A human-machine combined self-balancing scooter

Abstract

This patent proposes a human-machine combined scooter, which draws on the characteristics of current two-wheelers and three-wheelers respectively and combines their advantages. It has the human balance characteristics of two-wheelers and the characteristics of three-wheelers / four-wheelers in contact with the ground. During the driving process of the vehicle, through the balance of the human body, safety and stability are ensured, and at the same time, the anti-skid ability is enhanced; when the vehicle is at low speed and parked, the person does not need to stretch their feet out of the carriage to ensure the vehicle body stands upright steadily, and a fully enclosed carriage for small vehicles is realized, which can not only reduce the size of the vehicle but also has very high safety.

Description

Technical Field

[0001] This patent relates to the field of vehicles, and particularly to a human-machine combined balancing scooter. Background Art

[0002] Currently, small electric vehicles and motor vehicles (motorcycles) are mainly two-wheeled, small three-wheeled and four-wheeled. Cars (sedans) and new energy vehicles are not within the scope of discussion in this article. The current situations and existing problems of two-wheeled and three-wheeled / four-wheeled (small) vehicles are analyzed separately below.

[0003] 1. Two-wheeled Vehicles

[0004] The essence of the balance system principle of traditional two-wheeled bicycles (hereinafter referred to as two-wheeled vehicles) is human balance perception and balance control. Therefore, there is no need for the vehicle to have a complex structure or any electrical equipment.

[0005] There are two fulcrums in the front and rear directions of the two-wheeled vehicle, which are stable. However, there is only one fulcrum in the left and right directions (such as the O point shown), so balance in the left and right directions is required, and this balance is achieved by the person. During the driving process of the vehicle, the person fine-tunes the driving direction of the vehicle (a very small turn, which can be expressed by the turning radius r) and the vehicle speed v so that the resultant force F of F and G (the extension line) alternately passes through the O point back and forth, thereby achieving dynamic balance. Therefore, the driving route of the two-wheeled vehicle is not a theoretical straight line, but a slightly fluctuating S curve. Also, because of this, the two-wheeled vehicle cannot stand on the O point without falling when it is stationary. Figure 1 Shown 离 In addition to the fact that the body of the two-wheeled vehicle makes extremely fine periodic swings around the O point during the driving process microscopically, when the vehicle turns through a curve, the body has a large inclination (controlling the swing angle θ) macroscopically to overcome the large centrifugal force and make the resultant force F pass through the O point; when the vehicle decelerates until it stops, the person uses both feet to support on the ground to maintain an upright position.

[0006]

[0007] From the above analysis, it can be seen that during the entire driving process of the two-wheeled vehicle, the body constantly makes left and right swings around the O point under the control of the person (adjusting v, r, θ) to achieve the non-falling of the body under dynamic balance. However, since the two-wheeled vehicle needs the assistance of the person's feet touching the ground to keep the vehicle upright when it is at a low speed and stationary. From this, the conclusion is obtained: Since the two-wheeled vehicle utilizes the body's own balance ability to keep the vehicle stable, the two-wheeled vehicle has extremely high stability and safety during normal driving. However, at low speeds and when stationary, the two-wheeled vehicle requires the person's feet as a fulcrum. Therefore, the fundamental reason why the two-wheeled vehicle cannot adopt an enclosed carriage is the lack of a fulcrum at low speeds and when stationary.

[0008] In recent years, there have been self-balancing two-wheel vehicles using gyroscope technology, which can achieve a fully enclosed carriage on the premise of safety, but their prices are very high and they have not been popularized yet. In addition, there are also fully enclosed two-wheel vehicles with retractable auxiliary wheels, which are relatively safe but have not been popularized and applied either.

[0009] Since the friction between a two-wheel vehicle and the ground is less than that of a three-wheel or four-wheel vehicle, its anti-skid ability during driving is inferior to that of a three-wheel and four-wheel vehicle.

[0010] 2. Three-wheel / four-wheel vehicle

[0011] At present, small three-wheel / four-wheel vehicles can be made into fully enclosed carriages, but their biggest problem is the high risk of tipping over when turning. The smaller the lateral distance between the two wheels, the easier it is to tip over; increasing the size will make the vehicle more cumbersome and less convenient and flexible to use. The force analysis is as Figure 2 .

[0012] From Figure 2 it can be seen that when a traditional three-wheel / four-wheel vehicle turns, if the extension line of the resultant force F intersects the ground at point P between the two-wheel fulcrums A and B (left figure), the vehicle is stable and safe, and points A and B are the critical points; when F 离 increases, point P approaches point A and finally crosses point A and falls outside AB (right figure), and in this case, the vehicle will tip over. The critical value of the included angle θ between the resultant force F and the gravity G is α, that is, when θ ≤ α, it is safe, otherwise it will tip over, and the critical value α = arctan(L / 2H).

[0013] From the above analysis, it can be seen that: since the three-wheel / four-wheel vehicle adds a fulcrum in the left-right direction, the contact between the vehicle and the ground changes from a "line" to a "surface", making it have "innate" static stability and anti-skid ability when parking. However, compared with a two-wheel vehicle, a three-wheel / four-wheel vehicle has a risk of tipping over because it abandons the balancing function of people during driving. When three or four wheels are on the ground, people naturally think that their own balance is no longer necessary and completely rely on the inherent support structure of the vehicle, so the contradiction between the size of the vehicle and safety arises.

[0014] The traditional design idea always fails to combine the characteristics of a two-wheel vehicle with a three-wheel or four-wheel vehicle. Increasing the number of wheels means abandoning the balancing function of people, which is the most fundamental defect of the traditional design idea. Summary of the Invention

[0015] This patent realizes the full enclosure of the carriage of a small vehicle on the premise of safe driving and stable parking through simple and economical means, so that the small vehicle can completely protect against wind, rain, sun, and keep warm. It solves the problems mentioned in the "Background Art" that the carriage of the current two-wheel vehicle cannot be fully enclosed and the anti-skid ability is insufficient, and there is a risk of tipping over for small three-wheel / four-wheel vehicles.

[0016] A human-machine combined balance scooter, comprising a balance scooter body 1, a swing device 2, a vehicle chassis 3, and a swing control device 4;

[0017] The balance scooter body 1 is connected to the vehicle chassis 3 through the swing device 2, and the balance scooter body 1 realizes swinging relative to the vehicle chassis 3 in the vertical direction along the vehicle's travel direction, that is, lateral swinging, through the swing device 2;

[0018] The swing control device 4 is used to control the lateral swing and / or swing amplitude of the balance scooter body 1.

[0019] The biggest feature of the human-machine combined balance scooter is that it utilizes the human body's perception and balance ability to achieve the dynamic balance of the vehicle body. The driver adjusts the swing angle, forward direction, and vehicle speed of the vehicle body by feeling the magnitude of the centrifugal force on the body, so that the resultant force of the centrifugal force and gravity passes through the fulcrum of the swing device, thereby making the vehicle body stable in an upright balanced state; when the vehicle is running at a low speed and parked, the swing control device 4 is used to make the vehicle body upright. And the condition for realizing human balance control is that the balance scooter body 1 can swing freely relative to the vehicle chassis 3.

[0020] The upright balanced state of the balance scooter body can also be achieved by an electronic balance control device, such as using a gyroscope and its control system currently used in balance scooters.

[0021] Further, the implementation structure of the swing device 2 is a turning pair, which can be a higher pair of turning pairs or a lower pair of turning pairs. There can be various implementation forms of the swing device 2, and the turning pair is the most common form.

[0022] Further, when the swing device 2 adopts a higher pair of turning pairs, one way is a rotating device composed of bearings. Specifically, the bottom end of the balance scooter body 1 is integrally connected to a rotating shaft 22, both ends of the rotating shaft 22 are installed with bearings 23, and the bearings 23 are installed in a bearing housing formed by a bearing base 24 and a bearing cover 21. The bearing base 24 is fixed on the vehicle chassis 3, and the balance scooter body 1 swings with the rotating shaft 22 as the rotation center; when the swing device 2 adopts a lower pair of turning pairs, one way is a rotating device with a hinge structure. Specifically, the bottom end of the balance scooter body 1 is integrally connected to an upper member 26, a lower member 28 is fixed on the vehicle chassis 3, a pin 27 passes through the upper member 26 and the lower member 28, and is axially fixed by a fastener 29. The balance scooter body 1 swings with the pin 27 as the rotation center.

[0023] Further, the vehicle chassis 3 is a device equipped with wheels that enable the entire vehicle to form at least two points of support with the road surface in the lateral direction (the vertical direction perpendicular to the vehicle's forward movement). It cooperates with the wheels in the forward direction of the vehicle to form a surface contact of the entire vehicle with the ground. The vehicle chassis does not necessarily include all the wheels, which depends on the situation, but it is a device that constitutes at least two points of support for the entire vehicle in the lateral direction.

[0024] Further, when the vehicle chassis 3 adopts a two-wheel structure, one wheel is installed on each of the left and right sides in the lateral direction. The vehicle chassis 3 with the two-wheel structure and a single wheel form a three-wheel structure of a single front wheel and two rear wheels, or two front wheels and a single rear wheel; or, the vehicle chassis 3 with the two-wheel structure is combined into a four-wheel structure of two front wheels and two rear wheels. When the human-machine combined balance vehicle adopts a three-wheel structure, its single wheel is arranged on the balance body 1. For example, in a vehicle with a single front wheel and two rear wheels, the front wheel is arranged on the balance body at this time. Another example is two front wheels and a single rear wheel, and the rear wheel is arranged on the balance body at this time; when the human-machine combined balance vehicle adopts a four-wheel structure, no wheels are arranged on the balance body, and the body is connected to the front and rear chassis 3 of the vehicle through the two front and rear swing devices 2.

[0025] Further, the vehicle chassis 3 is composed of a support beam 31, a shock absorber 32, a wheel carrier 33, and a wheel 34. The wheel 34 is installed at the left and right ends of the wheel carrier 33, and the support beam 31 is installed above the wheel carrier 33 through the shock absorber 32. Only one specific structural form is given here, but it is not limited to this. There are many combination forms of vehicle chassis forms that achieve the same effect.

[0026] Further, the balance body 1 includes a direction mechanism 11, a power device or battery 12 of the vehicle, a seat 13, a body frame and a housing 14. Specifically, the direction mechanism 11 is a handle steering mechanism similar to that of a current electric bicycle. Each of these components can adopt existing technologies and products, and they are necessary elements that make up the entire vehicle. The body frame and housing 14 can be open or fully enclosed.

[0027] Further, the swing control device 4 is composed of a parking device 41 and a parking control device 42. When the vehicle is running at a low speed or parked, the parking device 41 restricts the swing of the balance body 1 under the control of the parking control device 42 to keep the body upright.

[0028] Further, the swing control device 4 is an electronic balance control device, which consists of a sensor, a controller and an actuator. The sensor can sense the balance state of the balance vehicle body 1 and send it to the controller. The controller processes the information transmitted back by the sensor and then controls the actuator to work. By controlling the swing of the balance vehicle body 1, the vehicle speed and the turning radius of the vehicle, the balance vehicle body 1 is maintained in a stable balance state. Specifically, the electronic balance control device is the gyroscope sensing and balance control system of the current balance scooter.

[0029] Further, the parking device 41 adopts a telescopic structure, and the driver controls the telescopic length thereof to support it on the vehicle chassis 3, so as to obtain the required supporting force during low speed or parking, limit the swing of the balance vehicle body 1, and keep the vehicle body upright. In addition to the telescopic structure, the parking device 41 can also adopt forms such as a lever structure and a locking structure.

[0030] Further, a specific structure of the telescopic parking device 41 is a combination mechanism of a cam and a slide rod: the cam mechanism 411 fixed inside the vehicle body contacts the parking support rod 414. The parking support rod 414 can slide in the slide rail 412, and the slide rail 412 is fixed on the balance vehicle body 1. A spring 413 is arranged at the lower part of the support rod 414. When the cam mechanism 411 rotates, under the action of the spring 413, the parking support rod 414 closely adheres to the cam and slides up and down along the slide rail to achieve the telescopic action; when the parking support rod 414 contracts to the limit position, it also plays a role in limiting the maximum swing angle of the balance vehicle body 1.

[0031] Further, when the parking control device 42 is a force transmission mechanism, the driver can transmit the control force generated through the parking control device 42 to the parking device 41 to make the parking device 41 act, so as to achieve low-speed assistance or parking. When the parking control device is also a signal control mechanism, the driver sends a control signal to the parking control device, and the parking control device converts the control signal into a control of the parking device to make the parking device act, so as to achieve low-speed assistance or parking.

[0032] Further, the parking control device 42 has a foot-operated structure, which consists of a foot-operated device 421 and a transmission device 422. The transmission device 422 can be a steel wire rope, a connecting rod force transmission mechanism or a hydraulic force transmission mechanism, etc. A person steps on the foot-operated device 421 to generate a displacement, and the transmission device 422 transmits this displacement to the cam mechanism 411 to make it rotate, and then the parking support rod 414 moves up and down to achieve the telescopic action.

[0033] Furthermore, the swing control device 4 further includes a vehicle body swing limiting device 43 for limiting the maximum swing angle of the balance vehicle body 1.

[0034] Furthermore, the vehicle body swing limiting device 43 is a limiting block fixed on both sides of the bottom of the balance vehicle body 1. As the swing angle of the balance vehicle body 1 increases, the vehicle body swing limiting device 43 gets closer and closer to the vehicle chassis 3 until it touches the vehicle chassis, thus playing a role in limiting the maximum swing angle of the balance vehicle body 1.

[0035] Furthermore, the human-machine combined balance vehicle further includes a forced deceleration device 5. When the vehicle body swings close to the maximum position, the forced deceleration device 5 is activated to decelerate the vehicle. The purpose of this is to improve the driving safety performance. Because when the balance vehicle body swings to the maximum angle, it means that the centrifugal force has reached the limit. At this time, forced deceleration can effectively reduce the centrifugal force and prevent accidents caused by accidental mistakes during human operation.

[0036] Furthermore, one structure of the forced deceleration device 5 is similar to a mechanical brake lever device. Its trigger rod 51 is installed between the bottom of the balance vehicle body 1 and the vehicle chassis 3. The trigger rod is connected to the brake wire 53. The wire sheath base 52 is fixed on the balance vehicle body. The end of the brake wire 53 is connected to the brake device of the conventional wheel, such as a drum brake. When the balance vehicle body swings near the limit position, the trigger rod begins to contact the vehicle chassis. Under the action of its own lever principle, the other end of the trigger rod begins to leave the wire sheath base and pull the brake wire, thereby making the brake device of the wheel start to act for braking and decelerating. When the balance vehicle body continues to swing towards the limit position, the trigger rod continues to pull the brake wire, so that the braking action is further strengthened to obtain a stronger braking effect. The added brake device here does not affect the normal braking system of the whole vehicle, and they coexist and complement each other.

[0037] Furthermore, when the human-machine combined balance vehicle is electrically driven, another structure of the forced deceleration device 5 is an electronic brake, specifically the electronic brake system of the current electrically driven vehicle. The trigger switch of the electronic brake can be installed inside the wire sheath base 52 or at any other position that can trigger the microswitch action at the limit position of the balance vehicle body swing. The electronic brake system is a prior art and there are ready-made products, which can be directly applied to the product of this patent.

[0038] The core of the present invention lies in discovering an ingenious method and form of combining the balance system of traditional two-wheeled bicycles with traditional three-wheeled / four-wheeled vehicles: the O point of the human-machine combined balance vehicle is moved from the ground to the vehicle chassis, and the source of parking auxiliary force is also moved from the ground to the vehicle chassis. This vehicle chassis has a stable structure with at least two points of support horizontally on the ground, thus realizing the combination of two-wheeled vehicles and three-wheeled / four-wheeled vehicles. As Figure 3 shown.

[0039] Since the vehicle body can still swing freely and the driving speed and direction can still be controlled by the person, that is, the three parameters of v, r, and θ are still controlled by the person, will this combination cause the loss of the person's control over the dynamic balance of the vehicle?

[0040] The beneficial effects are as follows: This patent combines the advantages of traditional two-wheeled vehicles and three-wheeled vehicles. It not only utilizes the balance function of the human body to ensure the safety and stability during driving, but also has the anti-skid ability of three-wheeled / four-wheeled vehicles and the stability at low speeds and during parking. Thus, it realizes the full enclosure of the carriage of small vehicles, which can not only reduce the size of the vehicle, but also has very high safety. Compared with two-wheeled vehicles, this patent adopts a three-wheeled or four-wheeled form, so it has a greater grip on the ground than two-wheeled vehicles, greatly improving the anti-skid ability, braking ability of the vehicle, especially the anti-skid and anti-impact performance in the lateral direction of the vehicle, and has higher safety than two-wheeled vehicles. The specific beneficial effects are as follows.

[0041] ① Safer than two-wheeled vehicles. Intuitively speaking, it adds lateral wheels and is necessarily safer than two-wheeled vehicles, and the theoretical analysis is also the same. Because adding wheels increases the friction between the vehicle and the ground, the anti-skid ability, braking ability, stability, and anti-impact ability of the vehicle are all greatly improved; at the same time, due to the setting of the limit swing angle γ, the vehicle cannot completely tip over, or even be considered to tip over, because it is also a kind of "three-wheeled / four-wheeled" vehicle.

[0042] ② Safer and more maneuverable than three-wheeled / four-wheeled vehicles. People need to be on a vehicle body that can swing freely to achieve dynamic balance during driving, just like when people ride a bicycle. This dynamic balance enables people to monitor the centrifugal force in a timely manner. Traditional three-wheeled / four-wheeled vehicles cannot swing, so people cannot perceive this centrifugal force in a timely manner, and thus are prone to rollover accidents. Therefore, it can be said that the balance vehicle fundamentally solves the problem of controlling the risk of rollover. At the same time, it can be seen from the comparison of the force analysis diagrams of traditional three-wheeled vehicles and human-machine combined balance vehicles (hereinafter referred to as balance vehicles) that the range of safe centrifugal force during turning is much larger for balance vehicles than for three-wheeled / four-wheeled vehicles, that is, balance vehicles can have a faster turning speed and higher safety. In terms of driving maneuverability, the balance vehicle feels like a two-wheeled vehicle and has an excellent driving experience.

[0043] ③ Higher driving speed. First, due to the dynamic balance characteristics of a two-wheeler, the scooter has a higher safe speed than traditional three-wheeled / four-wheeled vehicles. Second, the scooter has a relatively lower center of gravity (the vertical distance between point M and point O) compared to a two-wheeler. Coupled with the fact that the scooter has better anti-skid ability due to having wheels laterally, the scooter can have a higher safe speed than a two-wheeler.

[0044] ④ More compact body size, which is in comparison to traditional three-wheeled / four-wheeled vehicles. From the previous force analysis diagram, the critical value α of a traditional three-wheeled / four-wheeled vehicle is α = arctan(L / 2H), and the critical angle β of the scooter is β = arctan(L / 2h). Since h is much smaller than H, the scooter can have a smaller L value, that is, the lateral wheel spacing, which means the scooter can be more compact and smaller than traditional three-wheeled / four-wheeled vehicles.

[0045] ⑤ The carriage can be fully enclosed. Since a parking device is provided, the scooter no longer requires a person's feet to touch the ground for assistance and support during driving and parking. Therefore, the carriage can be completely enclosed, enabling the driver and passengers to completely get rid of the harassment and harm of wind, rain, and snow. Description of the Drawings

[0046] Figure 1 It is the balance force analysis diagram of a two-wheeler in the prior art.

[0047] Figure 2 It is the balance force analysis diagram of a three-wheeler and a four-wheeler in the prior art.

[0048] Figure 3 It is the balance force analysis diagram of the described human-machine balance scooter.

[0049] Figure 4 It is the main structure schematic diagram (front view) of the described human-machine balance scooter in the embodiment.

[0050] Figure 5 It is the main structure schematic diagram (left view) of the described human-machine balance scooter in the embodiment

[0051] Figure 6 It is the main structure schematic diagram (front view) of the swing device (bearing form) of the described human-machine balance scooter in the embodiment.

[0052] Figure 7 It is the main structure schematic diagram (B-B cross-sectional view) of the swing device (bearing form) of the described human-machine balance scooter in the embodiment.

[0053] Figure 8 It is the main structure schematic diagram (A-A cross-sectional view) of the swing device (bearing form) of the described human-machine balance scooter in the embodiment.

[0054] Figure 9Schematic diagram (front view) of the swing device (rotary pair lower pair form) of the human-machine balance scooter described in the embodiment.

[0055] Figure 10 Schematic diagram (F-F cross-sectional view) of the swing device (rotary pair lower pair form) of the human-machine balance scooter described in the embodiment.

[0056] Figure 11 Schematic diagram (E-E cross-sectional view) of the swing device (rotary pair lower pair form) of the human-machine balance scooter described in the embodiment.

[0057] Figure 12 Schematic diagram of the vehicle chassis and parking device of the human-machine balance scooter described in the embodiment.

[0058] Figure 13 Schematic diagram of the balance body of the human-machine balance scooter described in the embodiment.

[0059] Figure 14 Schematic diagram of the composition of the swing control device of the human-machine balance scooter described in the embodiment.

[0060] Figure 15 Schematic diagram of the body swing limit device and forced deceleration device of the human-machine balance scooter described in the embodiment.

[0061] Figure 16 Schematic diagram (C-C cross-sectional view) of the forced deceleration device of the human-machine balance scooter described in the embodiment.

[0062] Wherein, 1 - balance body, 2 - swing device, 3 - vehicle chassis, 4 - swing control device, 5 - forced deceleration device, 11 - direction mechanism, 12 - vehicle power device or battery, 13 - seat, 14 - body frame and housing, 21 - bearing cover, 22 - rotating shaft, 23 - bearing, 24 - bearing base, 26 - upper member, 27 - pin, 28 - lower member, 29 - fastener, 31 - support beam, 32 - shock absorber, 33 - wheel carrier, 34 - wheel, 411 - cam mechanism, 412 - slide rail, 413 - spring, 414 - parking support rod, 421 - footrest device, 422 - transmission device, 43 - body swing limit device, 51 - trigger rod, 52 - wire sheath base, 53 - brake wire. Detailed implementation manners

[0063] The technical solutions of this patent will be further described in detail below with reference to the accompanying drawings of the specification.

[0064] Figures 4 to 16 A human-machine combined balance scooter is shown. The whole vehicle adopts a three-wheel structure, specifically a single front wheel and two rear wheels structure. This structure is one of all possible situations, and only this situation is used here to further illustrate its principle.

[0065] Figure 4 This is the front view of the main structure schematic diagram of the human-machine balance scooter. The whole vehicle includes a balance body 1, a swing device 2, a vehicle chassis 3, a swing control device 4, and a forced deceleration device 5. The balance body 1 is connected to the vehicle chassis 3 through the swing device 2. The balance body 1 realizes swinging relative to the vehicle chassis 3 in the vertical direction along the vehicle's travel, that is, lateral swinging, through the swing device 2. The swing control device 4 is used to control the lateral swing and / or swing amplitude of the balance body 1. The forced deceleration device 5 is not necessary. In this embodiment, the function of the forced deceleration device 5 is that when the balance body 1 swings to a position close to the maximum position, the forced deceleration device 5 starts to decelerate the vehicle to increase the safety factor of the whole vehicle.

[0066] Since the balance body 1 swings freely, during the driving process, the driver must always feel the magnitude of the centrifugal force of the vehicle to adjust the swing angle of the body, the forward direction, and the driving speed of the vehicle, so that the resultant force of the centrifugal force and the gravity passes through the fulcrum of the swing device, making the body in a dynamically balanced upright state. It is precisely because the balance body can swing freely that the driver can achieve this dynamic balance. When the vehicle is running at a low speed (less than 5 km / h) and parked, when the driver's dynamic balance gradually loses its effect, the swing control device 4 is used to limit the swing of the balance body 1 to make the body upright.

[0067] Figure 5 This is the left view of the main structure schematic diagram of the human-machine balance scooter. In this view, it can be seen that in this embodiment, the swing device 2 is at the lower rear part of the balance body 1 and is used to connect the vehicle chassis 3. Correspondingly, the swing control device 4 and the forced deceleration device 5 are at the lower rear part of the balance body, between the balance body 1 and the vehicle chassis 3.

[0068] Figure 6 This is the front view of the structure schematic diagram of the swing device 2 (bearing form) of the human-machine balance scooter in the embodiment. The swing device 2 is composed of a bearing cover 21, a rotating shaft 22, a bearing seat 23, and a bearing base 24. The bottom end of the balance body 1 is integrally connected (such as welded) to the rotating shaft 22. Bearings 23 are installed at both ends of the rotating shaft 22. The bearings 23 are installed in the bearing seat formed by the bearing base 24 and the bearing cover 21. The bearing base 24 is fixed (such as welded) on the vehicle chassis 3. The balance body 1 swings with the rotating shaft 22 as the rotation center.

[0069] Figure 7 This is the B-B cross-sectional view of the structure schematic diagram of the swing device 2 (bearing form) of the human-machine balance scooter in the embodiment. It can be seen from the figure the connection relationship between each component (bearing cover 21, rotating shaft 22, bearing seat 23, bearing base 24) of the balance body 1 and the swing device 2 and the vehicle chassis 3.

[0070] Figure 8It is a sectional view taken along line A-A of the structural schematic diagram of the swing device 2 (bearing form) of the human-machine balance vehicle described in the embodiment.

[0071] Figure 9 It is the front view of the structural schematic diagram of the swing device 2 (lower pair of rotating pair form) of the human-machine balance vehicle described in the embodiment. The swing device 2 is composed of an upper member 26, a pin 27, a lower member 28, and a fastener 29. The bottom end of the balance body 1 is integrally connected to the upper member 26. The lower member 28 is fixed on the vehicle chassis 3. The pin 27 passes through the upper member 26 and the lower member 28 and is axially fixed by the fastener 29. The balance body 1 swings with the pin 27 as the rotation center.

[0072] Figure 10 It is a sectional view taken along line F-F of the structural schematic diagram of the swing device 2 (lower pair of rotating pair form) of the human-machine balance vehicle described in the embodiment. The figure shows the connection relationship between the balance body 1, the components of the swing device 2 (upper member 26, pin 27, lower member 28, fastener 29) and the vehicle chassis 3.

[0073] Figure 11 It is a sectional view taken along line E-E of the structural schematic diagram of the swing device 2 (lower pair of rotating pair form) of the human-machine balance vehicle described in the embodiment.

[0074] For the illustrated three-wheel structure, the front wheel of the vehicle (the front wheel is installed on the balance body, which is the same as the front wheel structure of a conventional electric vehicle or motorcycle) and the swing device 2 at the lower rear end of the vehicle body form two fulcrums of the whole vehicle in the front-rear direction. The balance body 1 will swing laterally around these two fulcrums.

[0075] Generally, common rotating pair structures and swing structures can achieve the function of the swing device 2.

[0076] Figure 12 It is the structural schematic diagram of the vehicle chassis 3 and the parking device 41 of the human-machine balance vehicle described in the embodiment. The vehicle chassis 3 is composed of a support beam 31, a shock absorber 32, a wheel carrier 33, and wheels 34. The wheels 34 are installed at the left and right ends of the wheel carrier 33. The support beam 31 is installed above the wheel carrier 33 through the shock absorber 32. The chassis shown in this figure constitutes the chassis of a three-wheel vehicle with a single front wheel and two rear wheels, and it forms a surface contact with the ground of the whole vehicle with the front wheel. So generally, the vehicle chassis 3 is a device installed with wheels that enables the whole vehicle to form at least two points of support with the road surface in the lateral direction (the vertical direction of the vehicle's travel). When both the front wheel and the rear wheel adopt this form of vehicle chassis, a four-wheel structure can be formed.

[0077] Figure 12In it, the parking device 41 is a combination mechanism of a cam and a slide bar, which is composed of a cam mechanism 411, a slide rail 412, a spring 413 and a parking support rod 414. The cam mechanism 411 fixed inside the vehicle body contacts the parking support rod 414. The parking support rod 414 can slide within the slide rail 412, and the slide rail 412 is fixed on the balanced vehicle body 1. A spring 413 is arranged at the lower part of the support rod 414. When the cam mechanism 411 rotates, under the action of the spring 413, the parking support rod 414 closely adheres to the cam and slides up and down along the slide rail to achieve a telescopic action; when the parking support rod 414 contracts to the limit position, it also plays a role in limiting the maximum swing angle of the balanced vehicle body 1. Generally, the parking device 41 is a telescopic structure, and the driver controls the telescopic length thereof to support it on the vehicle chassis 3 so as to obtain the required supporting force during low-speed driving or parking, limit the swing of the balanced vehicle body 1, and keep the vehicle body upright; in addition to the telescopic structure, the parking device 41 can also adopt forms such as a lever structure and a locking structure.

[0078] Figure 13 It is a schematic structural diagram of the balanced vehicle body 1 of the human-machine balance vehicle described in the embodiment. The balanced vehicle body 1 includes a direction mechanism 11, a power device or battery 12 of the vehicle, a seat 13, a vehicle body frame and a housing 14. The above-mentioned parts are all prior arts and there are existing products, and they are necessary elements for constituting the whole vehicle. The vehicle body frame and the housing 14 can be open or fully enclosed.

[0079] Figure 14 It is a schematic composition diagram of the swing control device 4 of the human-machine balance vehicle described in the embodiment. The swing control device 4 is composed of a parking device 41 and a parking control device 42. The parking device 41 is composed of four parts, which is the same as Figure 12 shown; the parking control device is composed of a foot pedal device 421 and a transmission device 422. The transmission device 422 can be a steel wire rope, or a connecting rod force transmission mechanism or a hydraulic force transmission mechanism, etc. When a person steps on the foot pedal device 421 to generate a displacement, the transmission device 422 transmits this displacement to the cam mechanism 411 to make it rotate, and then makes the parking support rod 414 move up and down to achieve a telescopic action. When the vehicle is driving at a low speed (less than 5 km / h) or parking, the parking device 41 is controlled by the parking control device 42 to limit the swing of the balanced vehicle body 1 to keep the vehicle body upright.

[0080] Generally, the parking control device 42 is a force transmission mechanism, and the driver can transmit the control force issued through the parking control device 42 to the parking device 41 to make the parking device 41 act to achieve low-speed assistance or parking. The parking control device 42 can also be a signal control mechanism, which receives the parking control signal issued by a person and converts this signal into an execution action on the parking device 41 to achieve parking control.

[0081] Figure 15 Schematic diagram of the body swing limiting device 43 and the forced deceleration device 5 of the human-machine balance scooter described in the embodiment. The body swing limiting device 43 is a part of the swing control device 4 and is used to limit the maximum swing angle of the balance body 1. In the figure, they are the limiting blocks on both sides of the bottom of the balance body 1. As the swing angle of the balance body 1 increases, the body swing limiting device 43 gets closer and closer to the vehicle chassis 3 until it touches the vehicle chassis, thus playing a role in limiting the maximum swing angle of the balance body 1. Through analysis and calculation, it is most reasonable to set the maximum swing angle to 25° (0° when the body is upright). At this angle, the turning radius required for a vehicle speed of 60 km / h is less than 20 m, which is less than the maximum value of the turning radius design for non-primary and secondary roads (turning radius design range: 20 - 30 m for urban main roads, 15 - 20 m for secondary roads, 10 - 20 m for non-primary and secondary roads), and at this angle, the center of gravity of the person and the vehicle is still between the left and right wheels in the static state, that is, the vehicle will not completely topple over.

[0082] In addition to the above mechanical structure, the swing control device 4 can also adopt an electronic balance control device, which consists of a sensor, a controller, and an actuator. The sensor can sense the balance state of the balance body and send it to the controller. The controller processes the information transmitted back by the sensor and then controls the actuator to work. By controlling the swing of the balance body, the vehicle speed, and the turning radius of the vehicle, the balance body is kept in a stable balance state. This electronic balance control device can directly adopt the gyroscope sensing and balance control system of the current balance scooter.

[0083] Figure 15 In the figure, the forced deceleration device 5 is a similar mechanical brake lever device. Its trigger rod 51 is installed between the bottom of the balance body 1 and the vehicle chassis 3. The trigger rod is connected to the brake wire 53. The wire sheath base 52 is fixed on the balance scooter body. The end of the brake wire 53 is connected to the brake device of the conventional wheel, such as a drum brake. When the balance body swings near the limit position, the trigger rod begins to contact the vehicle chassis. Under the action of its own lever principle, the other end of the trigger rod begins to leave the wire sheath base and pull the brake wire, thereby causing the brake device of the wheel to start operating for braking and decelerating; when the balance body continues to swing towards the limit position, the trigger rod continues to pull the brake wire, so that the braking action is further strengthened to obtain a stronger braking effect.

[0084] Figure 16 C - C cross-sectional view of the schematic diagram of the structure of the forced deceleration device 5 of the human-machine balance scooter described in the embodiment.

[0085] The forced deceleration device 5 can also adopt an electronic braking system. Its trigger switch is installed near the extreme position of the balance body swing. Once the body swings to the extreme position, it will cause the trigger switch to act and then start the electronic braking system. The electronic braking system is a prior art and there are off-the-shelf products, which can be directly applied to the patented product of this patent.

[0086] Under the combined action of the above-mentioned various parts, the human-machine combined balance vehicle simultaneously has the advantages of traditional two-wheelers and three / four-wheelers. It can not only make the carriage fully enclosed, but also improve the controllability and safety of the vehicle.

[0087] The above description is only one implementation manner of this patent. The protection scope of this patent is not limited to the above implementation manner. Any equivalent modification or change made by those of ordinary skill in the art according to the disclosure of this invention shall be included in the protection scope recorded in the claims.

Claims

1. A human-machine combined balancing scooter, comprising a balancing vehicle body (1), a swinging device (2), a vehicle chassis (3), and a swinging control device (4), characterized in that: The balancing vehicle body (1) is connected to the vehicle chassis (3) through the swinging device (2), and the balancing vehicle body (1) realizes swinging relative to the vehicle chassis (3) in the vertical direction along the vehicle's travel direction, that is, lateral swinging, through the swinging device (2); The swinging control device (4) is used to control the lateral swinging and / or swinging amplitude of the balancing vehicle body (1); The balancing vehicle body (1) swings freely. During driving, the driver feels the magnitude of the centrifugal force of the vehicle to adjust the swinging angle, forward direction, and driving speed of the vehicle body, so that the resultant force of the centrifugal force and gravity passes through the fulcrum of the swinging device (2), making the vehicle body in a dynamically balanced upright state. This dynamic balance realizes the driver's real-time monitoring of the centrifugal force.

2. The human-machine combined unicycle according to claim 1, wherein: The structure of the swinging device (2) is a revolute pair.

3. The human-machine combined balance bike according to claim 2, wherein: The swinging device (2) adopts a revolute pair higher pair, which is a rotating device composed of bearings. Specifically, the bottom end of the balancing vehicle body (1) is integrally connected to a rotating shaft (22), both ends of the rotating shaft (22) are installed with bearings (23), and the bearings (23) are installed in a bearing housing formed by a bearing base (24) and a bearing cover (21). The bearing base (24) is fixed on the vehicle chassis (3), and the balancing vehicle body (1) swings around the rotating shaft (22) as the rotation center.

4. The human-machine combined unicycle according to claim 2, wherein: The swinging device (2) adopts a revolute pair lower pair, which is a rotating device with a hinge structure. Specifically, the bottom end of the balancing vehicle body (1) is integrally connected to an upper member (26), a lower member (28) is fixed on the vehicle chassis (3), a pin (27) passes through the upper member (26) and the lower member (28), and is axially fixed by a fastener (29). The balancing vehicle body (1) swings around the pin (27) as the rotation center.

5. The human-machine combined balancing scooter according to claim 1, wherein: The vehicle chassis (3) is a device installed with wheels that form at least two points of support with the road surface in the lateral direction, that is, the vertical direction of the vehicle's travel. It cooperates with the wheels in the vehicle's travel direction to form a surface contact of the whole vehicle with the ground.

6. A human-machine combined balancing scooter according to claim 5, characterized in that: The vehicle chassis (3) adopts a two-wheel structure, that is, one wheel is installed on each of the left and right sides in the lateral direction; alternatively, the two-wheel structure vehicle chassis (3) is combined with a single wheel to form a three-wheel structure of a single front wheel and two rear wheels, or two front wheels and a single rear wheel; alternatively, the two-wheel structure vehicle chassis (3) is combined into a four-wheel structure of two front wheels and two rear wheels.

7. The human-machine combined scooter according to claim 6, characterized in that: The vehicle chassis (3) is composed of a support beam (31), a shock absorber (32), a wheel frame (33), and wheels (34). The wheels (34) are installed at the left and right ends of the wheel frame (33), and the support beam (31) is installed above the wheel frame (33) through the shock absorber (32).

8. The human-machine combined scooter according to claim 6, wherein: For a three-wheel structure human-machine combined balancing scooter, the single wheel is arranged on the balancing vehicle body (1); for a four-wheel structure human-machine combined balancing scooter, no wheels are arranged on the balancing vehicle body (1), and the vehicle body is connected to the front and rear vehicle chassis (3) of the vehicle through the front and rear two swinging devices (2).

9. A human-machine combined balancing scooter according to claim 1, characterized in that: The balance body (1) includes a steering mechanism (11), a power device or battery (12) of the vehicle, a seat (13), and a vehicle body frame and housing (14). Specifically, the steering mechanism (11) is the handlebar steering mechanism of an electric bicycle.

10. The human-machine combined balance scooter according to claim 1, wherein: The swing control device (4) consists of a parking device (41) and a parking control device (42). When the vehicle is at low speed or parked, the parking device (41) restricts the swing of the balance body (1) under the control of the parking control device (42) to keep the vehicle body upright.

11. A human-machine combined balance scooter according to claim 1, characterized in that: The swing control device (4) is an electronic balance control device. The electronic balance control device consists of a sensor, a controller, and an actuator. The sensor can sense the balance state of the balance body (1) and send it to the controller. The controller processes the information transmitted back by the sensor and then controls the actuator to work. By controlling the swing of the balance body (1), the vehicle speed, and the turning radius of the vehicle, the balance body (1) is kept in a stable balance state. Specifically, the electronic balance control device is the gyroscope sensing and balance control system of current balance vehicles.

12. The human-machine combined unicycle according to claim 10, wherein: The parking device (41) adopts a telescopic structure, and the driver controls the telescopic length to support it on the vehicle chassis (3) so as to obtain the required supporting force when the vehicle is at low speed or parked, restrict the swing of the balance body (1), and keep the vehicle body upright.

13. A human-machine combined balance bike according to claim 12, characterized in that: The telescopic parking device (41) is a combined mechanism of a cam and a slide rod. Specifically: The cam mechanism (411) fixed inside the vehicle body contacts the parking support rod (414). The parking support rod (414) can slide within the slide rail (412), and the slide rail (412) is fixed on the balance body (1). A spring (413) is arranged at the lower part of the parking support rod (414). When the cam mechanism (411) rotates, under the action of the spring (413), the parking support rod (414) closely adheres to the cam and slides up and down along the slide rail to achieve the telescopic action; when the parking support rod (414) contracts to the limit position, it also plays a role in restricting the maximum swing angle of the balance body (1).

14. A human-machine combined balance bike according to claim 10, characterized in that: The parking control device (42) is a force transmission mechanism. The driver transmits the control force generated through the parking control device (42) to the parking device (41) to make the parking device (41) act.

15. A human-machine combined balance scooter according to claim 14, characterized in that: The parking control device (42) consists of a foot pedal device (421) and a transmission device (422). When a person steps on the foot pedal device (421) to generate displacement, the transmission device (422) transmits this displacement to the cam mechanism (411) to make it rotate, and then the parking support rod (414) moves up and down to achieve the telescopic action.

16. A human-machine combined balance bike according to claim 10, characterized in that: The swing control device (4) further includes a vehicle body swing limiting device (43), and the vehicle body swing limiting device (43) is used to limit the maximum swing angle of the balance body (1).

17. A human-machine combined balance bike according to claim 16, characterized in that: The body swing limiting device (43) is a limiting block fixed on both sides of the bottom of the balanced body (1). As the swing angle of the balanced body (1) increases, the body swing limiting device (43) gets closer and closer to the vehicle chassis (3) until it touches the vehicle chassis, playing a role in limiting the maximum swing angle of the balanced body (1).

18. A human-machine combined balance bike according to claim 1, characterized in that: The human-machine combined scooter further includes a forced deceleration device (5). When the body swings close to the maximum position, the forced deceleration device (5) is activated to decelerate the vehicle.

19. A human-machine combined balance scooter according to claim 18, characterized in that: The forced deceleration device (5) is a mechanical brake lever device. Its trigger lever (51) is installed between the bottom of the balanced body (1) and the vehicle chassis (3). The trigger lever (51) is connected to a brake wire (53). A wire sheath base (52) is fixed on the balanced body (1). The end of the brake wire (53) is connected to a braking device of a conventional wheel, such as a drum brake. When the balanced body swings near the limit position, the trigger lever (51) starts to contact the vehicle chassis (3). Under the action of its own lever principle, the other end of the trigger lever (51) starts to leave the wire sheath base (52) and pull the brake wire (53), thereby causing the braking device at the end of the brake wire (53) to start operating for braking and decelerating. When the balanced body continues to swing towards the limit position, the trigger lever (51) continues to pull the brake wire (53), so as to further strengthen the braking action to obtain a stronger braking effect.

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