CN112109815B - Crawler-type self-balancing car - Google Patents

Abstract

The present invention discloses a crawler type self-balancing vehicle, which comprises: a vehicle body; a controller, which is mounted on the vehicle body and comprises a gyroscope assembly for detecting the pitch angle of the vehicle body; and two power assemblies, which are respectively arranged on the left and right sides of the vehicle body, the power assembly comprises a motor, a crawler dial, a bracket, a crawler and at least two guide wheels, the motor is mounted on the side of the vehicle body and is electrically connected to the controller, the crawler dial is mounted on the power output end of the motor, the guide wheel is mounted on the bracket, and the bracket is connected to the motor rotation, and the crawler transmission is connected to the crawler dial and each guide wheel; when the gyroscope assembly detects that the vehicle body is tilted forward or backward, the controller controls each motor to rotate forward or reverse, and the bracket can rotate relative to the bracket according to the terrain and its own gravity. The beneficial effects of the present invention are: when passing through a complex road surface, the brackets on both sides can deflect independently according to the terrain, and the vehicle body is always perpendicular to the gravity direction, which can ensure that no overturning occurs, stable operation, and flexible operation.

Description

A crawler self-balancing vehicle

Technical Field

The present invention relates to the technical field of self-balancing vehicles, and in particular to a tracked self-balancing vehicle.

Background Art

Current self-balancing vehicles are difficult to maintain stability and balance during driving, and are difficult to adapt to complex road surfaces, such as ups and downs, undulating roads or obstacle roads. When passing through complex roads, the vehicle usually runs unsteadily, which can easily cause the vehicle to flip over and is inconvenient to operate.

Summary of the invention

One purpose of the present application is to provide a self-balancing vehicle that can run smoothly, prevent overturning when passing through complex roads, and is flexible and convenient to operate.

The purpose of this application is achieved through the following technical solutions:

A crawler-type self-balancing vehicle, comprising:

Vehicle body;

A controller, which is mounted on the vehicle body, and includes a gyroscope assembly for detecting a pitch angle of the vehicle body;

a battery mounted on the vehicle body and electrically connected to the controller; and

Two power assemblies, which are respectively arranged on the left and right sides of the vehicle body, the power assembly includes a motor, a track dial, a bracket, a track and at least two guide wheels, the fixed end of the motor is installed on the side of the vehicle body, the track dial is installed on the power output end of the motor, and the motor is electrically connected to the controller, the guide wheel is installed on the bracket, and the bracket is rotatably connected to the fixed end of the motor, and the track is transmission-connected to the track dial and each of the guide wheels;

Among them, when the gyroscope detects that the vehicle body is leaning forward or backward, the controller controls the motor to rotate forward or reverse to drive the track to rotate and maintain the vehicle body always perpendicular to the direction of gravity; when the tracked self-balancing vehicle is traveling on the road, the bracket can automatically rotate according to the terrain of the road and its own gravity.

In some embodiments of the present application, the bracket is provided with a front limit structure for limiting its forward swing angle relative to the vehicle body and a rear limit structure for limiting its rearward swing angle relative to the vehicle body.

In some embodiments of the present application, the front limiting structure is a first limiting member disposed at the front end of the bracket and cooperates with the front side of the frame to limit the position, and the rear limiting structure is a second limiting member disposed at the rear end of the bracket and cooperates with the rear side of the frame to limit the position.

In some embodiments of the present application, the at least two guide wheels include at least two first guide wheels and two second guide wheels respectively arranged at the front and rear ends of each of the first guide wheels, each of the first guide wheels is distributed in a straight line or an arc, and the second guide wheels are located obliquely above the first guide wheels.

In some embodiments of the present application, a shock absorber is connected between the guide wheel and the bracket.

In some embodiments of the present application, the vehicle body comprises:

a frame, on which the controller and the motor are mounted; and

A handlebar is mounted on the top of the frame.

In some embodiments of the present application, the handlebar is rotatably connected to the frame, a sensor for detecting a rotation angle of the handlebar relative to the frame is provided between the handlebar and the frame, and the sensor is electrically connected to the controller;

When the sensor detects that the handlebar rotates at different angles relative to the frame, the controller controls the rotation speeds of the motors to be different to form a differential speed.

In some embodiments of the present application, the handlebar includes a bottom bar and a top bar, the bottom bar is rotatably connected to the frame, and the top bar is rotatably connected to the bottom bar, the bottom bar can swing left or right relative to the frame, and the rotation centerline of the top bar is parallel to the extension direction of the handlebar;

The sensor includes a swing angle sensor provided at a connection position between the bottom bar and the frame and a rotation angle sensor provided at a connection position between the top bar and the bottom bar.

In some embodiments of the present application, a first return-to-center mechanism is connected between the bottom bar and the frame, which enables the bottom bar to automatically swing back to its original position relative to the frame, and a second return-to-center mechanism is connected between the top bar and the bottom bar, which enables the top bar to automatically rotate back to its original position relative to the bottom bar.

In some embodiments of the present application, the frame includes a support base and two side frames respectively installed on the left and right sides of the support base, the support base includes a base plate and a pedal arranged above the base plate, the side frame connects the base plate and the pedal, an installation cavity is defined between the base plate and the pedal, the controller and the battery are both installed in the installation cavity, the handlebar is installed on the pedal, and the motor is installed on the side frame.

The tracked self-balancing vehicle of the present application has a controller with a gyroscope assembly for detecting the pitch angle of the vehicle body. The gyroscope constantly detects the forward or backward tilt of the vehicle body, and controls the forward or reverse rotation of the motor according to the forward or backward tilt of the vehicle body, thereby driving the vehicle forward or backward, and according to the principle of the inverted pendulum, it is used to maintain the vehicle body perpendicular to the direction of gravity, which is not only flexible to operate but also can prevent the vehicle from overturning; on this basis, the bracket is rotatably installed on the fixed end of the motor, and when the vehicle is traveling on a non-horizontal complex road surface, the bracket will automatically rotate relative to the vehicle body according to the terrain of the ground and its own gravity, and the lower surface composed of the guide wheels on the bracket drives the crawler connected thereto to keep close to the ground, and the vehicle body is always perpendicular to the direction of gravity of the human body, that is, it always maintains a horizontal direction, thereby ensuring that the vehicle will not overturn when passing through a complex road surface.

BRIEF DESCRIPTION OF THE DRAWINGS

The present application is further described in detail below in conjunction with the accompanying drawings and preferred embodiments, but those skilled in the art will appreciate that these drawings are drawn only for the purpose of explaining the preferred embodiments and therefore should not be used as a limitation on the scope of the present application. In addition, unless otherwise specified, the drawings are intended only to conceptually represent the composition or structure of the described objects and may contain exaggerated displays, and the drawings are not necessarily drawn to scale.

FIG1 is a schematic structural diagram of an embodiment of a tracked self-balancing vehicle of the present application;

FIG2 is a schematic diagram of the layout of section A of FIG1 ;

Fig. 3 is a left side view of Fig. 1;

Fig. 4 is an exploded schematic diagram of Fig. 1;

FIG5 is a schematic structural diagram of a body of the tracked self-balancing vehicle in FIG1 ;

FIG6 is a schematic diagram of the crawler-type self-balancing vehicle in FIG1 when going uphill;

FIG7 is a schematic diagram of the crawler-type self-balancing vehicle in FIG1 when going downhill;

FIG8 is a schematic diagram of the tracked self-balancing vehicle in FIG1 passing an obstacle road;

FIG9 is a schematic diagram of the crawler-type self-balancing vehicle in FIG1 descending a step;

FIG10 is a schematic diagram of the crawler-type self-balancing vehicle in FIG1 when it stops;

FIG11 is a schematic diagram of the crawler-type self-balancing vehicle in FIG1 when it is invited to enter;

FIG12 is a schematic diagram of the crawler-type self-balancing vehicle in FIG1 when braking or moving backward;

FIG13 is a schematic diagram of the tracked self-balancing vehicle in FIG1 when turning left;

FIG. 14 is a schematic diagram of the tracked self-balancing vehicle in FIG. 1 when turning right.

In the figure, 1. body; 11. frame; 111. support seat; 1111. bottom plate; 1112. pedal; 1113. installation cavity; 112. side frame; 12. handlebar; 121. bottom rod; 122. top rod; 2. controller; 3. power assembly; 31. motor; 32. track dial; 33. bracket; 34. track; 35. guide wheel; 351. first guide wheel; 352. second guide wheel; 36. front limit structure; 361. first limit member; 37. rear limit structure; 371. second limit member; 4. swing angle sensor; 5. rotation angle sensor; 6. battery.

DETAILED DESCRIPTION

The preferred embodiments of the present application will be described in detail below with reference to the accompanying drawings. It will be appreciated by those skilled in the art that these descriptions are only illustrative and exemplary and should not be construed as limiting the scope of protection of the present application.

First, it should be noted that the top, bottom, upward, downward and other directions mentioned in this article are defined relative to the directions in the respective drawings, and they are relative concepts, and therefore can be changed according to different positions and different practical states. Therefore, these or other directions should not be understood as restrictive terms.

It should be noted that the term "comprising" does not exclude other elements or steps and "a" or "an" does not exclude a plurality.

In addition, it should be pointed out that any single technical feature described or implied in the embodiments of this document, or any single technical feature shown or implied in the drawings, can still be combined between these technical features (or their equivalents) to obtain other embodiments of the present application that are not directly mentioned in this document.

It should also be understood that the terms "first", "second", etc. are used herein to describe various information, but such information should not be limited to these terms, which are only used to distinguish the same type of information from each other. For example, without departing from the scope of this application, "first" information may also be referred to as "second" information, and similarly, "second" information may also be referred to as "first" information.

It should be noted that in different drawings, the same reference numerals denote the same or substantially the same components.

As shown in Figures 1 to 5, a track 34-type self-balancing vehicle according to an embodiment of the present application includes: a vehicle body 1, a controller 2, a battery 6 and two power components 3; the controller 2 is mounted on the vehicle body 1, the controller 2 includes a gyroscope component for detecting the pitch angle of the vehicle body 1, the battery 6 is mounted on the vehicle body 1 and is electrically connected to the controller 2 to supply power to the controller 2, the two power components 3 are respectively arranged on the left and right sides of the vehicle body 1, the power component 3 includes a motor 31, a track dial 32, a bracket 33, a track 34 and at least two guide wheels 35, the fixed end of the motor 31 is mounted on the side of the vehicle body 1, and The motor 31 is electrically connected to the controller 2, the track dial 32 is installed at the power output end of the motor 31, the guide wheel 35 is installed on the bracket 33, and the bracket 33 is rotatably connected to the fixed end of the motor 31, and the track 34 is transmission-connected to the track dial 32 and each guide wheel 35; wherein, when the gyroscope assembly detects that the vehicle body 1 leans forward or backward, the controller 2 controls each motor 31 to rotate forward or reverse to drive the track 34 to rotate and maintain the vehicle body 1 always perpendicular to the direction of gravity; when the vehicle is traveling on the road, the bracket 33 can automatically rotate relative to the vehicle body according to the terrain of the road and its own gravity.

The crawler 34-type self-balancing vehicle of the present application works based on the inverted pendulum principle: when in use, the driver can stand or sit vertically on the vehicle body 1, as shown in FIG10; when the driver drives the vehicle body 1 to tilt forward, as shown in FIG11, the gyroscope assembly detects that the vehicle body 1 tilts forward and then controls the motor to reverse, driving the crawler dial 32 to rotate to drive the crawler 34 to rotate forward, and finally the vehicle moves forward, and the greater the angle of the vehicle body 1 tilting forward, the greater the speed of the control motor 31, which not only achieves acceleration, but also uses the inverted pendulum principle to make the vehicle body 1 always face perpendicular to the The vehicle body 1 rotates to one side in the direction of gravity, thereby preventing the vehicle from flipping over during driving; when the driver drives the vehicle body 1 to lean back, as shown in FIG12, the gyroscope assembly detects that the vehicle body 1 leans back and then controls the motor 31 to rotate forward, driving the track dial 32 to rotate, and the track 34 to rotate backward, thereby finally achieving the braking or reverse operation of the vehicle; during specific operation, the driver can drive the vehicle body 1 to lean forward or backward by leaning forward or backward, or by pushing with hands or feet, etc., which is flexible to operate and can prevent the vehicle from flipping over during driving, reverse and braking.

On this basis, the bracket 33 in this embodiment is rotatably connected to the fixed end of the motor 31, and the bracket 33 can drive the guide wheel 35 thereon to rotate around the vehicle body 1 as a whole. When the vehicle travels on a non-horizontal complex road, the bracket 33 will rotate relative to the vehicle body 1 according to the terrain of the ground and the effect of its own gravity. The lower surface composed of the guide wheels 35 on the bracket 33 drives the track 34 connected thereto to keep close contact with the ground, and the vehicle body 1 is always perpendicular to the gravity direction of the human body, that is, always maintains a horizontal direction, so as to ensure that the vehicle will not flip over when passing through a complex road. Specifically, Figures 6 to 8 show schematic diagrams of the vehicle passing through roads with different road conditions, wherein Figure 6 shows a schematic diagram of the tracked 34-type balancing vehicle going uphill, Figure 7 shows a schematic diagram of the vehicle going downhill, and Figure 8 shows a schematic diagram of the vehicle passing an obstacle surface. The lower surface composed of the guide wheels 35 on the bracket 33 is always in contact with the road surface, and the vehicle body 1, under the linkage action of the gyroscope assembly and the motor 31, always maintains a perpendicular direction to the driver's gravity, thereby ensuring that the vehicle is prevented from rolling over when going uphill, downhill or on an obstacle road, and maintains stable operation.

Exemplarily, in this embodiment, the motor 31 is connected to the vehicle body 1 through its central axis, and the bracket 33 is rotatably connected to the central axis of the motor 31 .

In addition, when the vehicle passes through some extreme road conditions, in order to prevent the vehicle body 1 from overturning due to an excessively large rollover angle, a front limit structure 36 for limiting its forward tilt angle relative to the vehicle body 1 and a rear limit structure 37 for limiting its backward tilt angle relative to the vehicle body 1 are provided on the bracket 33. As shown in FIG9 , when the vehicle moves forward through a high step, the rear limit structure 37 can limit the rearward swing angle of the bracket 33 relative to the vehicle body 1, thereby effectively preventing the vehicle from rolling forward; similarly, when the vehicle needs to travel backward through a high step, the front limit structure 36 limits the forward swing angle of the bracket 33 relative to the vehicle body 1, thereby preventing the vehicle from rolling backward.

Specifically, as shown in FIG3 , the front limiting structure 36 and the rear limiting structure 37 in this embodiment both adopt mechanical limiting, which can not only realize the reliability of limiting, but also has low cost. The front limiting structure 36 is a first limiting member 361 provided at the front end of the bracket 33 and cooperates with the front side of the frame 11 for limiting. As shown in FIG9 , the first limiting member 361 abuts against the front side of the frame 11, and the rear limiting structure 37 is a second limiting member 371 provided at the rear end of the bracket 33 and cooperates with the rear side of the frame 11 for limiting. It should be noted that other limiting forms can also be adopted, such as inductive limiting, etc.

In this embodiment, in order to improve the driving comfort, a shock absorber (not shown in the drawings) is connected between the guide wheel 35 and the bracket 33 to buffer the vibration during driving.

In order to further improve the stability of vehicle operation, in some embodiments of the present application, the guide wheels 35 include at least two first guide wheels 351 and two second guide wheels 352 respectively arranged at the front and rear ends of each first guide wheel 351. Each first guide wheel 351 is distributed in a straight line or an arc, and is usually based on the structure of the inverted pendulum principle. The arc arrangement of the first guide wheels 351 can better ensure the gripping stability of the vehicle when passing complex roads or obstacles. The second guide wheel 352 is located diagonally above the first guide wheel 351, and mainly plays the role of tensioning the track 34, which is used to automatically supplement the track dial slippage that may be caused by track relaxation. Installing the second guide wheel 352 diagonally above the first guide wheel 351 enables the vehicle to climb higher obstacles.

In this embodiment, the vehicle body 1 includes a frame 11 and a handlebar 12, the controller 2 and the motor 31 are both mounted on the frame 11, and the handlebar 12 is mounted on the top of the frame 11; the crawler 34-type self-balancing vehicle is mainly suitable for the driver to stand on the frame 11 and ride, and the operation is flexible. On this basis, the driver usually pushes the handlebar 12 to drive the frame 11 to follow the body to lean forward or backward, so as to control the vehicle to move forward, brake or reverse.

Specifically, in order to facilitate steering, the handlebar 12 is connected to the frame 11 in rotation, and a sensor for detecting the rotation angle of the handlebar 12 relative to the frame 11 is provided between the handlebar 12 and the frame 11, and the sensor is electrically connected to the controller 2; wherein, when the sensor detects that the handlebar 12 rotates at different angles relative to the frame 11, the controller 2 controls the rotation speeds of the motors 31 to be different to form a differential speed. For example, when a left turn is required, the handlebar 12 is controlled to turn left relative to the frame 11, so that the controller 2 controls the motors 31 on both sides to have different rotation speeds, and the motor 31 on the right has a rotation speed greater than the motor 31 on the left, so that a left turn can be achieved; when a right turn is required, the handlebar 12 is controlled to turn right.

Specifically, as shown in Figures 2, 4 and 5, the handlebar 12 in this embodiment includes a bottom bar 121 and a top bar 122. The driver operates the steering by holding the top of the top bar 122. The bottom bar 121 and the frame 11, as well as the top bar 122 and the bottom bar 121 are rotatably connected. The bottom bar 121 can swing left and right relative to the frame 11, and the rotation center line of the top bar 122 is parallel to the extension direction of the handlebar 12; the sensor includes a swing angle sensor 4 provided at the connection position of the bottom bar 121 and the frame 11, and a rotation angle sensor 5 for the rotation angle provided at the connection position of the top bar 122 and the bottom bar 121. Firstly, the top rod 122 and the bottom rod 121 are swingably connected to the vehicle frame 11 as a whole. Secondly, the top rod 122 and the bottom rod 121 are rotationally connected. The driver can rotate the top rod 122 to the left or right relative to the bottom rod 121 by hand rotation to achieve left or right turn. Similarly, the driver can also lean the body to the left or right to drive the top rod 122 and the bottom rod 121 to swing left or right relative to the vehicle frame 11 as a whole to achieve turning. The operation is flexible and reliable.

Specifically, FIGS. 13 and 14 show that the driver drives the handlebar 12 (top bar 122 and bottom bar 121 ) to swing left or right relative to the frame 11 by swinging the body left or right, thereby realizing left or right turning.

More specifically, a first return-to-center mechanism (not specifically shown in the drawings) is connected between the bottom bar 121 and the frame 11, and is capable of automatically swinging the bottom bar 121 back to its original position relative to the frame 11; a second return-to-center mechanism (not specifically shown in the drawings) is connected between the top bar 122 and the bottom bar 121, and is capable of automatically rotating the top bar 122 back to its original position relative to the bottom bar 121; when the handlebar 12 is turned to achieve a turning operation, the handlebar 12 can automatically return to its original position.

For example, the first centering mechanism may be an elastic member connecting the bottom bar and the frame, and the second centering mechanism may be an elastic member connecting the bottom bar and the top bar. Preferably, as shown in FIG5 , the frame 11 includes a support seat 111 and two side frames 112 respectively mounted on the left and right sides of the support seat 111, the motor 31 is mounted on the side frames 112, and the handlebar 12, the controller 2 and the battery 6 are all connected to the support seat 111.

More specifically, in order to facilitate the distribution of various components, the support base 111 includes a base plate 1111 and a pedal 1112 arranged above the base plate 1111, the side frame 112 connects the base plate 1111 and the pedal 1112, and an installation cavity 1113 is defined between the base plate 1111 and the pedal 1112, and the controller 2 and the battery 6 are both installed in the installation cavity 1113.

In summary, the tracked self-balancing vehicle of the present application has a controller with a gyroscope assembly for detecting the pitch angle of the vehicle body. The gyroscope constantly detects the forward or backward tilt of the vehicle body, and controls the motor to rotate forward or reverse according to the forward or backward tilt of the vehicle body, thereby driving the vehicle forward or backward, and utilizes the principle of the inverted pendulum structure to maintain the vehicle body always perpendicular to the direction of gravity of the earth (i.e., keep it horizontal), which is not only flexible to operate but also can prevent overturning; on this basis, the bracket is rotatably installed on the motor, and when the vehicle is traveling on a non-horizontal complex road, the bracket can automatically rotate relative to the vehicle body according to the terrain of the ground and its own gravity, and the lower surface composed of the guide wheels on the bracket drives the track connected thereto to keep close to the ground, and the vehicle body is always perpendicular to the direction of gravity of the human body, i.e., always keeps a horizontal direction, thereby ensuring that the vehicle will not overturn when passing through a complex road.

This specification discloses the present application with reference to the accompanying drawings, and also enables those skilled in the art to implement the present application, including making and using any device or system, using suitable materials, and using any combined method. The scope of the present application is defined by the technical solution for protection, and includes other examples that occur to those skilled in the art. As long as such other examples include structural elements that are not different from the literal language of the technical solution for protection, or such other examples contain equivalent structural elements that are not substantially different from the literal language of the technical solution for protection, such other examples should be considered to be within the scope of protection determined by the technical solution for protection of the present application.

Claims (5)

1. A crawler-type self-balancing truck, comprising:

A vehicle body;

A controller mounted on the vehicle body, the controller including a gyroscope assembly for detecting a pitch angle of the vehicle body;

A battery mounted on the vehicle body and electrically connected to the controller; and

The two power components are respectively arranged on the left side and the right side of the vehicle body, the power components comprise a motor, a track driving plate, a bracket, a track and at least two guide wheels, the fixed end of the motor is arranged on the side part of the vehicle body, the track driving plate is arranged at the power output end of the motor, the motor is electrically connected with the controller, the guide wheels are arranged on the bracket, the bracket is rotationally connected with the fixed end of the motor, and the track is connected with the track driving plate and each guide wheel in a transmission way;

When the gyroscope detects forward tilting or backward tilting of the vehicle body, the controller controls the motor to rotate forward or backward so as to drive the crawler belt to rotate and keep the vehicle body vertical to the gravity direction all the time; when the crawler-type self-balancing vehicle runs on a road surface, the bracket can automatically rotate according to the terrain of the road surface and the gravity action of the bracket;

the vehicle body includes:

The controller and the motor are both arranged on the frame; and

A handle bar mounted on top of the frame;

The bracket is provided with a front limiting structure for limiting the front swing angle of the bracket relative to the vehicle body and a rear limiting structure for limiting the rear swing angle of the bracket relative to the vehicle body;

The front limiting structure is a first limiting part which is arranged at the front end of the bracket and is matched and limited with the front side of the frame, and the rear limiting structure is a second limiting part which is arranged at the rear end of the bracket and is matched and limited with the rear side of the frame;

The handle bar is rotationally connected with the frame, a sensor for detecting the rotation angle of the handle bar relative to the frame is arranged between the handle bar and the frame, and the sensor is electrically connected with the controller;

When the sensor detects that the handle bar rotates by different angles relative to the frame, the controller respectively controls the rotation speeds of the motors to be different so as to form a differential speed;

the handlebar comprises a bottom rod and a top rod, the bottom rod is rotationally connected with the frame and the top rod is rotationally connected with the bottom rod, the bottom rod can swing left and right relative to the frame, and the rotation center line of the top rod is parallel to the extending direction of the handlebar;

The sensor comprises a swing angle sensor arranged at the connection position of the bottom rod and the frame and a rotation angle sensor arranged at the connection position of the top rod and the bottom rod.

2. The crawler-type self-balancing truck according to claim 1, wherein the at least two guide wheels comprise at least two first guide wheels and two second guide wheels respectively arranged at the front end and the rear end of each first guide wheel, each first guide wheel is distributed in a straight line or in an arc line, and the second guide wheels are positioned above the first guide wheels in an inclined manner.

3. The crawler-type self-balancing truck of claim 1, wherein a shock absorber is connected between the guide wheel and the bracket.

4. The crawler-type self-balancing truck according to claim 1, wherein a first centering mechanism capable of enabling the bottom rod to swing back relative to the truck frame is connected between the bottom rod and the truck frame, and a second centering mechanism capable of enabling the top rod to rotate back relative to the bottom rod is connected between the top rod and the bottom rod.

5. The crawler-type self-balancing truck according to claim 4, wherein the truck frame comprises a supporting seat and two side frames respectively installed on the left side and the right side of the supporting seat, the supporting seat comprises a bottom plate and a pedal arranged above the bottom plate, the side frames are connected with the bottom plate and the pedal, an installation cavity is defined between the bottom plate and the pedal, the controller and the battery are installed in the installation cavity, the handlebar is installed on the pedal, and the motor is installed on the side frames.