) is connected with the front fork, the front wheel (3) is installed at the lower end of the front fork, and the forward rotation or reverse rotation of the first steering motor (11) enables the front fork and the front wheel (3) to swing left and right.
Preferably, the first steering motor (11) is mounted on the first bracket (15).
Preferably, the first output gear (12) and the first steering gear (13) are connected in a bevel gear transmission manner, and the axes of the first output gear and the first steering gear are perpendicular to each other.
Preferably, the upper end and the lower end of the faucet rotating shaft (14) are respectively connected with the front fork through a connecting sheet.
Preferably, the first steering motor (11), the first output gear (12), the first steering gear (13), and the tap spindle (14) are installed in a closed box to protect the internal mechanism from dust.
Preferably, the vehicle body bracket (5) is welded or screwed to the rear end of the first bracket (15).
Preferably, the rear wheel automatic steering machine (6) comprises a control unit which changes the running state of the rear wheel (4) by controlling the running speed or the running direction of a built-in hub motor of the rear wheel (4); or/and the rear wheel automatic steering machine (6) comprises a rear wheel steering unit, and the rear wheel steering unit realizes the adjustment of the swinging direction and the swinging amplitude of the rear wheel (4) through the mutual matching of a driving device and a transmission structure.
Preferably, the driving device in the rear wheel steering unit comprises a second steering motor (61), the transmission structure in the rear wheel steering unit comprises a second output gear (62), a second steering gear (63) and a rear wheel rotating shaft (64), the first steering motor (61) is connected with the second output gear (62), the second output gear (62) is meshed with the second steering gear (63) through gears, the second steering gear (63) is fixed on the rear wheel rotating shaft (64) and is coaxial with the rear wheel rotating shaft, the rear wheel rotating shaft (64) is connected with the rear wheel (4) through a rear wheel bracket, and the second steering motor (61) rotates forwards or backwards to enable the front fork and the rear wheel (4) to swing left and right.
Preferably, the second steering motor (61) is mounted on the second bracket (65).
Preferably, the second output gear (62) and the second steering gear (63) are connected in a bevel gear transmission manner, and the axes of the second output gear and the second steering gear are perpendicular to each other.
Preferably, the battery pack basket automatic regulator (7) changes the center of gravity of the body frame (5) by rotating a battery pack basket (8) in which a battery is mounted in the battery pack basket (8).
Preferably, the automatic regulator (7) of the battery pack basket comprises a third steering motor (71), a third output gear (72), a third steering gear (73) and a battery pack basket rotating shaft (74); the third steering motor (71) is connected with the third output gear (72), the third output gear (72) is meshed with the third steering gear (73) through a gear, the third steering gear (73) is fixed on the storage battery pack basket rotating shaft (74) and is coaxial with the storage battery pack basket rotating shaft (74), the storage battery pack basket rotating shaft (74) is connected with the storage battery pack basket (8), and the third steering motor (71) rotates forwards or backwards to enable the storage battery pack basket (8) to swing left and right.
Preferably, the third steering motor (71) is mounted on a third bracket (75).
Preferably, the third output gear (72) and the third steering gear (73) are connected in a bevel gear transmission manner, and the axes of the third output gear and the third steering gear are perpendicular to each other.
A balancing method for a two-wheeled electric vehicle, comprising the steps of:
when the automobile runs at a high speed, the front-wheel automatic steering machine (1) adjusts the automatic steering of the front wheels (3) through the rolling data of the automobile body bracket (5) acquired by the gyro stability controller (2), and the centrifugal force during the steering is actively restrained through the rolling of the automobile body;
or/and when the speed is low, the rear wheel automatic steering machine (6) adjusts the rear wheel (4) to automatically steer through the heeling data of the vehicle body support (5) acquired by the gyro stability controller (2), the influence of the rear wheel steering on the heeling angle is smaller than that of the front wheel (3), and the rear wheel automatic steering machine is suitable for steering at low speed, so that the steering flexibility is maximized.
A balancing method for a two-wheeled electric vehicle, comprising the steps of:
the front wheel (3) and the rear wheel (4) are both provided with power wheels with built-in hub motors, and the gyro stability controller (2) automatically distributes power to the front wheel (3) and the rear wheel (4) according to the driving condition to keep the driving stability at any time;
or, when the vehicle accelerates, the pushing mode is started, the driving torque of the front wheel (3) and the driving torque of the rear wheel (4) are the same, and the force is exerted simultaneously;
or, the pulling mode is started during steady running, the driving torque of the front wheels (3) is greater than that of the rear wheels (4);
or, the rear wheel driving or dragging mode is started during deceleration or braking, the braking force of the rear wheels (4) is larger than that of the front wheels (3) or the driving force of the rear wheels (4) is larger than that of the front wheels (3).
A balancing method for a two-wheeled electric vehicle, comprising the steps of:
when the vehicle body tilts rightwards under the action of external force or internal gravity center change, the gyro stability controller (2) detects the change of the tilt angle and sends out an instruction to enable a first steering motor (11) of the front-wheel automatic steering machine (1) to rotate rightwards, so that a geometric center (92) of the two-wheel electric vehicle swings leftwards to cross a grounding center line (91) until the gravity center tilts leftwards to cross the grounding center line (91) to generate a deflection moment, and the vehicle body stops continuing to tilt rightwards; the grounding center line (91) is a shortest connecting line from a contact point of the front wheel and the ground to a contact point of the rear wheel and the ground; the geometric center (92) is the geometric center point of the body part when the battery basket returns to the center under the natural static state of the whole vehicle;
or/and the gyro stability controller (2) detects the change of the inclination angle and sends a command to enable the second steering motor (61) of the rear wheel automatic steering machine (6) to rotate to the left, so that the geometric center (92) swings to the left to cross the grounding center line (91) until the gravity center tilts to the left to cross the grounding center line (91) to generate a deflection moment, and the vehicle body stops further tilting to the right.
Or/and the gyro stability controller (2) detects the change of the inclination angle and sends a command to enable a third steering motor (71) of the automatic storage battery pack basket regulator (7) to rotate to the left, so that the geometric center of the storage battery pack basket (8) swings to the left to cross the grounding center line until the gravity center of the whole vehicle inclines to the left to cross the grounding center line to generate a deflection moment, and the vehicle body stops continuing to incline to the right.
Or/and when the vehicle body tilts to the left under the action of external force or internal gravity center change, the motion in the opposite direction is executed to stabilize the vehicle body.
Compared with the common two-wheeled electric vehicle, the two-wheeled electric vehicle with the stability increased by the electronic gyroscope has the following beneficial effects:
(1) the invention keeps the whole vehicle balanced at any time through the mutual matching of the front wheel automatic steering machine, the rear wheel automatic steering machine, the storage battery pack basket automatic regulator and the gyro stability controller, can keep not toppling even if being impacted laterally in a stopping state and a running state, and can freely run forwards or backwards.
(2) The front wheel and the rear wheel of the invention are both provided with power wheels with built-in hub motors, and the gyro stability controller automatically distributes power to the front wheel and the rear wheel according to the driving condition, thereby keeping the driving stable at any time.
(3) The invention automatically adapts to the change of vehicle load, even in the in-situ stop state, the passengers greatly move the gravity center, including the getting-on and getting-off actions, the vehicle can also be kept not to fall over. Meanwhile, in high-speed running, the influence of bearing change can be automatically overcome through the control of the gyro stability controller, and the influence of roads and crosswind is overcome to ensure that the vehicle keeps stable course. Even if the vehicle is impacted from the side, the gravity center is quickly and automatically adjusted through the system, and the vehicle is kept upright as much as possible and cannot fall down immediately.
(4) The invention greatly improves the safety of bicycles and motorcycles, lightens the mental and physical burdens of drivers and passengers and improves the safety.
(5) The invention enhances the stability when the vehicle is impacted laterally, and the transverse stability margin of the vehicle exceeds the geometric size limit of the vehicle through the electronic control technology, thereby improving the stability by tens of times.
Drawings
FIG. 1: the invention relates to a schematic side view of a two-wheeled electric vehicle stabilized by an electronic gyroscope;
FIG. 2: the invention relates to a two-wheeled electric vehicle stability enhancement by an electronic gyroscope, which comprises a three-dimensional schematic diagram I;
FIG. 3: the invention relates to a two-wheeled electric vehicle stability enhancement by an electronic gyroscope, which has a three-dimensional schematic diagram II;
FIG. 4: the invention discloses a structural schematic diagram of a front wheel automatic steering machine;
FIG. 5: the invention discloses a structural schematic diagram of a rear wheel automatic steering machine and a storage battery pack basket automatic regulator;
FIG. 6: the invention relates to a working principle diagram I of a two-wheeled electric vehicle;
FIG. 7: the invention relates to a working principle diagram II of a two-wheel electric vehicle.
Description of reference numerals:
1-automatic steering machine of front wheel; 11-a first steering motor; 12 — a first output gear; 13 — a first steering gear; 14-a tap shaft; 15 — a first support; 2-a gyrostabiliser controller; 3-front wheel; 4-rear wheel; 5, a vehicle body bracket; 6-automatic steering machine of the rear wheel; 61-a second steering motor; 62 — a second output gear; 63-a second steering gear; 64-rear wheel axle; 65 — a second support; 7-storage battery hanging basket automatic regulator; 71-a third steering motor; 72 — third output gear; 73-a third steering gear; 74-storage battery pack hanging basket rotating shaft; 75 — a third support; 8-storage battery pack hanging basket; 91-ground center line; 92-geometric center.
Detailed Description
The invention is further described below with reference to fig. 1 to 7:
as shown in fig. 1, a two-wheeled electric vehicle with stability enhanced by an electronic gyroscope comprises a front wheel 3, a rear wheel 4, a vehicle body bracket 5, a storage battery and a storage battery basket 8; the automatic steering machine comprises a front wheel automatic steering machine 1, a front wheel automatic steering machine and a vehicle body support, wherein the center of gravity of the vehicle body support 5 is adjusted by adjusting the forward or backward direction or/and speed of a front wheel 3, and the roll angle of the vehicle body support 5 is changed;
a rear-wheel automatic steering machine 6 that adjusts the center of gravity of the vehicle body frame 5 by adjusting the direction or/and speed of forward or backward movement of the rear wheels 4, but does not directly change the roll angle of the vehicle body frame 5;
a battery pack basket automatic regulator 7 that changes the center of gravity of the body frame 5 to maintain balance;
and the gyro stability controller 2 is used for detecting the side-tipping data of the vehicle body bracket 5, and adjusting one or more of the front-wheel automatic steering machine 1, the rear-wheel automatic steering machine 6 and the storage battery pack basket automatic adjuster 7 according to the detection result, so that the whole vehicle keeps dynamic or static balance at any time.
The front wheel automatic steering machine 1 comprises a control unit, wherein the control unit changes the running state of the front wheel 3 by controlling the running speed or the running direction of a built-in hub motor in the front wheel 3; alternatively/or additionally, the front-wheel automatic steering machine 1 comprises a front-wheel steering unit, and the front-wheel steering unit realizes the adjustment of the swing direction and the swing amplitude of the front wheel 3 through the mutual matching of the driving device and the transmission structure.
The driving device in the front wheel steering unit comprises a first steering motor 11, the transmission structure comprises a first output gear 12, a first steering gear 13 and a faucet rotating shaft 14, the first steering motor 11 is installed on a first support 15, the first steering motor 11 is connected with the first output gear 12, the first output gear 12 is meshed with the first steering gear 13 through gears, the first steering gear 13 is fixed on the faucet rotating shaft 14 and is coaxial with the faucet rotating shaft 14, the front wheel 3 is installed at the lower end of the front fork, and the front fork and the front wheel 3 swing left and right through forward rotation or reverse rotation of the first steering motor 11.
The first steering motor 11 is mounted on the first bracket 15. The first output gear 12 and the first steering gear 13 are connected in a bevel gear transmission mode, and the axes of the first output gear and the first steering gear are perpendicular to each other. The upper end and the lower end of the tap rotating shaft 14 are respectively connected with the front fork through a connecting piece. The first steering motor 11, the first output gear 12, the first steering gear 13, and the tap spindle 14 are installed in a closed box to protect the internal mechanism from dust. The vehicle body bracket 5 is welded or screwed to the rear end of the first bracket 15.
The rear wheel automatic steering machine 6 comprises a control unit, and the control unit changes the running state of the rear wheel 4 by controlling the running speed or the running direction of a built-in hub motor in the rear wheel 4; or/and the rear-wheel automatic steering machine 6 comprises a rear-wheel steering unit, and the rear-wheel steering unit realizes the adjustment of the swinging direction and the swinging amplitude of the rear wheel 4 through the mutual matching of the driving device and the transmission structure.
The driving device in the rear wheel steering unit comprises a second steering motor 61, the transmission structure in the rear wheel steering unit comprises a second output gear 62, a second steering gear 63 and a rear wheel rotating shaft 64, the first steering motor 61 is connected with the second output gear 62, the second output gear 62 is meshed with the second steering gear 63 through gears, the second steering gear 63 is fixed on the rear wheel rotating shaft 64 and is coaxial with the rear wheel rotating shaft 64, the rear wheel rotating shaft 64 is connected with the rear wheel 4 through a rear wheel bracket, and the front fork and the rear wheel 4 are swung left and right by the forward rotation or reverse rotation of the second steering motor 61.
The second steering motor 61 is mounted on the second bracket 65. The second output gear 62 is connected with the second steering gear 63 in a bevel gear transmission mode, and the axes of the second output gear and the second steering gear are perpendicular to each other.
The battery pack basket automatic regulator 7 changes the center of gravity of the body frame 5 by rotating a battery pack basket 8 in which the battery is mounted in the battery pack basket 8.
The automatic regulator 7 of the battery pack basket comprises a third steering motor 71, a third output gear 72, a third steering gear 73 and a battery pack basket rotating shaft 74; the third steering motor 71 is connected with a third output gear 72, the third output gear 72 is meshed with a third steering gear 73 through gears, the third steering gear 73 is fixed on a battery pack basket rotating shaft 74 and is coaxial with the battery pack basket rotating shaft 74, the battery pack basket rotating shaft 74 is connected with the battery pack basket 8, and the third steering motor 71 rotates forwards or backwards to enable the battery pack basket 8 to swing left and right.
The third steering motor 71 is mounted on a third bracket 75. The third output gear 72 is connected with the third steering gear 73 in a bevel gear transmission mode, and the axes of the third output gear and the third steering gear are vertical to each other.
A balancing method for a two-wheeled electric vehicle, comprising the steps of:
when the vehicle runs at a high speed, the front-wheel automatic steering machine 1 adjusts the automatic steering of the front wheels 3 through the roll data of the vehicle body bracket 5 acquired by the gyro stability controller 2, and the centrifugal force during the steering is actively restrained through the roll of the vehicle body;
at low speed, the rear wheel automatic steering machine 6 adjusts the rear wheel 4 to automatically steer through the vehicle body support 5 heeling data collected by the gyro stability controller 2, the influence of the rear wheel steering on the heeling angle is smaller than that of the front wheel 3, and the rear wheel automatic steering machine is suitable for steering at low speed, so that the steering flexibility is maximized.
The principle of balancing the two-wheeled electric vehicle through the speed is as follows:
the front wheel 3 and the rear wheel 4 are both power wheels with built-in hub motors, and the gyro stable controller 2 automatically distributes power to the front wheel 3 and the rear wheel 4 according to the driving condition to keep the driving stability at any time.
Specifically, the method comprises the following steps: when accelerating, starting a pushing mode, and simultaneously exerting force with the same driving torque of the front wheels 3 and the rear wheels 4; starting a pulling mode when the vehicle is running stably, wherein the driving torque of the front wheels 3 is larger than that of the rear wheels 4; the rear wheel drive or drag mode is activated at deceleration or braking with the rear wheel 4 braking force greater than the front wheel 3 or the rear wheel 4 driving force greater than the front wheel 3.
The principle of balancing the two-wheeled electric vehicle through steering is as follows:
as shown in fig. 6, when the vehicle body tilts to the right due to external force or internal gravity center change, the gyro stability controller 2 detects the change of the tilt angle, and sends a command to rotate the first steering motor 11 of the front-wheel automatic steering engine 1 to the right, so that the geometric center 92 of the two-wheel electric vehicle swings to the left to cross the grounding center line 91, and the vehicle body stops continuing to tilt to the right until the gravity center tilts to the left to cross the grounding center line 91 to generate a deflection moment; the ground center line 91 is the shortest connecting line from the contact point of the front wheel and the ground to the contact point of the rear wheel and the ground, and the geometric center 92 is the geometric center point of the vehicle body when the battery basket returns to the center in the natural static state of the whole vehicle.
As shown in fig. 7, the gyro stabilizer controller 2 detects the change in the tilt angle, and issues a command to rotate the second steering motor 61 of the rear-wheel automatic steering machine 6 to the left, which swings the geometric center 92 to the left to cross the ground center line 91, until tilting the center of gravity to the left over the ground center line 91 generates a yawing moment, which stops the vehicle body from continuing to tilt to the right.
The gyro stable controller 2 detects the change of the inclination angle and sends a command to enable the third steering motor 71 of the automatic regulator 7 of the battery pack basket to rotate to the left, so that the geometric center of the battery pack basket 8 swings to the left to cross the grounding center line until the gravity center of the whole vehicle inclines to the left to cross the grounding center line to generate a deflection moment, and the vehicle body stops continuing to incline to the right.
When the vehicle body is inclined to the left by external force or internal gravity change, the motion in the opposite direction is performed to stabilize the vehicle body.
The invention is described above with reference to the accompanying drawings, it is obvious that the implementation of the invention is not limited in the above manner, and it is within the scope of the invention to adopt various modifications of the inventive method concept and solution, or to apply the inventive concept and solution directly to other applications without modification.
Claims (10)
1. A two-wheeled electric vehicle with stability enhanced by an electronic gyroscope comprises a front wheel (3), a rear wheel (4), a vehicle body bracket (5), a storage battery and a storage battery hanging basket (8),
the method is characterized in that: the automatic steering machine (1) for the front wheels is further provided, and is used for adjusting the gravity center of the vehicle body bracket (5) by adjusting the forward or backward direction or/and speed of the front wheels (3) and changing the roll angle of the vehicle body bracket (5);
a rear wheel automatic steering machine (6) which adjusts the center of gravity of the vehicle body support (5) by adjusting the direction or/and speed of forward or backward movement of the rear wheel (4), but does not directly change the roll angle of the vehicle body support (5);
a battery pack basket automatic regulator (7) that changes the center of gravity of the body mount (5) to maintain balance;
and the gyro stability controller (2) is used for detecting the roll data of the body support (5), and adjusting one or more of the front-wheel automatic steering machine (1), the rear-wheel automatic steering machine (6) and the storage battery hanging basket automatic regulator (7) according to a detection result, so that the whole car is kept in balance under a dynamic state or a static state at any time.
2. A two-wheeled electric vehicle stabilized by an electronic gyro as recited in claim 1, wherein:
the front wheel automatic steering machine (1) comprises a control unit, wherein the control unit changes the running state of the front wheel (3) by controlling the running speed or the running direction of a built-in hub motor of the front wheel (3);
or/and the front wheel automatic steering machine (1) comprises a front wheel steering unit, and the front wheel steering unit realizes the adjustment of the swinging direction and the swinging amplitude of the front wheel (3) through the mutual matching of a driving device and a transmission structure.
3. A two-wheeled electric vehicle stabilized by an electronic gyro as claimed in claim 2, characterized in that: the driving device in the front wheel steering unit comprises a first steering motor (11), the transmission structure comprises a first output gear (12), a first steering gear (13) and a tap rotating shaft (14), the first steering motor (11) is installed on a first support (15), the first steering motor (11) is connected with the first output gear (12), the first output gear (12) is meshed with the first steering gear (13) through a gear, the first steering gear (13) is fixed on the tap rotating shaft (14) and is coaxial with the tap rotating shaft, the tap rotating shaft (14) is connected with the front fork, the front wheel (3) is installed at the lower end of the front fork, and the front fork and the front wheel (3) swing left and right by forward rotation or reverse rotation of the first steering motor (11).
4. A two-wheeled electric vehicle stabilized by means of an electronic gyro according to any of claims 1 to 3, characterized in that:
the rear wheel automatic steering machine (6) comprises a control unit, and the control unit changes the running state of the rear wheel (4) by controlling the running speed or the running direction of a built-in hub motor of the rear wheel (4);
or/and the rear wheel automatic steering machine (6) comprises a rear wheel steering unit, and the rear wheel steering unit realizes the adjustment of the swinging direction and the swinging amplitude of the rear wheel (4) through the mutual matching of a driving device and a transmission structure.
5. A two-wheeled electric vehicle stabilized by an electronic gyro as claimed in claim 4, wherein: the driving device in the rear wheel steering unit comprises a second steering motor (61), the transmission structure in the rear wheel steering unit comprises a second output gear (62), a second steering gear (63) and a rear wheel rotating shaft (64), the first steering motor (61) is connected with the second output gear (62), the second output gear (62) is in gear engagement with the second steering gear (63), the second steering gear (63) is fixed on the rear wheel rotating shaft (64) and is coaxial with the rear wheel rotating shaft, the rear wheel rotating shaft (64) is connected with the rear wheel (4) through a rear wheel support, and the second steering motor (61) rotates forwards or reversely so that the front fork and the rear wheel (4) swing left and right.
6. A two-wheeled electric vehicle stabilized by means of electronic gyros, according to any of claims 1 to 5, characterized in that: the automatic accumulator battery basket adjuster (7) changes the center of gravity of the vehicle body support (5) by rotating an accumulator battery basket (8) in which an accumulator battery is installed.
7. A two-wheeled electric vehicle stabilized by an electronic gyro as recited in claim 6, wherein: the automatic storage battery pack basket regulator (7) comprises a third steering motor (71), a third output gear (72), a third steering gear (73) and a storage battery pack basket rotating shaft (74); the third steering motor (71) is connected with the third output gear (72), the third output gear (72) is meshed with the third steering gear (73) through a gear, the third steering gear (73) is fixed on the storage battery pack basket rotating shaft (74) and is coaxial with the storage battery pack basket rotating shaft (74), the storage battery pack basket rotating shaft (74) is connected with the storage battery pack basket (8), and the third steering motor (71) rotates forwards or backwards to enable the storage battery pack basket (8) to swing left and right.
8. A balancing method for a two-wheeled electric vehicle, comprising the steps of:
when the automobile runs at a high speed, the front-wheel automatic steering machine (1) adjusts the automatic steering of the front wheels (3) through the rolling data of the automobile body bracket (5) acquired by the gyro stability controller (2), and the centrifugal force during the steering is actively restrained through the rolling of the automobile body;
or/and when the speed is low, the rear wheel automatic steering machine (6) adjusts the rear wheel (4) to automatically steer through the heeling data of the vehicle body support (5) acquired by the gyro stability controller (2), the influence of the rear wheel steering on the heeling angle is smaller than that of the front wheel (3), and the rear wheel automatic steering machine is suitable for steering at low speed, so that the steering flexibility is maximized.
9. A balancing method for a two-wheeled electric vehicle, comprising the steps of:
the front wheel (3) and the rear wheel (4) are both provided with power wheels with built-in hub motors, and the gyro stability controller (2) automatically distributes power to the front wheel (3) and the rear wheel (4) according to the driving condition to keep the driving stability at any time;
or, when the vehicle accelerates, the pushing mode is started, the driving torque of the front wheel (3) and the driving torque of the rear wheel (4) are the same, and the force is exerted simultaneously;
or, the pulling mode is started during steady running, the driving torque of the front wheels (3) is greater than that of the rear wheels (4);
or, the rear wheel driving or dragging mode is started during deceleration or braking, the braking force of the rear wheels (4) is larger than that of the front wheels (3) or the driving force of the rear wheels (4) is larger than that of the front wheels (3).
10. A balancing method for a two-wheeled electric vehicle, comprising the steps of:
when the vehicle body tilts rightwards under the action of external force or internal gravity center change, the gyro stability controller (2) detects the change of the tilt angle and sends out an instruction to enable a first steering motor (11) of the front-wheel automatic steering machine (1) to rotate rightwards, so that a geometric center (92) of the two-wheel electric vehicle swings leftwards to cross a grounding center line (91) until the gravity center tilts leftwards to cross the grounding center line (91) to generate a deflection moment, and the vehicle body stops continuing to tilt rightwards;
the grounding center line (91) is a shortest connecting line from a contact point of the front wheel and the ground to a contact point of the rear wheel and the ground; the geometric center (92) is the geometric center point of the body part when the battery basket returns to the center under the natural static state of the whole vehicle;
or/and the gyro stability controller (2) detects the change of the inclination angle and sends a command to enable a second steering motor (61) of the rear wheel automatic steering machine (6) to rotate to the left, so that the geometric center (92) swings to the left to cross the grounding center line (91) until the gravity center tilts to the left to cross the grounding center line (91) to generate a deflection moment, and the vehicle body stops continuing to tilt to the right;
or/and the gyro stability controller (2) detects the change of the inclination angle and sends a command to enable a third steering motor (71) of the storage battery pack basket automatic regulator (7) to rotate to the left, so that the geometric center of the storage battery pack basket (8) swings to the left to cross the grounding center line until the gravity center of the whole vehicle inclines to the left to cross the grounding center line to generate a deflection moment, and the vehicle body stops continuing to incline to the right;
or/and when the vehicle body tilts to the left under the action of external force or internal gravity center change, the motion in the opposite direction is executed to stabilize the vehicle body.
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE102022209328A1 (en) | 2022-09-08 | 2024-03-14 | Robert Bosch Gesellschaft mit beschränkter Haftung | Two-wheeler with steering assistance |
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