A balanced tricycle and control system

Abstract

The present disclosure provides a balance three-wheeled vehicle and a control system, comprising a front body, a rear body and a balancing mechanism, the balancing mechanism comprising a housing, a rotating assembly and a pushing assembly, one end of the rotating assembly rotatably inserted into the housing, the housing connected to the front body, the other end of the rotating assembly extending out of the housing and connected to the rear body, the pushing assembly arranged in the housing and used for pushing one end of the rotating assembly. In the balance three-wheeled vehicle, when the centrifugal force of the front body is less than the component force of gravity during cornering, the pushing assembly pushes one end of the rotating assembly, so that the friction generated when the pushing assembly pushes one end of the rotating assembly compensates for the centrifugal force generated when the front body corners, compensates for the deficiency of the centrifugal force when the balance three-wheeled vehicle corners, thereby providing sufficient time for the rider to adjust the speed and the inclination angle of the front body, and enabling the balance three-wheeled vehicle to corner stably, thereby improving the stability of the balance three-wheeled vehicle when cornering.

Description

Technical Field

[0001] This disclosure relates to the field of tricycle technology, and more particularly to a self-balancing tricycle and its control system. Background Technology

[0002] Traditional tricycles typically use a fixed frame to secure the front and rear sections, preventing relative rotation between them. This makes it prone to tipping over at high speeds due to centrifugal force when cornering, posing a safety hazard and a poor driving experience. To address this, existing tricycles use a rotating shaft to connect the front and rear sections, allowing rotation and improving cornering agility. However, in these systems, especially at low speeds (less than 5 km / h), the centrifugal force on the front section may be less than the gravitational force, increasing the risk of tilting. Therefore, while improved cornering agility, existing tricycles reduce cornering stability. Summary of the Invention

[0003] This disclosure provides a balanced tricycle and a control system to at least solve the problem of poor stability of tricycles when cornering in the prior art.

[0004] To achieve the above objectives, this disclosure provides the following technical solution: a self-balancing tricycle, comprising: Front body; Rear body; A balancing mechanism includes a housing, a rotating assembly, and a supporting assembly. One end of the rotating assembly is rotatably inserted into the housing, which is connected to the front vehicle body. The other end of the rotating assembly extends out of the housing and is connected to the rear vehicle body. The supporting assembly is disposed within the housing and is used to push against one end of the rotating assembly. The friction generated when the supporting component pushes against one end of the rotating component is used to compensate for the centrifugal force generated when the front vehicle body is cornering.

[0005] In one possible implementation, the supporting component includes: A driving component is connected to the inner wall of the housing; An elastic abutment is provided, one end of which is detachably connected to the drive member, and the other end of which is used to abut one end of the rotating assembly.

[0006] In one possible embodiment, the elastic abutment includes: A storage body, one end of which is detachably connected to the drive component; An elastomer is housed within the housing, with one end of the elastomer abutting against the housing near the drive member. A first friction body is slidably housed within the housing, the other end of the elastic body abuts against the first friction body, and one end of the rotating assembly extends into the housing and abuts against the first friction body.

[0007] In one possible embodiment, the elastomer includes: First elastic sheet; The second elastic sheet is connected to the first elastic sheet and is at a predetermined angle to the first elastic sheet.

[0008] In one possible implementation, the rotating assembly includes: A rotating shaft, one end of which is inserted into the housing and extends into the receiving body, and the other end of which is connected to the rear vehicle body; The second friction body is connected to one end of the rotating shaft and abuts against the first friction body.

[0009] In one embodiment, a limiting hole is formed on the side wall of the receiving body, the limiting hole being formed on the side wall of the receiving body and penetrating the inside and outside of the receiving body, and the first friction body includes: The friction part is slidably housed within the housing; The protrusion extends out of the sidewall of the friction part and into the limiting hole.

[0010] In one embodiment, the rotating assembly further includes a bearing member, the inner ring of which is fitted onto the rotating shaft, and the outer periphery of which is connected to the housing, the bearing member being used to support the rotation of the rotating shaft.

[0011] In one embodiment, the rotating assembly further includes a reset member, the reset member comprising: A fixing body is sleeved on the outer periphery of the rotating shaft. The outer periphery of the fixing body has multiple arc-shaped notches, which are circumferentially spaced around the axis of the rotating shaft. Multiple reset bodies are arranged circumferentially around the axis of the rotating shaft, and each reset body is connected to the housing and housed in a corresponding arc-shaped notch; wherein, when the rotating shaft drives the fixed body to rotate, the arc-shaped wall of each arc-shaped notch presses against a corresponding reset body until elastic deformation occurs, and the elastic force generated when the reset body undergoes elastic deformation is used to drive the fixed body and the rotating shaft to reset.

[0012] In one possible embodiment, the housing includes: The lower shell is connected to the front body; The upper shell portion covers the lower shell portion and is detachably connected to the lower shell portion.

[0013] This disclosure also provides the following technical solution: a control system, the control system comprising: The aforementioned self-balancing tricycle; The control module is electrically connected to the supporting component; A speed detection module, electrically connected to the control module, is used to detect the walking speed of the self-balancing tricycle; A front vehicle body tilt angle detection module is electrically connected to the control module and is used to detect the angle of sway of the front vehicle body when the self-balancing tricycle is cornering. The front vehicle body rotation angle module is electrically connected to the control module and is used to detect the cornering radius of the front vehicle body.

[0014] In the aforementioned self-balancing tricycle, when the centrifugal force of the front body is less than the component of gravity during cornering, the pushing component pushes against one end of the rotating component. The friction generated when the pushing component pushes against the rotating component is used to compensate for the centrifugal force generated when the front body is cornering. This provides the rider with sufficient time to adjust the speed and the tilt angle of the front body, enabling the self-balancing tricycle to corner stably and thus improving its stability during cornering.

[0015] It should be understood that the description in this section is not intended to identify key or essential features of the embodiments of this disclosure, nor is it intended to limit the scope of this disclosure. Other features of this disclosure will become readily apparent from the following description. Attached Figure Description

[0016] The above and other objects, features, and advantages of this disclosure will become readily apparent from the following detailed description of exemplary embodiments, taken in conjunction with the accompanying drawings. Several embodiments of this disclosure are illustrated in the drawings by way of example and not limitation, in which: In the accompanying drawings, the same or corresponding reference numerals indicate the same or corresponding parts.

[0017] Figure 1 A schematic diagram of the structure of the self-balancing tricycle according to an embodiment of the present disclosure is shown; Figure 2 It shows Figure 1 Schematic diagram of the central balancing mechanism; Figure 3 It shows Figure 2 Structural diagram of the lower and middle shell, rotating assembly, and supporting assembly; Figure 4 It shows Figure 3Cross-sectional view of the lower and middle housing, rotating assembly and supporting assembly along the IV-IV direction; Figure 5 It shows Figure 4 A magnified view of part V in the middle; Figure 6 A flowchart of a control system according to another embodiment of the present disclosure is shown; Figure 7 It shows Figure 1 Force diagram of the front and middle parts of the vehicle body.

[0018] Explanation of the labels in the diagram: In the diagram: 11. Front body, 12. Rear body, 13. Balancing mechanism, 131. Housing, 1311. Lower housing, 1312. Upper housing, 132. Rotating assembly, 1321. Rotating shaft, 1322. Second friction body, 1323. Bearing, 1324. Reset component, 1324a. Fixing body, 1324b. Reset body, 1324c. Arc-shaped notch, 133. Supporting assembly, 1331. Drive. Components, 1332, elastic pushing component, 1332a, storage body, 1332b, elastic body, 1332c, first elastic sheet, 1332d, second elastic sheet, 1332e, first friction body, 1332f, friction part, 1332g, protrusion, 1332h, limiting hole, 21, control module, 22, speed detection module, 23, front vehicle body roll angle detection module, 24, front vehicle body rotation angle module. Detailed Implementation

[0019] To make the objectives, features, and advantages of this disclosure more apparent and understandable, the technical solutions in the embodiments of this disclosure will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of this disclosure, and not all of them. All other embodiments obtained by those skilled in the art based on the embodiments of this disclosure without creative effort are within the scope of protection of this disclosure.

[0020] It should be understood that the various forms of processes shown above can be used to rearrange, add, or delete steps. For example, the steps described in this disclosure can be executed in parallel, sequentially, or in different orders, as long as the desired result of the technical solution of this disclosure can be achieved, and this is not limited herein.

[0021] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this disclosure, "a plurality of" means two or more, unless otherwise explicitly specified.

[0022] Please refer to the following: Figure 1-2 This embodiment provides a self-balancing tricycle, including a front body 11, a rear body 12, and a balancing mechanism 13. The balancing mechanism 13 includes a housing 131, a rotating component 132, and a supporting component 133. One end of the rotating component 132 is rotatably inserted into the housing 131, and the housing 131 is connected to the front body 11. The other end of the rotating component 132 extends out of the housing 131 and is connected to the rear body 12. The supporting component 133 is disposed in the housing 131 and is used to push against one end of the rotating component 132. The friction generated when the supporting component 133 pushes against one end of the rotating component 132 is used to compensate for the centrifugal force generated when the front body 11 turns.

[0023] In the aforementioned self-balancing tricycle, when the centrifugal force of the front body 11 is less than the component of gravity during cornering, the pushing component pushes against one end of the rotating component 132. The friction generated when the holding component 133 pushes against one end of the rotating component 132 is used to compensate for the centrifugal force generated when the front body 11 is cornering. This compensates for the insufficient centrifugal force when the self-balancing tricycle is cornering, thus providing the rider with sufficient time to adjust the speed and the tilt angle of the front body 11, and enabling the self-balancing tricycle to corner stably, thereby improving the stability of the self-balancing tricycle when cornering.

[0024] Please see Figure 3 In some embodiments, the supporting component 133 includes a driving member 1331 and an elastic pushing member 1332. The driving member 1331 is connected to the inner wall of the housing 131, one end of the elastic pushing member 1332 is detachably connected to the driving member 1331, and the other end of the elastic pushing member 1332 is used to push against one end of the rotating component 132. For example, the driving member 1331 can be a linear motor.

[0025] Thus, the driving member 1331 drives the elastic pushing member 1332 to push against one end of the rotating assembly 132, so that friction is generated between the elastic pushing member 1332 and the rotating assembly 132, so as to compensate for the centrifugal force generated when the front body 11 is cornering. At the same time, the elastic pushing member 1332 can provide sufficient movement space for the drive shaft of the driving member 1331, and it is easy to adjust the pushing force of the elastic pushing member 1332 against the rotating assembly 132.

[0026] Please refer to the following: Figure 4 , Figure 5 and Figure 6In some embodiments, the elastic abutment 1332 includes a housing 1332a, an elastic body 1332b, and a first friction body 1332e. One end of the housing 1332a is detachably connected to the drive member 1331. The elastic body 1332b is housed within the housing 1332a, and one end of the elastic body 1332b abuts against the housing 1332a near the drive member 1331. The first friction body 1332e is slidably housed within the housing 1332a and is slidably connected to the housing 1332a along the axial direction of the rotation shaft 1321. The other end of the elastic body 1332b abuts against the first friction body 1332e. One end of the rotating assembly 132 extends into the housing 1332a and abuts against the first friction body 1332e. Exemplarily, the first friction body 1332e can be a friction pad.

[0027] Thus, by housing the elastic body 1332b and the first friction body 1332e within the housing 1332a, the elastic body 1332b and the first friction body 1332e are protected. By setting the connection between the housing 1332a and the drive member 1331 to a detachable connection, the elastic push member 1332 can be quickly disassembled and assembled. The first friction body 1332e is provided to increase the frictional force between it and the rotating assembly 132.

[0028] Please see Figure 6 In some embodiments, the elastic body 1332b includes a first elastic sheet 1332c and a second elastic sheet 1332d, the second elastic sheet 1332d being connected to the first elastic sheet 1332c and forming a predetermined angle with the elastic sheet. Exemplarily, both the first elastic sheet 1332c and the second elastic sheet 1332d can be diaphragm springs.

[0029] Thus, by comparing the first elastic plate 1332c and the second elastic plate 1332d with conventional coil springs, it is possible to generate sufficient elastic force while ensuring that the elastic body 1332b occupies less space, so that the balancing mechanism 13 can be installed in a smaller space.

[0030] Please refer to the following: Figure 5 and Figure 6 In some embodiments, the rotating assembly 132 includes a rotating shaft 1321 and a second friction body 1322. One end of the rotating shaft 1321 is inserted into the housing 131 and extends into the receiving body 1332a, while the other end of the rotating shaft 1321 is connected to the rear vehicle body 12. The second friction body 1322 is connected to one end of the rotating shaft 1321 and abuts against the first friction body 1332e. Exemplarily, the second friction body 1322 may be a friction pad.

[0031] Thus, by having the second friction body 1322 and the first friction body 1332e resist each other, the friction coefficient between the first friction body 1332e and the second friction body 1322 is increased, thereby increasing the maximum static friction force between the first friction body 1332e and the second friction body 1322. This allows the friction force generated between the first friction body 1332e and the second friction body 1322 to compensate for the centrifugal force over a wider range, thereby improving the balancing ability of the balancing mechanism 13.

[0032] Please refer to the following: Figure 3 and Figure 6 In some embodiments, a limiting hole 1332h is formed on the side wall of the receiving body 1332a. The limiting hole 1332h is formed on the side wall of the receiving body 1332a and extends through the inside and outside of the receiving body 1332a. The first friction body 1332e includes a friction part 1332f and a protrusion 1332g. The friction part 1332f is slidably received in the receiving body 1332a, and the protrusion 1332g protrudes from the side wall of the friction part 1332f and extends into the limiting hole 1332h.

[0033] Thus, by limiting the first friction body 1332e through the limiting hole 1332h, the first friction body 1332e is prevented from rotating when the rotating shaft 1321 drives the second friction body 1322 to rotate, thereby reducing the static friction force generated between the second friction body 1322 and the first friction body 1332e, and thus reducing the compensation effect on centrifugal force.

[0034] Please see Figure 3 In some embodiments, the rotating assembly 132 further includes a bearing 1323, the inner ring of which is sleeved on the rotating shaft 1321, and the outer periphery of which is connected to the housing 131. The bearing 1323 supports the rotation of the rotating shaft 1321. Thus, by supporting the rotation of the rotating shaft 1321 with the bearing 1323, the rotating shaft 1321 can rotate stably relative to the housing 131, thereby improving the stability of the rotating shaft 1321 during rotation.

[0035] Please see Figure 3In some embodiments, the rotating assembly 132 further includes a reset member 1324. The reset member 1324 includes a fixed body 1324a and a plurality of reset bodies 1324b. The fixed body 1324a is sleeved on the outer periphery of the rotating shaft 1321. The outer periphery of the fixed body 1324a has a plurality of arc-shaped notches 1324c. The plurality of arc-shaped notches 1324c are circumferentially spaced around the axis of the rotating shaft 1321. The plurality of reset bodies 1324b are circumferentially spaced around the axis of the rotating shaft 1321. Each reset body 1324b is connected to the housing 131 and housed in a corresponding arc-shaped notch 1324c. When the rotating shaft 1321 drives the fixed body 1324a to rotate, the arc-shaped wall of each arc-shaped notch 1324c presses against a corresponding reset body 1324b until elastic deformation occurs. The elastic force generated when the reset body 1324b undergoes elastic deformation is used to drive the fixed body 1324a and the rotating shaft 1321 to reset. For example, the reset body 1324b may be made of rubber material.

[0036] Thus, during the rotation of the front body 11 relative to the rear body 12 or the rear body 12 relative to the front body 11, the rotating shaft 1321 drives the fixed body 1324a to rotate. The arc-shaped bottom wall formed by the arc-shaped notch 1324c on the fixed body 1324a presses against the reset body 1324b, causing the reset body 1324b to undergo elastic deformation and accumulate elastic potential energy. When the front body 11 or the rear body 12 needs to reset, the reset body 1324b releases elastic potential energy to assist the front body 11 or the rear body 12 in resetting, thereby improving the driving experience.

[0037] In this embodiment, the reset body 1324b is cylindrical, and the axial direction of the reset body 1324b is parallel to the parallel direction of the rotation axis 1321. The bottom wall of the arc-shaped notch 1324c is an arc-shaped surface.

[0038] Please see Figure 2 In some embodiments, the housing 131 includes a lower housing portion 1311 and an upper housing portion 1312. The lower housing portion 1311 is connected to the front vehicle body 11, and the upper housing portion 1312 covers the lower housing portion 1311 and is detachably connected to the lower housing portion 1311. Thus, by detachably connecting the upper housing portion 1312 and the lower housing portion 1311, the rotating assembly 132 and the supporting assembly 133 can be quickly installed into the housing 131, thereby improving the assembly efficiency of the balancing mechanism 13.

[0039] The working principle of the above-mentioned self-balancing tricycle is roughly as follows: First, during the cornering process of the self-balancing tricycle, when the centrifugal force of the front body 11 is less than the component of gravity, the drive component 1331 drives the storage body 1332a to move along the axis of the rotation axis 1321. Then, the storage body 1332a pushes against the elastic body 1332b until it undergoes elastic deformation. The elastic force generated by the elastic body 1332b after elastic deformation compresses the first friction body 1332e and causes the first friction body 1332e to compress the second friction body 1322, thereby generating friction between the first friction body 1332e and the second friction body 1322. Finally, the generated friction is used to compensate for the centrifugal force of the front body 11, preventing the self-balancing tricycle from tilting and losing control due to excessive gravity component when cornering.

[0040] Please refer to the following: Figure 6 and Figure 7 This embodiment also provides a control system, which includes the aforementioned balance tricycle, control module 21, speed detection module 22, front body tilt angle detection module 23, and front body rotation angle module 24. Control module 21 is electrically connected to the abutment component 133, speed detection module 22 is electrically connected to control module 21 and is used to detect the walking speed of balance tricycle, front body tilt angle detection module 23 is electrically connected to control module 21 and is used to detect the sway angle of front body 11 when balance tricycle turns, and front body rotation angle module 24 is electrically connected to control module 21 and is used to detect the turning radius of front body 11.

[0041] Thus, the control module 21 obtains the vehicle speed information V through the speed detection module 22, obtains the rollover angle θ of the front side through the front body roll angle detection module 23, and calculates and obtains the turning radius R through the front body rotation angle module 24. Therefore, when the centrifugal force component of the front body 11 and the gravitational force component of the front body 11 are balanced, the balance formula is: When the component of centrifugal force is less than the component of gravity, the equilibrium formula is: Where m is the weight of the front vehicle body, M is the anti-tilt moment of the front vehicle body 11, and H is the distance from the center of gravity of the front vehicle body 11 to the rotation point when the front vehicle body 11 tilts, so that the control module 21 can calculate the magnitude of the friction force required when the holding component 133 holds against the rotating component 132, and then automatically adjust the deformation of the drive component 1331 when the storage body 1332a drives the elastic body 1332b to undergo elastic deformation, so as to accurately adjust the friction force that needs to compensate for centrifugal force generated between the first friction body 1332e and the second friction body 1322.

[0042] In this embodiment, the control module 21 is a PLC controller, the speed detection module 22 is a vehicle speed sensor, the front vehicle body tilt angle detection module 23 is a first angle sensor, and the front vehicle body rotation angle module 24 is a second angle sensor. The above description is merely a specific embodiment of this disclosure, but the scope of protection of this disclosure is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in this disclosure should be included within the scope of protection of this disclosure. Therefore, the scope of protection of this disclosure should be determined by the scope of the claims.

Claims

1. A self-balancing tricycle, characterized in that, The system includes a front body, a rear body, and a balancing mechanism. The balancing mechanism includes a housing, a rotating component, and a supporting component. One end of the rotating component is rotatably inserted into the housing, which is connected to the front body. The other end of the rotating component extends out of the housing and is connected to the rear body. The supporting component is disposed within the housing and is used to push against one end of the rotating component. The friction generated when the supporting component pushes against one end of the rotating component is used to compensate for the centrifugal force generated when the front body turns. The supporting component includes a driving member and an elastic pushing member. The driving member is connected to the inner wall of the housing. One end of the elastic pushing member is detachably connected to the driving member, and the other end of the elastic pushing member is used to push against one end of the rotating component. The elastic pushing member includes a housing, an elastic body, and a first friction body. One end of the housing is detachably connected to the driving member. The elastic body is housed in the housing and one end of the elastic body abuts against the housing near the driving member. The first friction body is slidably housed in the housing and the other end of the elastic body abuts against the first friction body. One end of the rotating component extends into the housing and abuts against the first friction body. The rotating assembly includes a rotating shaft and a second friction body. One end of the rotating shaft is inserted into the housing and extends into the receiving body, and the other end of the rotating shaft is connected to the rear vehicle body. The second friction body is connected to one end of the rotating shaft and abuts against the first friction body.

2. The self-balancing tricycle according to claim 1, characterized in that, The elastomer includes: First elastic sheet; The second elastic sheet is connected to the first elastic sheet and is at a predetermined angle to the first elastic sheet.

3. The self-balancing tricycle according to claim 1, characterized in that, A limiting hole is formed on the side wall of the receiving body, the limiting hole being formed on the side wall of the receiving body and penetrating the inside and outside of the receiving body, and the first friction body includes: The friction part is slidably housed within the housing; The protrusion extends out of the sidewall of the friction part and into the limiting hole.

4. The self-balancing tricycle according to claim 1, characterized in that, The rotating assembly further includes a bearing component, the inner ring of which is fitted onto the rotating shaft, and the outer periphery of which is connected to the housing. The bearing component is used to support the rotation of the rotating shaft.

5. The self-balancing tricycle according to claim 1, characterized in that, The rotating assembly further includes a reset element, the reset element comprising: A fixing body is sleeved on the outer periphery of the rotating shaft. The outer periphery of the fixing body has multiple arc-shaped notches, which are circumferentially spaced around the axis of the rotating shaft. Multiple reset bodies are arranged circumferentially around the axis of the rotating shaft, and each reset body is connected to the housing and housed in a corresponding arc-shaped notch; wherein, when the rotating shaft drives the fixed body to rotate, the arc-shaped wall of each arc-shaped notch presses against a corresponding reset body until elastic deformation occurs, and the elastic force generated when the reset body undergoes elastic deformation is used to drive the fixed body and the rotating shaft to reset.

6. The self-balancing tricycle according to claim 1, characterized in that, The housing includes: The lower shell is connected to the front body; The upper shell portion covers the lower shell portion and is detachably connected to the lower shell portion.

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