Balance car

Abstract

This invention provides a self-balancing scooter, comprising: a scooter body; a linkage shaft rotatably connected to the scooter body; a running mechanism including a left wheel assembly located on the left side of the scooter body and connected to the left end of the linkage shaft, a right wheel assembly located on the right side of the scooter body and connected to the right end of the linkage shaft, and a cantilever assembly. The cantilever assembly includes a left cantilever fixedly connected to the linkage shaft and rotatably connected to the left wheel assembly, and a right cantilever fixedly connected to the linkage shaft and rotatably connected to the right wheel assembly. The left cantilever and the left wheel assembly are rotatably connected via the left wheel axle; the right cantilever and the right wheel assembly are rotatably connected via the right wheel axle, the axis of the right wheel axle being parallel to and spaced apart from the axis of the linkage shaft; and a shock-absorbing mechanism, which is elastic and has one end connected to the cantilever assembly and the other end connected to the scooter body. This invention, by setting a linkage shaft to link the left and right wheel assemblies, avoids increased tilting and potential falls when the self-balancing scooter turns.

Description

Technical Field

[0001] The invention belongs to the technical field of balancing vehicles, and in particular relates to a balancing vehicle. Background Art

[0002] As people's living standards improve and the pace of work and life accelerates, people begin to use balance bikes as a means of transportation. Balance bikes have the advantages of being easy to carry and environmentally friendly.

[0003] The existing balancing car includes a car body, a running mechanism suspended on both sides of the car body, and a shock absorbing mechanism connected between the car body and the running mechanism and working independently. The running mechanism includes a left wheel assembly suspended on the left side of the car body and a right wheel assembly suspended on the right side of the car body. When the balancing car turns, the car body tilts due to the center of gravity shifting to the outside of the curve. At this time, the wheel turned to the outside bears almost all the vertical pressure and outward force, while the wheel turned to the inside reduces the vertical pressure. In this way, the left wheel assembly and the right wheel assembly are aggravated due to the severe vertical pressure contrast, which may cause the car to fall. Summary of the invention

[0004] The purpose of the present invention is to provide a balancing vehicle, aiming to solve the technical problem in the prior art that when two wheels are independently suspended, the vehicle tilts and falls due to severe vertical pressure contrast when turning.

[0005] The present invention provides a balancing vehicle, comprising:

[0006] The vehicle body comprises a pedal for a user to step on and a mounting seat connected to the pedal;

[0007] A linkage shaft, rotatably connected to the mounting seat;

[0008] The operating mechanism comprises a left wheel assembly located on the left side of the vehicle body and connected to the left end of the linkage shaft, a right wheel assembly located on the right side of the vehicle body and connected to the right end of the linkage shaft, and a cantilever assembly, wherein the cantilever assembly comprises a left cantilever fixedly connected to the linkage shaft and rotatably connected to the left wheel assembly, and a right cantilever fixedly connected to the linkage shaft and rotatably connected to the right wheel assembly, wherein the left cantilever is rotatably connected to the left wheel assembly via a left wheel shaft, and the axis of the left wheel shaft is parallel to the axis of the linkage shaft and is spaced apart; the right cantilever is rotatably connected to the right wheel assembly via a right wheel shaft, and the axis of the right wheel shaft is parallel to the axis of the linkage shaft and is spaced apart;

[0009] The shock absorbing mechanism is elastic and has one connecting end connected to the cantilever assembly and the other connecting end connected to the vehicle body. Both connecting ends of the shock absorbing mechanism are spaced apart from the axis of the linkage shaft.

[0010] Furthermore, the mounting seat protrudes from the pedal board and extends in a direction perpendicular to the extension direction of the linkage shaft, and the mounting seat includes a left mounting ear connected to the left side of the pedal board and a right mounting ear connected to the right side of the pedal board and arranged opposite to the left mounting ear, and the linkage shaft is used to connect the left mounting ear and the right mounting ear.

[0011] Furthermore, the connection point between the left cantilever and the linkage shaft is located on the side of the left mounting ear facing the right mounting ear, and the connection point between the right cantilever and the linkage shaft is located on the side of the right mounting ear facing the left mounting ear.

[0012] Furthermore, the connection point between the left cantilever and the linkage shaft is located on a side of the left mounting ear facing away from the right mounting ear, and the connection point between the right cantilever and the linkage shaft is located on a side of the right mounting ear facing away from the left mounting ear.

[0013] Furthermore, the shock absorbing mechanism includes a left shock absorbing member which is elastic, one connecting end of which is connected to the left cantilever and the other connecting end of which is connected to the vehicle body, and a right shock absorbing member which is elastic, one connecting end of which is connected to the right cantilever and the other connecting end of which is connected to the right side of the vehicle body. The two connecting ends of the left shock absorbing member are spaced apart from the axis of the linkage shaft, and the two connecting ends of the right shock absorbing member are spaced apart from the axis of the linkage shaft.

[0014] Furthermore, the left cantilever is provided with a left connecting hole, one connecting end of the left shock absorber is connected to the hole wall of the left connecting hole and the other connecting end thereof is connected to the vehicle body, and the right cantilever is provided with a right connecting hole, one connecting end of the right shock absorber is connected to the hole wall of the right connecting hole and the other connecting end thereof is connected to the vehicle body.

[0015] Furthermore, the left cantilever includes a left connecting ear fixedly connected to the vehicle body, a left connecting seat fixedly connected to the left wheel axle, a left main connecting rod fixedly connected to the linkage shaft and rotatably connected to the left connecting seat, and a left secondary connecting rod rotatably connected to the left connecting ear and rotatably connected to the left connecting seat, the left main connecting rod is rotatably connected to the left connecting seat via a first left rotating shaft, the left secondary connecting rod is rotatably connected to the left connecting seat via a second left rotating shaft, and is rotatably connected to the left connecting ear via a third left rotating shaft, and the linkage shaft, the first left rotating shaft, the second left rotating shaft and the third left rotating shaft can be jointly arranged to form a parallelogram The right cantilever comprises a right connecting ear fixedly connected to the vehicle body, a right connecting seat fixedly connected to the right wheel axle, a right main connecting rod fixedly connected to the linkage shaft and rotatably connected to the right connecting seat, and a right secondary connecting rod rotatably connected to the right connecting ear and rotatably connected to the right connecting seat, the right main connecting rod is rotatably connected to the right connecting seat via a first right rotating shaft, the right secondary connecting rod is rotatably connected to the right connecting seat via a second right rotating shaft, and is rotatably connected to the right connecting ear via a third right rotating shaft, and the linkage shaft, the first right rotating shaft, the second right rotating shaft and the third right rotating shaft can be jointly arranged to form a parallelogram.

[0016] Further, a left heat dissipation hole is opened axially on the left wheel axle, and the left connecting seat comprises a first left seat body connected to the hole wall of the left heat dissipation hole and a second left seat body connected to the hole wall of the left heat dissipation hole and spaced apart from the first left seat body, the left main connecting rod is rotatably connected to the first left seat body through the first left rotating shaft, and the left secondary connecting rod is rotatably connected to the second left seat body through the second left rotating shaft; a right heat dissipation hole is opened axially on the right wheel axle, and the right connecting seat comprises a first right seat body connected to the hole wall of the right heat dissipation hole and a second right seat body connected to the hole wall of the right heat dissipation hole and spaced apart from the first right seat body, the right main connecting rod is rotatably connected to the first right seat body through the first right rotating shaft, and the right secondary connecting rod is rotatably connected to the second right seat body through the second right rotating shaft.

[0017] Further, a line connecting the first left seat body and the second left seat body passes through the axis of the left heat dissipation hole, and a line connecting the first right seat body and the second right seat body passes through the axis of the right heat dissipation hole.

[0018] Furthermore, the shock absorbing mechanism comprises a first torsion spring sleeved on the linkage shaft, one end of the first torsion spring is connected to the cantilever assembly and the other end thereof is connected to the vehicle body.

[0019] Further, the shock absorbing mechanism includes a second torsion spring sleeved on the linkage shaft, one end of the second torsion spring is rotationally connected to the left sub-link and the other end of the second torsion spring is hooked on the third left rotating shaft, or / and, one end of the second torsion spring is rotationally connected to the right sub-link and the other end of the second torsion spring is hooked on the third right rotating shaft.

[0020] Furthermore, the linkage shaft is provided with a left limiting groove and a right limiting groove, the left cantilever has a left protrusion matched with the left limiting groove, and the right cantilever has a right protrusion matched with the right limiting groove.

[0021] Further, the left wheel assembly includes a left moving wheel and a left motor, the left motor has a left stator part and a left rotor part that can rotate relative to the left stator part, the left wheel axle is fixedly connected to the left stator part, and the left moving wheel is fixedly connected to the left rotor part; the right wheel assembly includes a right moving wheel and a right motor, the right motor has a right stator part and a right rotor part that can rotate relative to the right stator part, the right wheel axle is fixedly connected to the right stator part, and the right moving wheel is fixedly connected to the right rotor part.

[0022] The technical effect of the present invention relative to the prior art is as follows: the present invention sets a linkage shaft that runs through the vehicle body so that the left wheel assembly and the right wheel assembly are linked, the pressure of the user stepping on the vehicle body can be evenly distributed to the left wheel assembly and the right wheel assembly, and the forces of the left moving wheel and the right moving wheel are mutually involved, when the balancing vehicle turns, the vehicle body will not tilt due to the linkage of the left wheel assembly and the right wheel assembly, so the vertical pressure of the left wheel assembly and the right wheel assembly will not be too different, so the center of gravity of the balancing vehicle will not deviate from the vehicle body, ensuring that the left wheel assembly and the right wheel assembly always move up and down at the same height, avoiding aggravated tilting and causing a fall accident. The present invention also sets a shock absorbing mechanism, when encountering undulating road surface, the shock absorbing mechanism can provide a certain compression and recovery stroke to absorb the vibration of the bumps and reduce the impact of the bumps on the user. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required for use in the embodiments of the present invention or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0024] Figure 1 It is a schematic diagram of the three-dimensional structure of the balance vehicle in the first embodiment provided by the embodiment of the present invention;

[0025] Figure 2 is an exploded view of the balance vehicle in the first embodiment provided by the embodiment of the present invention;

[0026] Figure 3 is an exploded view of the balancing vehicle in the second embodiment provided by the embodiment of the present invention;

[0027] Figure 4 is an exploded view of the balance vehicle in the third embodiment provided by the embodiment of the present invention;

[0028] Figure 5 It is a schematic diagram of the three-dimensional structure of the balancing vehicle in the fourth embodiment provided by the embodiment of the present invention;

[0029] Figure 6 is an exploded diagram of the balancing vehicle in the fourth embodiment provided by the embodiment of the present invention;

[0030] Description of reference numerals:

[0031] 10. Vehicle body; 101. Socket hole; 11. Step on pedal; 12. Mounting seat; 121. Left mounting ear; 122. Right mounting ear; 20. Linkage shaft; 31. Left wheel assembly; 311. Left driving wheel; 312. Left motor; 3121. Left rotor; 3122. Left stator; 32. Right wheel assembly; 321. Right driving wheel; 322. Right motor; 3221. Right rotor; 3222. Right stator; 33. Cantilever assembly; 331. Left cantilever; 3310. Left connecting hole; 3311. Left connecting ear; 3312. Left connecting seat; 3313. Left main connecting rod; 3314. Left secondary connecting rod; 3315, first left rotating shaft; 3316, second left rotating shaft; 3317, third left rotating shaft; 332, right cantilever; 3320, right connecting hole; 3321, right connecting ear; 3322, right connecting seat; 3323, right main connecting rod; 3324, right secondary connecting rod; 3325, first right rotating shaft; 3326, second right rotating shaft; 3327, third right rotating shaft; 3328, first right seat body; 3329, second right seat body; 34, left wheel shaft; 340, left heat dissipation hole; 35, right wheel shaft; 350, right heat dissipation hole; 40, shock absorbing mechanism; 41, left shock absorbing member; 42, right shock absorbing member; 43, second torsion spring DETAILED DESCRIPTION

[0032] Embodiments of the present invention are described in detail below, examples of which are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are intended to be used to explain the present invention, and should not be construed as limiting the present invention.

[0033] In the description of the present invention, it should be understood that the terms "length", "width", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", etc., indicating the orientation or position relationship are based on the orientation or position relationship shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present invention.

[0034] In this embodiment, according to Figures 1 to 6 The XYZ rectangular coordinate system established in the definition is: the side located in the positive direction of the X axis is defined as the front, and the side located in the negative direction of the X axis is defined as the back; the side located in the positive direction of the Y axis is defined as the left, and the side located in the negative direction of the Y axis is defined as the right; the side located in the positive direction of the Z axis is defined as the top, and the side located in the negative direction of the Z axis is defined as the bottom.

[0035] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Thus, the features defined as "first" and "second" may explicitly or implicitly include one or more of the features.

[0036] In the present invention, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0037] In order to make the purpose, technical solutions and advantages of the present invention more clearly understood, the present invention is further described in detail below in conjunction with the accompanying drawings and embodiments.

[0038] Embodiment 1

[0039] Please refer to Figure 1 and Figure 2 The present invention provides a balancing vehicle, including a vehicle body 10, a linkage shaft 20, a running mechanism and a shock absorbing mechanism 40.

[0040] Among them, the vehicle body 10 includes a pedal 11 for a user to step on and a mounting base 12 connected to the pedal 11, the mounting base 12 is rotatably connected to the linkage shaft 20, optionally, the linkage shaft 20 has an axial hole extending in the left and right directions, the mounting base 12 includes a left mounting ear 121 sleeved on the left end of the axial hole and capable of rotating in the axial hole and a right mounting ear 122 sleeved on the right end of the axial hole and capable of rotating in the axial hole, preferably, the mounting base 12 is provided with a socket hole 101 extending in the left and right directions, the linkage shaft 20 extends in the left and right directions and is inserted into the socket hole 101 and can rotate relative to the vehicle body 10 in the socket hole 101.

[0041] The vehicle body 10 includes a pedal, a sensor module connected to the pedal and used to sense the inclination angle of the pedal, a steering module connected to the pedal and used to receive a steering command from the user, a control module electrically connected to the sensor module and the steering module, and a power module connected to the pedal and used to power the control module. The control module is used to adjust the pedal to return to the preset angle when the sensor module senses that the pedal deviates from the preset angle, and control the motion mechanism to turn after the steering module receives the user's steering command, so as to achieve self-balancing control of the pedal 11. The socket hole 101 is preferably opened at the front end of the vehicle body 10. In this embodiment, the angle between the preset angle and the horizontal plane is 0°, that is, in the preset state, the vehicle body 10 is in a horizontal state. In an embodiment of the present invention, the sensor module at least includes a posture sensing module.

[0042] Please refer to Figure 2 The operating mechanism includes a left wheel assembly 31 located on the left side of the vehicle body 10 and connected to the left end of the linkage shaft 20, a right wheel assembly 32 located on the right side of the vehicle body 10 and connected to the right end of the linkage shaft 20, and a cantilever assembly 33. The cantilever assembly 33 includes a left cantilever 331 fixedly connected to the linkage shaft 20 and rotatably connected to the left wheel assembly 31, and a right cantilever 332 fixedly connected to the linkage shaft 20 and rotatably connected to the right wheel assembly 32. The left cantilever 331 is rotatably connected to the left wheel assembly 31 through a left wheel shaft 34, and the axis of the left wheel shaft 34 is parallel to the axis of the linkage shaft 20 and is spaced apart; the right cantilever 332 is rotatably connected to the right wheel assembly 32 through a right wheel shaft 35, and the axis of the right wheel shaft 35 is parallel to the axis of the linkage shaft 20 and is spaced apart.

[0043] Please refer to Figure 1 and Figure 2The shock absorbing mechanism 40 is elastic and one of its connecting ends is connected to the cantilever assembly 33 and the other connecting end is connected to the vehicle body 10. The two connecting ends of the shock absorbing mechanism 40 are spaced apart from the axis of the linkage shaft 20. The shock absorbing mechanism 40 can be elastically deformed and generate elastic restoring force when the vehicle body 10 deviates from the preset position, and the frame is restored to the preset position by releasing the elastic restoring force. In this way, the shock absorbing mechanism 40, the vehicle body 10 and the cantilever assembly 33 form a triangular structure, which saves installation space and forms a stable support structure. When encountering undulating road surfaces, the compression direction of the shock absorbing mechanism 40 is close to the same direction as the rotation direction of the vehicle body 10, which increases the stress of the shock absorbing mechanism 40 and improves the force application efficiency of the elastic restoring force. The left wheel shaft 34 and the left cantilever 331 and the right wheel shaft 35 and the right cantilever 332 are preferably fixedly connected to reduce the force on the shock absorbing mechanism 40 when in a balanced state, thereby improving the service life of the shock absorbing mechanism 40. The shock absorbing mechanism 40 can provide a certain compression and recovery stroke when encountering undulations on the road surface to absorb the vibration of the bumps and reduce the impact of the bumps on the user. Preferably, one connecting end of the shock absorbing mechanism 40 is connected to the middle of the vehicle body 10, and the other connecting end is connected to the part of the cantilever assembly 33 close to the left wheel axle 34 or the right wheel axle 35, so as to maximize the triangular area formed by the shock absorbing mechanism 40, the vehicle body 10 and the cantilever assembly 33, and improve stability.

[0044] The present invention arranges a linkage shaft 20 that runs through the vehicle body 10 so that the left wheel assembly 31 and the right wheel assembly 32 are linked. The pressure exerted by the user on the vehicle body 10 can be evenly distributed to the left wheel assembly 31 and the right wheel assembly 32, and the forces of the left moving wheel 311 and the right moving wheel 321 are mutually involved. When the balancing vehicle turns, the vehicle body 10 will not tilt due to the linkage between the left wheel assembly 31 and the right wheel assembly 32. Therefore, the vertical pressure between the left wheel assembly 31 and the right wheel assembly 32 will not differ too much. In this way, the center of gravity of the balancing vehicle will not deviate from the vehicle body 10, ensuring that the left wheel assembly 31 and the right wheel assembly 32 always move up and down at the same height, thereby avoiding aggravated tilting and causing a vehicle fall accident.

[0045] Please refer to Figure 1 and Figure 2Further, the shock absorbing mechanism 40 includes a left shock absorbing member 41 which is elastic and one of its connecting ends is connected to the left cantilever 331 and the other connecting end is connected to the vehicle body 10, and a right shock absorbing member 42 which is elastic and one of its connecting ends is connected to the right cantilever 332 and the other connecting end is connected to the right side of the vehicle body 10. Both connecting ends of the left shock absorbing member 41 are spaced apart from the axis of the linkage shaft 20, and both connecting ends of the right shock absorbing member 42 are spaced apart from the axis of the linkage shaft 20. The left shock absorbing member 41 and the right shock absorbing member 42 are arranged so that the left and right sides of the vehicle body 10 are subjected to uniform force, which is conducive to maintaining the balance of the vehicle body 10. Among them, the left shock absorbing member 41 and the right shock absorbing member 42 can be tension springs, compression springs, leaf springs, torsion bars, gas springs, elastic rubbers, etc., but are not limited thereto.

[0046] Please refer to Figure 2 Preferably, the left cantilever 331 has a left connection hole 3310, one connection end of the left shock absorber 41 is connected to the hole wall of the left connection hole 3310 and the other connection end thereof is connected to the vehicle body 10, and the right cantilever 332 has a right connection hole 3320, one connection end of the right shock absorber 42 is connected to the hole wall of the right connection hole 3320 and the other connection end thereof is connected to the vehicle body 10. This not only saves installation space but also reduces overall weight.

[0047] Preferably, the shock absorbing mechanism 40 includes a first torsion spring sleeved on the linkage shaft 20, one end of the first torsion spring is connected to the cantilever assembly and the other end thereof is connected to the vehicle body 10. When encountering a bumpy road surface, when the vehicle body 10 moves up and down, due to the rotational connection between the vehicle body 10 and the linkage shaft 20, the angle between the suspension mechanism and the vehicle body 10 also increases or decreases accordingly, and the first torsion spring can generate a torsion force when the angle between the suspension mechanism and the vehicle body 10 changes, so that the suspension mechanism and the vehicle body 10 restore the preset angle, which plays a role in assisting in absorbing the vibration of the bump.

[0048] Furthermore, the linkage shaft 20 is provided with a left limiting groove and a right limiting groove, the left cantilever 331 has a left protrusion adapted to the left limiting groove, and the right cantilever 332 has a right protrusion adapted to the right limiting groove.

[0049] Embodiment 2

[0050] The structure and function of the second embodiment are similar to those of the first embodiment, and will not be described in detail here. The difference between them is that:

[0051] Please refer to Figure 3The left wheel assembly 31 in the second embodiment of the present invention includes a left moving wheel 311 and a left motor 312, the left motor 312 has a left stator portion 3122 and a left rotor portion 3121 that can rotate relative to the left stator portion 3122, the left wheel shaft 34 is fixedly connected to the left stator portion 3122, and the left moving wheel 311 is fixedly connected to the left rotor portion 3121; the right wheel assembly 32 includes a right moving wheel 321 and a right motor 322, the right motor 322 has a right stator portion 3222 and a right rotor portion 3221 that can rotate relative to the right stator portion 3222, the right wheel shaft 35 is fixedly connected to the right stator portion 3222, and the right moving wheel 321 is fixedly connected to the right rotor portion 3221. It is understandable that the left wheel shaft 34 does not rotate during the rotation of the left driving wheel 311, and the right wheel shaft 35 does not rotate during the rotation of the right driving wheel 321, so that the vehicle body 10 can always be at a preset angle in a general motion state, improving the balance and stability of the cantilever assembly 33, the vehicle body 10 and the shock absorbing mechanism 40, and improving the service life of the posture sensor module and the control module. Preferably, the left motor 312 is integrally arranged with the left driving wheel 311 to save installation space.

[0052] When the left cantilever 331 is fixedly connected to the left wheel axle 34 and the right cantilever 332 is fixedly connected to the right wheel axle 35 in Example 1, if the posture sensing module senses that the vehicle body 10 has a pitch angle, in order to keep the vehicle body 10 balanced, the control module will drive the left stator part 3122 and the right stator part 3222 to rotate so that the vehicle body 10 returns to its original position. At this time, due to the release of the elastic restoring force of the shock absorbing mechanism 40, the vehicle body 10 will also rotate in the reset direction. The two rotation actions may be superimposed to produce resonant vibration, causing riding danger.

[0053] To solve this problem, in Example 2, please refer to Figure 3The left cantilever 331 includes a left connecting ear 3311 fixedly connected to the vehicle body 10, a left connecting seat 3312 fixedly connected to the left wheel shaft 34, a left main connecting rod 3313 fixedly connected to the linkage shaft 20 and rotatably connected to the left connecting seat 3312, and a left secondary connecting rod 3314 rotatably connected to the left connecting ear 3311 and the left connecting seat 3312. The left main connecting rod 3313 is rotatably connected to the left connecting seat 3312 through a first left rotating shaft 3315, the left secondary connecting rod 3314 is rotatably connected to the left connecting seat 3312 through a second left rotating shaft 3316, and is rotatably connected to the left connecting ear 3311 through a third left rotating shaft 3317. The linkage shaft 20, the first left rotating shaft 3315, the second left rotating shaft 3316 and the third left rotating shaft 3317 can be collectively arranged to form a parallelogram The right cantilever 332 includes a right connecting ear 3321 fixedly connected to the vehicle body 10, a right connecting seat 3322 fixedly connected to the right wheel axle 35, a right main connecting rod 3323 fixedly connected to the linkage shaft 20 and rotatably connected to the right connecting seat 3322, and a right secondary connecting rod 3324 rotatably connected to the right connecting ear 3321 and the right connecting seat 3322. The right main connecting rod 3323 is rotatably connected to the right connecting seat 3322 via a first right rotating shaft 3325, the right secondary connecting rod 3324 is rotatably connected to the right connecting seat 3322 via a second right rotating shaft 3326, and is rotatably connected to the right connecting ear 3321 via a third right rotating shaft 3327. The linkage shaft 20, the first right rotating shaft 3325, the second right rotating shaft 3326 and the third right rotating shaft 3327 can be collectively arranged to form a parallelogram.

[0054] In this way, when the left wheel shaft 34 maintains an unchanged angle, the left connecting seat 3312 also maintains an unchanged angle. Since the linkage shaft 20, the first left rotation shaft 3315, the second left rotation shaft 3316 and the third left rotation shaft 3317 can be jointly arranged to form a parallelogram, according to the properties of the balanced quadrilateral, no matter how the angle between two adjacent sides of the parallelogram changes, its opposite sides are always parallel. In other words, no matter how the vehicle body 10 vibrates up and down, how its angle with the left main connecting rod 3313 changes, the line connecting the first left rotation shaft 3315 and the second left rotation shaft 3316 and the line connecting the linkage shaft 20 and the third left rotation shaft 3317 are always parallel, and the left connecting ear 3311 and the line connecting the linkage shaft 20 and the third left rotation shaft 3317 always maintain a fixed angle, and the left connecting ear 3311 is fixedly connected to the vehicle body 10, so that the vehicle body 10 can always maintain a horizontal state, preventing the attitude sensor from making misjudgments due to vibration and resonating with the shock absorbing mechanism 40, thereby improving safety in use.

[0055] The functions of the right wheel assembly 32 and the left wheel assembly 31 are similar and will not be described in detail here.

[0056] Optionally, the left connecting ear 3311 may be protruded from the upper surface or the lower surface of the vehicle body 10 , and correspondingly, the right connecting ear 3321 may be protruded from the upper surface or the lower surface of the vehicle body 10 .

[0057] Embodiment 3

[0058] The structure and function of the third embodiment are similar to those of the second embodiment, and will not be described here in detail. The difference between them is that:

[0059] Please refer to Figure 4 Further, the left wheel shaft 34 is provided with a left heat dissipation hole 340 in the axial direction, the left connecting seat 3312 includes a first left seat body connected to the hole wall of the left heat dissipation hole 340 and a second left seat body connected to the hole wall of the left heat dissipation hole 340 and spaced apart from the first left seat body, the left main connecting rod 3313 is rotatably connected to the first left seat body through the first left rotating shaft 3315, and the left secondary connecting rod 3314 is rotatably connected to the second left seat body through the second left rotating shaft 3316; the axis of the right wheel shaft 35 A right heat dissipation hole 350 is opened in the right connecting seat 3322, which includes a first right seat body 3328 connected to the hole wall of the right heat dissipation hole 350 and a second right seat body 3329 connected to the hole wall of the right heat dissipation hole 350 and spaced apart from the first right seat body 3328. The right main connecting rod 3323 is rotatably connected to the first right seat body 3328 via a first right rotating shaft 3325, and the right secondary connecting rod 3324 is rotatably connected to the second right seat body 3329 via a second right rotating shaft 3326. The provision of the left heat dissipation hole 340 and the right heat dissipation hole 350 reduces the weight of the left moving wheel 311 and the right moving wheel 321, making the balancing vehicle lighter, while facilitating the heat dissipation and wiring of the left motor 312 and the right motor 322, simplifying the number of parts and installation steps, and improving reliability.

[0060] Preferably, the diameter of the left heat dissipation hole 340 is greater than one third of the diameter of the left moving wheel 311. Increasing the diameter of the left heat dissipation hole 340 also increases the diameter of the left wheel shaft 34, thereby increasing the force bearing area of ​​the left wheel shaft 34 and improving the structural stability. The right heat dissipation hole 350 has a similar structure and function to the left heat dissipation hole 340, which will not be described in detail here.

[0061] Please refer to Figure 4 Preferably, the line connecting the first left seat body and the second left seat body passes through the axis of the left heat dissipation hole 340, and the line connecting the first right seat body 3328 and the second right seat body 3329 passes through the axis of the right heat dissipation hole 350. In this way, the stability of the connection between the left connecting seat 3312 and the left wheel shaft 34 and the stability of the connection between the right connecting seat 3322 and the right wheel shaft 35 are improved.

[0062] Please refer to Figure 4Preferably, the shock absorbing mechanism 40 includes a second torsion spring 43 sleeved on the linkage shaft 20, the left secondary connecting rod 3314 is provided with a left transfer hole, one end of the second torsion spring 43 is rotatably connected to the left transfer hole and the other end thereof is hooked on the third left rotation shaft 3317, because the left connecting ear 3311 is fixedly connected to the vehicle body 10 and the angle between the two is fixed, one end of the second torsion spring 43 is hooked on the third left rotation shaft 3317, and the angle between the two end arms of the second torsion spring 43 is equal to the angle between the vehicle body 10 and the left cantilever 331, so that the second torsion spring 43 can generate torsion when the angle between the left and the vehicle body 10 changes, so that the left and the vehicle body 10 restore the preset angle, which plays a role in assisting in absorbing the vibration of bumps, and at the same time solves the connection problem between the second torsion spring 43 and the vehicle body. Optionally, the right secondary connecting rod 3324 is provided with a right transfer hole, one end of the second torsion spring 43 is rotatably connected to the right transfer hole and the other end thereof is hooked on the third right rotation shaft 3327.

[0063] Preferably, the third left rotating shaft 3317 is connected to the third right rotating shaft 3327 to reduce the number of installation components and simplify the installation process.

[0064] Embodiment 4

[0065] The structure and function of the fourth embodiment are similar to those of the first embodiment, and will not be described in detail here. The difference between them is that:

[0066] Please refer to Figure 5 and Figure 6 The mounting seat 12 protrudes from the pedal board 11 and extends in a direction perpendicular to the extending direction of the linkage shaft 20. The mounting seat 12 includes a left mounting ear 121 connected to the left side of the pedal board 11 and a right mounting ear 122 connected to the right side of the pedal board 11 and arranged opposite to the left mounting ear 121. The linkage shaft 20 is used to connect the left mounting ear 121 and the right mounting ear 122. The left mounting ear 121 and the right mounting ear 122 realize the connection between the linkage shaft 20 and the pedal board 11, and improve the reliability of the connection between the linkage shaft 20 and the mounting seat 12, so as to prevent the mounting seat 12 from being damaged during repeated use.

[0067] Optionally, the connection point between the left cantilever 331 and the linkage shaft 20 is located on the side of the left mounting ear 121 facing away from the right mounting ear 122, and the connection point between the right cantilever 332 and the linkage shaft 20 is located on the side of the right mounting ear 122 facing away from the left mounting ear 121. It can be understood that the linkage shaft 20 is penetrated by the left mounting ear 121 and the right mounting ear 122 and its two ends are respectively connected to the left cantilever 331 and the right cantilever 332, thereby improving the reliability of the connection between the linkage shaft 20 and the mounting seat 12.

[0068] Please refer to Figure 5 and Figure 6Preferably, the connection point between the left cantilever 331 and the linkage shaft 20 is located on the side of the left mounting ear 121 facing the right mounting ear 122, and the connection point between the right cantilever 332 and the linkage shaft 20 is located on the side of the right mounting ear 122 facing the left mounting ear 121. In this way, the left mounting ear 121 and the right mounting ear 122 limit the linkage shaft 20 to the left and right, preventing the linkage shaft 20 from shaking left and right relative to the pedal 11. On the other hand, this connection method allows the linkage shaft 20 to be fixedly connected with the left cantilever 331 and the right cantilever 332 before assembly, such as welding, but not limited thereto, and then the two ends of the linkage shaft 20 are pressed inward from the left and right directions through the left mounting ear 121 and the right mounting ear 122, so that the two ends of the linkage shaft 20 are respectively connected to the left mounting ear 121 and the right mounting ear 122, thereby saving installation steps, facilitating installation, and improving the integrity of the structure.

[0069] The above are only preferred embodiments of the present invention and are not intended to limit the present invention. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. A balancing vehicle, characterized in that: include: The vehicle body comprises a pedal for a user to step on and a mounting seat connected to the pedal; A linkage shaft, rotatably connected to the mounting seat; The operating mechanism comprises a cantilever assembly, a left wheel assembly located on the left side of the vehicle body and connected to the left end of the linkage shaft, and a right wheel assembly located on the right side of the vehicle body and connected to the right end of the linkage shaft. The cantilever assembly comprises a left cantilever fixedly connected to the linkage shaft and rotatably connected to the left wheel assembly, and a right cantilever fixedly connected to the linkage shaft and rotatably connected to the right wheel assembly. The left cantilever is rotatably connected to the left wheel assembly via a left wheel shaft, and the axis of the left wheel shaft is parallel to the axis of the linkage shaft and is spaced apart; the right cantilever is rotatably connected to the right wheel assembly via a right wheel shaft, and the axis of the right wheel shaft is parallel to the axis of the linkage shaft and is spaced apart; The shock absorbing mechanism is elastic and has one connecting end connected to the cantilever assembly and the other connecting end connected to the vehicle body. Both connecting ends of the shock absorbing mechanism are spaced apart from the axis of the linkage shaft.

2. The balancing vehicle according to claim 1, characterized in that: The mounting seat protrudes from the pedal board and extends in a direction perpendicular to the extension direction of the linkage shaft. The mounting seat includes a left mounting ear connected to the left side of the pedal board and a right mounting ear connected to the right side of the pedal board and arranged opposite to the left mounting ear. The linkage shaft is used to connect the left mounting ear and the right mounting ear.

3. The balancing vehicle according to claim 2, characterized in that: The connection point between the left cantilever and the linkage shaft is located on the side of the left mounting ear facing the right mounting ear, and the connection point between the right cantilever and the linkage shaft is located on the side of the right mounting ear facing the left mounting ear.

4. The balancing vehicle according to claim 2, characterized in that: The connection point between the left cantilever and the linkage shaft is located on the side of the left mounting ear facing away from the right mounting ear, and the connection point between the right cantilever and the linkage shaft is located on the side of the right mounting ear facing away from the left mounting ear.

5. The balancing vehicle according to claim 1, characterized in that: The shock absorbing mechanism includes a left shock absorbing member which is elastic, one connecting end of which is connected to the left cantilever and the other connecting end of which is connected to the vehicle body, and a right shock absorbing member which is elastic, one connecting end of which is connected to the right cantilever and the other connecting end of which is connected to the right side of the vehicle body. Both connecting ends of the left shock absorbing member are spaced apart from the axis of the linkage shaft, and both connecting ends of the right shock absorbing member are spaced apart from the axis of the linkage shaft.

6. The balancing vehicle according to claim 5, characterized in that: The left cantilever is provided with a left connecting hole, one connecting end of the left shock absorber is connected to the hole wall of the left connecting hole and the other connecting end thereof is connected to the vehicle body, the right cantilever is provided with a right connecting hole, one connecting end of the right shock absorber is connected to the hole wall of the right connecting hole and the other connecting end thereof is connected to the vehicle body.

7. The balancing vehicle according to claim 6, characterized in that: The left cantilever comprises a left connecting ear fixedly connected to the vehicle body, a left connecting seat fixedly connected to the left wheel shaft, a left main connecting rod fixedly connected to the linkage shaft and rotatably connected to the left connecting seat, and a left secondary connecting rod rotatably connected to the left connecting ear and rotatably connected to the left connecting seat, the left main connecting rod is rotatably connected to the left connecting seat via a first left rotating shaft, the left secondary connecting rod is rotatably connected to the left connecting seat via a second left rotating shaft, and is rotatably connected to the left connecting ear via a third left rotating shaft, and the linkage shaft, the first left rotating shaft, the second left rotating shaft and the third left rotating shaft can be collectively arranged to form a parallelogram; The right cantilever includes a right connecting ear fixedly connected to the vehicle body, a right connecting seat fixedly connected to the right wheel axle, a right main connecting rod fixedly connected to the linkage shaft and rotatably connected to the right connecting seat, and a right secondary connecting rod rotatably connected to the right connecting ear and the right connecting seat. The right main connecting rod is rotatably connected to the right connecting seat via a first right rotating shaft, the right secondary connecting rod is rotatably connected to the right connecting seat via a second right rotating shaft, and is rotatably connected to the right connecting ear via a third right rotating shaft. The linkage shaft, the first right rotating shaft, the second right rotating shaft and the third right rotating shaft can be jointly arranged to form a parallelogram.

8. The balancing vehicle according to claim 7, characterized in that: A left heat dissipation hole is opened axially on the left wheel axle, and the left connecting seat comprises a first left seat body connected to the hole wall of the left heat dissipation hole and a second left seat body connected to the hole wall of the left heat dissipation hole and spaced apart from the first left seat body, the left main connecting rod is rotatably connected to the first left seat body through the first left rotating shaft, and the left secondary connecting rod is rotatably connected to the second left seat body through the second left rotating shaft; a right heat dissipation hole is opened axially on the right wheel axle, and the right connecting seat comprises a first right seat body connected to the hole wall of the right heat dissipation hole and a second right seat body connected to the hole wall of the right heat dissipation hole and spaced apart from the first right seat body, the right main connecting rod is rotatably connected to the first right seat body through the first right rotating shaft, and the right secondary connecting rod is rotatably connected to the second right seat body through the second right rotating shaft.

9. The balancing vehicle according to claim 8, characterized in that: A line connecting the first left seat body and the second left seat body passes through the axis of the left heat dissipation hole, and a line connecting the first right seat body and the second right seat body passes through the axis of the right heat dissipation hole.

10. The balancing vehicle according to any one of claims 7 to 9, characterized in that: The shock absorbing mechanism comprises a first torsion spring sleeved on the linkage shaft, one end of the first torsion spring is connected to the cantilever assembly and the other end thereof is connected to the vehicle body.

11. The balancing vehicle according to claim 10, characterized in that: The shock absorbing mechanism includes a second torsion spring sleeved on the linkage shaft, one end of the second torsion spring is rotationally connected to the left sub-link and the other end is hooked on the third left rotating shaft, or / and, one end of the second torsion spring is rotationally connected to the right sub-link and the other end is hooked on the third right rotating shaft.

12. The balancing vehicle according to any one of claims 1 to 9, characterized in that: The linkage shaft is provided with a left limiting groove and a right limiting groove, the left cantilever has a left protrusion matched with the left limiting groove, and the right cantilever has a right protrusion matched with the right limiting groove.

13. The balancing vehicle according to any one of claims 1 to 9, characterized in that: The left wheel assembly includes a left moving wheel and a left motor, the left motor has a left stator part and a left rotor part that can rotate relative to the left stator part, the left wheel axle is fixedly connected to the left stator part, and the left moving wheel is fixedly connected to the left rotor part; the right wheel assembly includes a right moving wheel and a right motor, the right motor has a right stator part and a right rotor part that can rotate relative to the right stator part, the right wheel axle is fixedly connected to the right stator part, and the right moving wheel is fixedly connected to the right rotor part.

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