Dynamic balance car with cross-shaped wheels

Abstract

The invention discloses a dynamic balance vehicle with wheels arranged in a cross shape, and belongs to the field of vehicles. According to the dynamic balance vehicle with the wheels arranged in the cross shape, the side wheels are arranged at different positions between the front wheel and the rear wheel, so that the static safety performance and the dynamic safety performance of the vehicle are considered and adjusted, further optimization is conducted on the basis, and the dynamic balance vehicle has the better fault-tolerant characteristic compared with a right-three-wheel dynamic balance vehicle and an inverted-three-wheel dynamic balance vehicle; therefore, the safety is better; meanwhile, due to the cross-shaped wheel layout, a direct steering system can be continuously used in the vehicle, the hysteresis-free efficient steering function of the dynamic balance vehicle is achieved through an extremely simple and economical means, and the stability of dynamic balance of the vehicle is fundamentally guaranteed; and in addition, due to the characteristics of compact structure, small turning radius and the like of the cross-shaped arrangement of the wheels, the dynamic balance vehicle with the cross-shaped arrangement of the wheels becomes a small city commuting tool which is safer, more practical and more economical.

Description

technical field [0001] The invention relates to the field of vehicles, more specifically, to a dynamic balancing vehicle with wheels arranged in a cross shape. Background technique [0002] The current small electric vehicles or motorcycles mainly have the following problems: 1. Although the small two-wheeled vehicle is flexible and compact and has good dynamic balance characteristics, it cannot be fully enclosed and cannot fundamentally solve the problem of wind, rain and cold protection; Wheel system, anti-skid (braking), especially anti-skidding (braking stability) ability is poor, and the safety factor is low. ②Although a small three-wheeled or four-wheeled vehicle can use a fully enclosed compartment to enhance the braking performance, it is easy to rollover if the speed is fast. If it is fast but not rollover, it is necessary to increase the vehicle width and lose Because of its compact and flexible advantages, the speed of conventional small three-wheeled or four-whe...

AI Technical Summary

Problems solved by technology

[0002] The current small electric vehicles or motorcycles mainly have the following problems: 1. Although the small two-wheeled vehicle is flexible and compact and has good dynamic balance characteristics, it cannot be fully enclosed and cannot fundamentally solve the problem of wind, rain and cold protection; Wheel system, anti-skid (braking), especially anti-skid (braking stability) ability is poor, and the safety factor is low

②Although a small three-wheeled or four-wheeled vehicle can use a fully enclosed compartment to enhance the braking performance, it is easy to rollover if the speed is fast. If it is fast but not rollover, it is necessary to increase the vehicle width and lose Because of its compact and flexible advantages, the speed of conventional small three-wheeled or four-wheeled vehicles cannot be too fast, and the width direction is mostly more than 1 meter, which greatly limits its applicable people and occasions.

[0003] Chinese Patent No. ZL201480067213.4 discloses a "vehicle with a tilting frame", the tilting frame 2 of which can tilt relative to the main frame 1, and has a tilting axis 35 (the reference signs in the patent 201480067213.4 are used here), However, in the vehicle disclosed in this patent application, the inclination of the vehicle body frame is related to the steering of the vehicle, that is, the actuation of the tie rod 7 has two factors: the inclination of the inclination frame 2 and the rotation through the axis 59; Tilt will affect the steering of the car, conversely, the steering movement of the car will also affect the tilt of the body

Then, by adopting the indirect steering scheme with independent steering and swing, this paper makes a practical attempt on the four-wheel dynamic balance vehicle with non-integrated front wheel steering. The stability of dynamic balance has the most important adverse effect, which restricts the application of dynamic balance technology in real inverted three-wheel and four-wheel vehicles.

[0007] The cross-shaped layout of the wheels looks very similar to the traditional diamond-shaped layout, but after searching, this paper finds that the traditional diamond-shaped layout is mainly to solve the problem of compact design and flexible turning of the chassis. Its starting point and the problem to be solved Different from this article: Patent CN200310123893.0 "Rhombic Electric Vehicle" is an electric vehicle with diamond-shaped wheels, and patent CN200510137683.6 "Wheel Configuration Structure for Four-wheeled Vehicles" has free-steering front wheels, rear wheels and driven steerable wheels. The wheels on both sides and the wheels can be tilted. Patent CN200820161983.7 "Four-wheel Vehicle Chassis" has guiding front wheels, driven rear wheels and two-side wheels. It can be tilted, etc. These patents take the four-wheeled vehicle arranged in a rectangle as a comparison object, highlighting the technical advantages of the compact structure and smaller turning radius of the diamond-shaped arrangement; among them, the patent CN200510137683.6 "Wheel configuration structure of a four-wheeled vehicle" also Compared with tricycles, it shows its advantages over tricycles in terms of radius of rotation and anti-rollover ability (static stability safety factor SSF), but SSF has obvious defects in evaluating the anti-rollover ability of dynamic balancing vehicles during driving ( See later analysis); In addition, in the above-mentioned patents, either no steering system is mentioned, or the steering involved is an indirect steering system

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