Ball-wheel steering handlebar-free self-balancing bike

Abstract

The invention discloses a ball-wheel steering handlebar-free self-balancing bike. The bike comprises a frame, a front ball-wheel steering device and a rear wheel driving device, the front ball-wheel steering device comprises a ball wheel arranged on the basis of a front bike ball rack and a ball-wheel driving mechanism driving the ball wheel to rotate left and right, the front bike ball rack is installed at the front end of the frame, the ball wheel driving mechanism comprises a single-row omnidirectional wheel arranged on the top of a ball cover, the single-row omnidirectional wheel penetrates through an opening formed in the ball cover and makes vertically tangent and frictional contact with the hemisphere surface on the ball wheel, and the single-row omnidirectional wheel turns to a pancake motor; the rear wheel driving device comprises a rear wheel installed in a fork body of a rear fork, the rear fork is installed at the rear end of the frame, and a walking pancake motor is arranged on the fork body of the rear fork to drive a rear wheel. Accordingly, handlebar-free structural design is adopted, the lateral dimension of the bike body is reduced, the bike body is small in size,the road trafficability is good, flexible omnidirectional motion can be achieved within a small space range, and the wide application prospect is achieved in the fields of forest operation, acrobatics entertainment, security patrol and the like.

Description

Technical field: [0001] The invention relates to a self-balancing bicycle robot, in particular to a ball-wheel steering self-balancing bicycle without a handlebar. Background technique [0002] Bicycles have the characteristics of simple structure, small size, fast and flexible. Compared with four-wheeled vehicles, they can shuttle more freely in the streets and alleys. This advantage makes them widely used in forestry operations, acrobatic entertainment and security patrols. [0003] The self-balancing bicycle is the product of the combination of bicycle mechanism and automatic balancing control technology. At present, the representative self-balancing bicycle is the C-1 self-balancing two-wheeled bicycle produced by Lit Motors. Rotating flywheel, according to the principle of gyroscope, as long as the flywheel is driven to precess according to certain rules, gyro torque can be generated to maintain the balance of the car body. [0004] The self-balancing bicycle has a cer...

AI Technical Summary

Problems solved by technology

However, the existing bicycle mechanisms all adopt a structure with two wheels arranged in front and rear and with handlebars. Such a design will increase the turning radius of the vehicle body and also increase the overall lateral width of the vehicle body. Due to the limitation of the movement mode of the driving wheel, it is difficult for the balance bicycle to achieve flexible all-round movement in a small range

Studies have shown that there is an inner wheel difference in this turning mechanism (the difference between the turning radius of the front wheel and the turning radius of the rear wheel). danger of obstacles

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