A three-wheeled electric vehicle with gyro stabilization and a body balance method thereof

Abstract

The present application relates to a kind of gyroscopic stabilization three-wheel electric vehicle and its car body balancing method, the upper end of front fork (8) is connected with the front end of car body support by tap bowl group (3), the rear end of car body support is connected with rear wheel (9), the lower end of front fork (8) is connected with left front wheel (1) and right front wheel (2), left front wheel (1) and right front wheel (2) each internally built one wheel hub motor (6) and realize independent rotation, gyro inductor (4) is used to collect the roll angle signal of car body and send to controller (7), controller (7) according to the operation to roll angle signal and the result compared with set value, output instruction adjusts control each wheel hub motor to adjust the rotational speed and rotating direction of left front wheel (1) and right front wheel (2), the differential between left front wheel (1) and right front wheel (2) is converted into the rotary motion of front fork (8) and changes car body load center of gravity, realizes the automatic balancing of car body.

Description

Technical Field

[0001] This invention relates to a three-wheeled electric vehicle, and more particularly to a three-wheeled electric vehicle stabilized by a gyroscope and a method for balancing the vehicle body. Background Technology

[0002] Three-wheeled electric vehicles use batteries as their energy source and convert electrical energy into mechanical energy through components such as controllers and motors to move, changing speed by controlling the magnitude of the current.

[0003] When passengers use existing three-wheeled electric vehicles, whether the vehicle is moving or stationary, significant shifts in the passenger's center of gravity, including getting on and off, can easily cause the vehicle to tip over, jeopardizing passenger safety. The vehicle is also highly susceptible to tipping to one side when subjected to lateral impacts, leading to dangerous situations. Summary of the Invention

[0004] This invention designs a three-wheeled electric vehicle with gyroscope stabilization and its vehicle body balance method. The technical problem it solves is that existing two-wheeled electric vehicles are prone to tipping over when the center of gravity shifts significantly, and the vehicle has poor stability when subjected to lateral impacts, which is detrimental to the safety of passengers.

[0005] To solve the aforementioned technical problems, the present invention adopts the following solution:

[0006] A three-wheeled electric vehicle stabilized by a gyroscope includes a frame, with the upper end of a front fork (8) connected to the front end of the frame via a headband assembly (3), allowing the front fork (8) to rotate smoothly around the axis of the headband assembly (3); the rear end of the frame is connected to the rear wheel (9), and the lower end of the front fork (8) is connected to the left front wheel (1) and the right front wheel (2). Each of the left front wheel (1) and the right front wheel (2) has a built-in hub motor (6) to achieve independent rotation. The vehicle also includes a gyroscope sensor (4) and a controller (7). The gyroscope sensor (4) is used to collect the tilt angle signal of the vehicle body and send it to the controller (7). The controller (7) outputs a command to adjust and control each of the wheel hub motors based on the result of the calculation of the tilt angle signal and comparison with the set value, thereby adjusting the speed and rotation direction of the left front wheel (1) and the right front wheel (2). The differential between the left front wheel (1) and the right front wheel (2) is converted into the rotational motion of the front fork (8) and changes the center of gravity of the vehicle body to achieve automatic balance of the vehicle body.

[0007] Preferably, the left front wheel (1) and the right front wheel (2) are differentially coupled by accelerating, decelerating, rotating forward or backward.

[0008] Preferably, the left front wheel (1) and the right front wheel (2) are connected to the lower end of the front fork (8) through a double-wishbone suspension mechanism (5). The double-wishbone suspension mechanism (5) enables the left front wheel (1) and the right front wheel (2) to always be in close contact with the ground, ensuring sufficient grip.

[0009] Preferably, the double-wishbone suspension mechanism (5) includes two upper horizontal wishbones (51), two lower horizontal wishbones (52), and a vertical wishbone (56). One side of the vertical wishbone (56) is connected to a connecting plate through one of the lower horizontal wishbones (52) and one of the upper horizontal wishbones (51). The other side of the vertical wishbone (56) is connected to another connecting plate through the other lower horizontal wishbone (52) and the other upper horizontal wishbone (51). The lower horizontal wishbone (52) is arranged in parallel with the upper horizontal wishbone (51). One of the connecting plates is connected to the right front wheel (2) through a bearing, and the other connecting plate is also connected to the left front wheel (1) through a bearing.

[0010] Preferably, it further includes two shock absorbers (53). The two sides of the upper end of the vertical wishbone (56) are respectively connected to one of the upper horizontal wishbones (51) through one of the shock absorbers (53). The shock absorbers (53) are used to absorb the impacts of the left front wheel (1) and the right front wheel (2). The spring force and damping force provided by them keep the left front wheel (1) and the right front wheel (2) in close contact with the ground.

[0011] Preferably, it further includes a stabilizer bar (54). The vertical wishbone (56) is provided with a through hole. The stabilizer bar (54) passes through the through hole and its two ends are respectively connected to one of the lower horizontal wishbones (52). The spring force and damping force provided by the stabilizer bar (54) are used to maintain the force coupling when the left front wheel (1) and the right front wheel (2) perform shock-absorbing movements, keep the left front wheel (1) and the right front wheel (2) at an equal distance from the vertical wishbone, and avoid the shock-absorbing movements from affecting the center of gravity.

[0012] Preferably, the two upper horizontal wishbones (51), the two lower horizontal wishbones (52), and the vertical wishbone (56) form a shape like the Chinese character 'tu' (土).

[0013] Preferably, the upper horizontal wishbone (51) is connected to the vertical wishbone (56) through a bearing, the lower horizontal wishbone (52) is connected to the vertical wishbone (56) through a bearing, the upper horizontal wishbone (51) is connected to the connecting plate through a bearing, the lower horizontal wishbone (52) is connected to the connecting plate through a bearing, the shock absorber (53) is connected to the upper horizontal wishbone (51) through a bearing, the shock absorber (53) is connected to the vertical wishbone (56) through a bearing, and the stabilizer bar (54) is connected to the lower horizontal wishbone (52) through a bearing.

[0014] A method for balancing the body of a three-wheeled electric vehicle includes the following steps:

[0015] Step 1: The gyroscope sensor (4) is used to collect the roll angle signal of the vehicle body and send it to the controller (7);

[0016] Step 2: The controller (7) outputs a command to adjust the hub motors of the left front wheel (1) and the right front wheel (2) according to the result of the calculation of the tilt angle signal and the comparison with the set value, thereby adjusting the speed and rotation direction of the left front wheel (1) and the right front wheel (2). The differential between the left front wheel (1) and the right front wheel (2) is converted into the rotational motion of the front fork (8) and changes the center of gravity of the vehicle body to achieve automatic balance of the vehicle body.

[0017] Preferably, the left front wheel (1) and the right front wheel (2) are differentially coupled by accelerating, decelerating, rotating forward or backward.

[0018] The three-wheeled electric vehicle stabilized by gyroscope and its vehicle body balance method have the following beneficial effects:

[0019] (1) The present invention adopts an automatic steering mechanism driven by a motor, uses a gyroscope sensor to collect the tilt data of the vehicle body, and the controller sends a control to control the differential between the left front wheel and the right front wheel based on the tilt data, which is converted into the rotational motion of the front fork and changes the center of gravity of the vehicle body to achieve automatic balance of the vehicle body.

[0020] (2) This invention automatically adapts to changes in vehicle load. Even when stationary, the vehicle can remain upright even with significant shifts in the center of gravity by passengers, including getting in and out of the vehicle. Simultaneously, at high speeds, the gyro-stabilized controller automatically overcomes the effects of load changes, road conditions, and crosswinds, maintaining the vehicle's course stability. Even in the event of a side impact, the system responds quickly and automatically, rapidly adjusting the center of gravity to keep the vehicle upright as much as possible without immediately tipping over.

[0021] (3) This invention greatly improves the safety of tricycles and tricycles, reduces the mental and physical burden on drivers and passengers, and improves safety.

[0022] (4) The present invention enhances the stability of a vehicle when it is subjected to a lateral impact by using electronic control technology to make the lateral stability margin of the vehicle exceed its geometric size limit, thereby increasing it by tens of times. Attached Figure Description

[0023] Figure 1 : A three-dimensional schematic diagram of a three-wheeled electric vehicle stabilized by a gyroscope according to the present invention;

[0024] Figure 2: Schematic diagram of the front wheel shock absorption structure of the three-wheeled electric vehicle stabilized by gyroscope according to the present invention.

[0025] Explanation of reference numerals in the attached figures:

[0026] 1—Left front wheel; 2—Right front wheel; 3—Headset assembly; 4—Gyroscope sensor; 5—Double wishbone suspension mechanism; 51—Upper horizontal wishbone; 52—Lower horizontal wishbone; 53—Shock absorber; 54—Stabilizer bar; 55—Bearing; 56—Vertical wishbone; 6—Hub motor; 7—Controller; 8—Front fork; 9—Rear wheel. Detailed Implementation

[0027] The following is combined Figures 1 to 2 The present invention will be further described as follows:

[0028] like Figure 1 As shown, a three-wheeled electric vehicle stabilized by a gyroscope includes a frame, with the upper end of the front fork 8 connected to the front end of the frame via a headset 3, allowing the front fork 8 to rotate smoothly around the axis of the headset 3; the rear end of the frame is connected to the rear wheel 9, and the lower end of the front fork 8 is connected to the left front wheel 1 and the right front wheel 2. Each of the left front wheel 1 and the right front wheel 2 has a built-in hub motor 6 to achieve independent rotation. The vehicle also includes a gyroscope sensor 4 and a controller 7. The gyroscope sensor 4 is used to collect the roll angle signal of the vehicle body and send it to the controller 7. The controller 7, based on the calculation of the roll angle signal and the comparison with the set value, outputs a command to adjust and control each hub motor, thereby adjusting the speed and direction of rotation of the left front wheel 1 and the right front wheel 2. The differential motion between the left front wheel 1 and the right front wheel 2 is converted into the rotational motion of the front fork 8 and changes the center of gravity of the vehicle body to achieve automatic balance of the vehicle body.

[0029] The left front wheel 1 and the right front wheel 2 are connected to the lower end of the front fork 8 through the double wishbone suspension mechanism 5. The double wishbone suspension mechanism 5 ensures that the left front wheel 1 and the right front wheel 2 are always in close contact with the ground, ensuring sufficient grip.

[0030] The double wishbone suspension mechanism 5 includes two upper horizontal wishbones 51, two lower horizontal wishbones 52, and a vertical wishbone 56. One side of the vertical wishbone 56 is connected to a connecting plate through a lower horizontal wishbone 52 and an upper horizontal wishbone 51, and the other side of the vertical wishbone 56 is connected to another connecting plate through another lower horizontal wishbone 52 and another upper horizontal wishbone 51. The lower horizontal wishbones 52 and the upper horizontal wishbones 51 are arranged parallel to each other. One connecting plate is connected to the right front wheel 2 through a bearing, and the other connecting plate is also connected to the left front wheel 1 through a bearing.

[0031] It also includes two shock absorbers 53. The upper ends of the vertical fork arm 56 are connected to the upper horizontal fork arm 51 by a shock absorber 53 on each side. The shock absorber 53 is used to absorb the impact of the left front wheel 1 and the right front wheel 2. The spring force and damping force it provides keep the left front wheel 1 and the right front wheel 2 in close contact with the ground.

[0032] It further includes a balance bar 54. The vertical fork arm 56 is provided with a through hole. The balance bar 54 passes through the through hole and is respectively connected to a lower horizontal fork arm 52 at both ends. The spring force and damping force provided by the balance bar 54 are used to maintain the force coupling when the left front wheel 1 and the right front wheel 2 perform vibration damping movements, so as to keep the left front wheel 1 and the right front wheel 2 at an equal distance from the vertical fork arm and avoid the influence of the vibration damping movement on the center of gravity.

[0033] The two upper horizontal fork arms 51, the two lower horizontal fork arms 52 and the vertical fork arm 56 form a "soil" shape.

[0034] The upper horizontal fork arm 51 is connected to the vertical fork arm 56 through a bearing. The lower horizontal fork arm 52 is connected to the vertical fork arm 56 through a bearing. The upper horizontal fork arm 51 is connected to the connecting plate through a bearing. The lower horizontal fork arm 52 is connected to the connecting plate through a bearing. The shock absorber 53 is connected to the upper horizontal fork arm 51 through a bearing. The shock absorber 53 is connected to the vertical fork arm 56 through a bearing. The balance bar 54 is connected to the lower horizontal fork arm 52 through a bearing.

[0035] The working principle of the body balance method of the three-wheeled electric vehicle of the present invention is as follows:

[0036] Step 1: The gyro sensor 4 is used to collect the roll angle signal of the vehicle body and send it to the controller 7;

[0037] Step 2: According to the operation of the roll angle signal and the result of comparison with the set value, the controller 7 outputs an instruction to adjust and control the hub motors of the left front wheel 1 and the right front wheel 2 respectively, so as to adjust the rotational speed and rotation direction of the left front wheel 1 and the right front wheel 2. The differential between the left front wheel 1 and the right front wheel 2 is converted into the rotational movement of the front fork 8 and the center of gravity of the vehicle body bearing is changed to achieve the dynamic balance of the vehicle body.

[0038] The left front wheel 1 and the right front wheel 2 form a differential between them by accelerating, decelerating, rotating forward or reversing.

[0039] Specifically, if the vehicle tilts to the left (the center of gravity is on the left), it is detected by the gyroscope, and then the controller reduces the rotational speed of the hub motor on the left side (or even reverses the hub motor on the left side) or increases the rotational speed of the hub motor on the right side, so that the center of gravity of the vehicle moves to the right. On the contrary, if the vehicle tilts to the right (the center of gravity is on the right), it is detected by the gyroscope, and then the controller reduces the rotational speed of the hub motor on the right side (or even reverses the hub motor on the right side) or increases the rotational speed of the hub motor on the left side, so that the center of gravity of the vehicle moves to the left.

[0040] The present invention has been described above by way of example with reference to the accompanying drawings. Obviously, the implementation of the present invention is not limited to the above-described manner. Any improvements made using the inventive concept and technical solution of the present invention, or the direct application of the inventive concept and technical solution of the present invention to other occasions without modification, are all within the protection scope of the present invention.

Claims

1. A gyro-stabilized three-wheeled electric vehicle, comprising a vehicle body support, a front fork (8) upper end connected with the front end of the vehicle body support through a stem bowl set (3), so that the front fork (8) can rotate smoothly around the rotation axis of the stem bowl set (3); the rear end of the vehicle body support is connected with a rear wheel (9), and the lower end of the front fork (8) is connected with a left front wheel (1) and a right front wheel (2), each of the left front wheel (1) and the right front wheel (2) is internally provided with a hub motor (6) to realize independent rotation, characterized in that: Also including a gyro sensor (4) and a controller (7); the gyro sensor (4) is used to collect the roll angle signal of the vehicle body and send it to the controller (7), the controller (7) outputs instructions to adjust the speed and direction of rotation of the left front wheel (1) and the right front wheel (2) according to the calculation of the roll angle signal and the comparison result with the set value, the difference between the left front wheel (1) and the right front wheel (2) is converted into the rotational motion of the front fork (8) and changes the vehicle body load center of gravity to realize the automatic balance of the vehicle body; The left front wheel (1) and the right front wheel (2) form a differential between them through acceleration, deceleration, forward rotation or reverse rotation; the gyro sensor (4) is used to collect the roll angle signal of the vehicle body and send it to the controller (7); the controller (7) outputs instructions to adjust the speed and direction of rotation of the left front wheel (1) and the right front wheel (2) according to the calculation of the roll angle signal and the comparison result with the set value, the difference between the left front wheel (1) and the right front wheel (2) is converted into the rotational motion of the front fork (8) and changes the vehicle body load center of gravity to realize the dynamic balance of the vehicle body; When the vehicle tilts to the left, it is detected by the gyro sensor, and then the controller reduces the speed of the left hub motor or increases the speed of the right hub motor, so that the vehicle center of gravity shifts to the right; when the vehicle tilts to the right, it is detected by the gyro sensor, and then the controller reduces the speed of the right hub motor or increases the speed of the left hub motor, so that the vehicle center of gravity shifts to the left.

2. The gyro-stabilized three-wheeled electric vehicle of claim 1, wherein: The left front wheel (1) and the right front wheel (2) are connected to the lower end of the front fork (8) through a double wishbone suspension mechanism (5), which ensures that the left front wheel (1) and the right front wheel (2) are always in close contact with the ground, ensuring sufficient grip.

3. The gyro-stabilized three-wheeled electric vehicle of claim 2, wherein: The double wishbone suspension mechanism (5) includes two upper horizontal wishbones (51), two lower horizontal wishbones (52), and a vertical wishbone (56), one side of the vertical wishbone (56) is connected to a connecting plate through one lower horizontal wishbone (52) and one upper horizontal wishbone (51), the other side of the vertical wishbone (56) is connected to another connecting plate through another lower horizontal wishbone (52) and another upper horizontal wishbone (51), the lower horizontal wishbone (52) and the upper horizontal wishbone (51) are arranged in parallel; one connecting plate is connected to the right front wheel (2) through a bearing, and the other connecting plate is also connected to the left front wheel (1) through a bearing.

4. The gyro-stabilized three-wheeled electric vehicle of claim 3, wherein: It also includes two shock absorbers (53), the upper end of the vertical wishbone (56) is connected to the upper horizontal wishbone (51) on both sides through one shock absorber (53), the shock absorber (53) is used to absorb the impact of the left front wheel (1) and the right front wheel (2), and the spring force and damping force provided by the shock absorber (53) make the left front wheel (1) and the right front wheel (2) maintain close contact with the ground.

5. The gyro-stabilized three-wheeled electric vehicle of claim 4, wherein: It further includes a balance bar (54). The vertical fork arm (56) is provided with a through hole, and the balance bar (54) passes through the through hole and is respectively connected to one of the lower horizontal fork arms (52) at both ends. The spring force and damping force provided by the balance bar (54) are used to maintain force coupling when the left front wheel (1) and the right front wheel (2) perform vibration damping movements, so that the left front wheel (1) and the right front wheel (2) maintain an equal distance from the vertical fork arm, avoiding the influence of the vibration damping movement on the center of gravity.

6. The gyro-stabilized three-wheeled electric vehicle of claim 5, wherein: Two upper horizontal fork arms (51), two lower horizontal fork arms (52) and a vertical fork arm (56) form a shape of the Chinese character "tu".

7. The gyro-stabilized three-wheeled electric vehicle of claim 6, wherein: The upper horizontal fork arm (51) is connected to the vertical fork arm (56) through a bearing, the lower horizontal fork arm (52) is connected to the vertical fork arm (56) through a bearing, the upper horizontal fork arm (51) is connected to the connecting plate through a bearing, the lower horizontal fork arm (52) is connected to the connecting plate through a bearing, the shock absorber (53) is connected to the upper horizontal fork arm (51) through a bearing, the shock absorber (53) is connected to the vertical fork arm (56) through a bearing, and the balance bar (54) is connected to the lower horizontal fork arm (52) through a bearing.

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