A balanced tricycle and control system

Abstract

The present disclosure provides a balancing three-wheeled vehicle and a control system, comprising a front vehicle body, a rear vehicle body and a balancing mechanism, the balancing mechanism comprising a bearing assembly, a first connecting rod, a second connecting rod, a movable element and a bearing assembly, the movable element being connected to the front vehicle body and slidingly connected to the bearing assembly, the bearing assembly being connected to the bearing assembly and being used to elastically press the movable element, the two ends of the movable element being connected to the first connecting rod and the second connecting rod through universal joints, and the two ends of the bearing assembly being connected to the first connecting rod and the second connecting rod through universal joints. In this way, a three-dimensional linkage structure is formed by the bearing assembly, the movable element, the first connecting rod and the second connecting rod, so that the movable element moves towards the bearing assembly while rotating and is constrained by the first connecting rod and the second connecting rod, and the bearing assembly is elastically deformed to compensate for the centrifugal force of the balancing three-wheeled vehicle when passing a curve at low speed, so as to avoid the front vehicle body from rolling over, thereby improving the stability of the balancing three-wheeled vehicle when passing a curve at low speed.

Description

Technical Field

[0001] The present disclosure relates to the technical field of tricycles, and in particular to a balancing tricycle and a control system. Background Art

[0002] The front and rear bodies of traditional tricycles are usually fixed by a fixing frame, and the front body cannot rotate relative to the rear body, so that when the tricycle is turning, due to centrifugal force, the single rear wheel of the vehicle is easily lifted up, and when the speed is high, it is easy to roll over, posing a safety hazard to the driver and a poor driving experience. Therefore, in existing tricycles, the front and rear bodies are connected by a rotating shaft, so that the front body can rotate relative to the rear body, thereby improving flexibility when turning and bringing a good driving experience; however, when the existing tricycle is driving, especially when turning at low speed (speed less than 5km / h), the centrifugal force component of the front body may be smaller than the gravity component, which reduces the stability of the front body and makes it easy to tilt, increasing the risk of the front body rolling over. Therefore, although the existing tricycle has improved flexibility when turning, it has reduced the stability of the tricycle when turning at low speed. Summary of the Invention

[0003] The present disclosure provides a balancing tricycle and a control system to at least solve the problem of poor stability of tricycles when cornering at low speed in the prior art.

[0004] To achieve the above objectives, the present disclosure provides the following technical solutions: a balancing tricycle, comprising:

[0005] front body;

[0006] rear body;

[0007] The balancing mechanism includes a bearing assembly, a first connecting rod, a second connecting rod, a movable part and a supporting assembly, wherein the movable part is connected to the front vehicle body and is slidably connected to the bearing assembly along a first direction, the supporting assembly is connected to the bearing assembly and is used to elastically press the movable part, the opposite ends of the movable part in the second direction are universally connected to one end of the first connecting rod and one end of the second connecting rod respectively, and the opposite ends of the bearing assembly in the second direction are universally connected to the other end of the first connecting rod and the other end of the second connecting rod, wherein the first connecting rod and the second connecting rod are spaced apart along the second direction, and the second connecting rod and the second connecting rod are both spaced apart from the movable part in a third direction, and the first direction, the second direction and the third direction are perpendicular to each other.

[0008] In one embodiment, the carrier assembly includes:

[0009] A receiving shell is provided with a receiving cavity, wherein a portion of the supporting assembly is received in the receiving cavity;

[0010] A guide tube extends along the first direction and is connected to the storage shell. The guide tube is provided with a guide hole connected to the storage cavity. A portion of the movable part can be slidably inserted into the guide hole, and another portion of the supporting assembly is received in the storage cavity and is used to lock the movable part.

[0011] In one embodiment, the abutting component includes:

[0012] an elastic member received in the guide hole, one end of the elastic member being held against the movable member;

[0013] The driving member is received in the receiving cavity and abuts against the other end of the elastic member.

[0014] In one embodiment, the carrier assembly further includes:

[0015] a first protruding rod, one end of the first protruding rod being connected to one side of the storage shell in the second direction, and the other end of the first protruding rod being universally connected to the other end of the first connecting rod;

[0016] A second protruding rod, one end of the second protruding rod is connected to the other side of the storage shell in the second direction, and the other end of the second protruding rod is universally connected to the other end of the second connecting rod.

[0017] In one embodiment, the movable member is provided with a first spherical head at one end in the second direction, the first protruding rod is provided with a first spherical groove at the other end, and the first connecting rod includes:

[0018] a first connecting rod body spaced apart from the second connecting rod along the second direction and spaced apart from the movable member in the third direction;

[0019] A first spherical seat is connected to one end of the first connecting rod body and is provided with a second spherical groove adapted to the first spherical head, wherein the first spherical head is rotatably disposed in the second spherical groove;

[0020] The second spherical head is connected to the other end of the first connecting rod body and is adapted to the first spherical groove. The second spherical head is rotatably disposed in the first spherical groove.

[0021] In one embodiment, the movable member is provided with a third spherical head at the other end in the second direction, the second protruding rod is provided with a third spherical groove at the other end, and the second connecting rod includes:

[0022] a second connecting rod body, spaced apart from the first connecting rod along the second direction, and spaced apart from the movable member in the third direction;

[0023] A second spherical seat is connected to one end of the second connecting rod body and is provided with a fourth spherical groove adapted to the third spherical head, wherein the third spherical head is rotatably disposed in the fourth spherical groove;

[0024] A fourth spherical head is connected to the other end of the second connecting rod body and is adapted to the third spherical groove. The fourth spherical head is rotatably disposed in the third spherical groove.

[0025] In one embodiment, the movable member includes:

[0026] a sliding rod, one end of which is slidably inserted into the guide tube and abuts against the elastic member;

[0027] a movable rod connected to the front body and perpendicularly connected to the sliding rod, wherein opposite ends of the movable rod in the second direction are universally connected to one end of the first connecting rod and one end of the second connecting rod respectively;

[0028] a first fixed body, wherein one end of the first fixed body in the third direction is connected to one end of the movable rod, and the other end of the first fixed body in the third direction is universally connected to the first connecting rod;

[0029] A second fixed body, wherein one end of the second fixed body in the third direction is connected to the other end of the movable rod, and the other end of the second fixed body in the third direction is used for universal connection to the second connecting rod.

[0030] In one embodiment, the movable member further comprises:

[0031] a first buffer body, sleeved on the other end of the first fixed body, one end of the first buffer body being connected to the first fixed body, and the other end of the first buffer body being connected to the first connecting rod;

[0032] The second buffer body is sleeved on the other end of the second fixing body, one end of the second buffer body is connected to the second fixing body, and the other end of the second buffer body is connected to the second connecting rod.

[0033] In one embodiment, the movable member further includes a reinforcing rod, the reinforcing rod and the movable rod are spaced apart along the third direction, and opposite sides of the reinforcing rod in the second direction are respectively connected to the first fixed body and the second fixed body.

[0034] The present disclosure also provides the following technical solution: a control system, the control system comprising:

[0035] The above-mentioned balancing tricycle;

[0036] A control module electrically connected to the abutting component;

[0037] A speed detection module, electrically connected to the control module, for detecting the traveling speed of the balancing tricycle;

[0038] a front body roll angle detection module, electrically connected to the control module and used to detect the roll angle of the front body when the balancing tricycle turns;

[0039] The front vehicle body rotation angle module is electrically connected to the control module and is used to detect the turning radius of the front vehicle body.

[0040] In the above-mentioned balancing tricycle, when the balancing tricycle is turning at low speed and the centrifugal force of the front body is less than the component force of gravity, the front body rotates relative to the rear body and tilts, and drives the movable part to rotate. The two ends of the movable part in the second direction drive the first connecting rod and the second connecting rod to flip in three-dimensional space. Under the constraints of the first connecting rod and the second connecting rod, the movable part drives the movable part to move toward the abutting assembly during the flipping process in the three-dimensional space, so that the movable part presses against the abutting assembly until it produces elastic deformation, and the elastic force generated by the elastically deformed abutting assembly compensates for the lack of centrifugal force when the balancing tricycle is turning at low speed, thereby improving the stability of the tricycle when turning at low speed; in this way, a three-dimensional connecting rod structure is formed by the load-bearing assembly, the movable part, the first connecting rod and the second connecting rod, so that the movable part is constrained by the first connecting rod and the second connecting rod while rotating and moves toward the abutting assembly, and the abutting assembly produces elastic deformation to compensate for the centrifugal force of the balancing tricycle when turning at low speed, so as to avoid the front body from tipping over, thereby improving the stability of the balancing tricycle when turning at low speed.

[0041] It should be understood that the contents described in this section are not intended to identify the key or important features of the embodiments of the present disclosure, nor are they intended to limit the scope of the present disclosure. Other features of the present disclosure will become readily understood through the following description. BRIEF DESCRIPTION OF THE DRAWINGS

[0042] The above and other objects, features and advantages of the exemplary embodiments of the present disclosure will become readily understood by reading the detailed description below with reference to the accompanying drawings, in which several embodiments of the present disclosure are shown by way of example and not limitation, wherein:

[0043] In the drawings, the same or corresponding reference numerals denote the same or corresponding parts.

[0044] Figure 1A schematic structural diagram of a balancing tricycle according to an embodiment of the present disclosure is shown;

[0045] Figure 2 Shown Figure 1 A schematic diagram of the structure of the middle balancing mechanism, a portion of the front vehicle body, and a portion of the rear vehicle body;

[0046] Figure 3 Shown Figure 2 Schematic diagram of the structure of the balancing mechanism;

[0047] Figure 4 Shown Figure 3 Structural diagram of the middle load-bearing component and the supporting component;

[0048] Figure 5 Shown Figure 3 A cross-sectional view of the middle load-bearing component along the V-V direction;

[0049] Figure 6 Shown Figure 4 A cross-sectional view of the middle load-bearing component along the VI-VI direction;

[0050] Figure 7 Shown Figure 3 Exploded view of the balancing mechanism;

[0051] Figure 8 A flow chart of a control system according to another embodiment of the present disclosure is shown;

[0052] Figure 9 Shown Figure 1 Schematic diagram of the forces acting on the front and center of the vehicle body.

[0053] Description of the numbers in the figure:

[0054] In the figure: 11, front body, 12, rear body, 13, balancing mechanism, 131, bearing assembly, 1311, storage shell, 1312, guide tube, 1313, first protruding rod, 1314, second protruding rod, 1315, first spherical groove, 1316, third spherical groove, 1317, storage cavity, 1318, guide hole, 132, first connecting rod, 1321, first connecting rod body, 1322, first spherical seat, 1323, second spherical groove, 1324, second spherical head, 133, second connecting rod, 1331, second connecting rod body, 1332, second spherical seat, 1333, fourth spherical groove, 1334, fourth spherical Head, 134, movable part, 1341, sliding rod, 1342, movable rod, 1343, first fixed body, 1343a, first fixed plate, 1343b, first fixed rod, 1344, second fixed body, 1344a, second fixed plate, 1344b, second fixed rod, 1345, first spherical head, 1346, third spherical head, 1347, first buffer body, 1348, second buffer body, 1349, reinforcing rod, 135, supporting assembly, 1351, elastic part, 1352, driving part, 21, control module, 22, speed detection module, 23, front body roll angle detection module, 24, front body rotation angle module. DETAILED DESCRIPTION

[0055] To make the purposes, features, and advantages of the present disclosure more apparent and understandable, the technical solutions in the embodiments of the present disclosure will be clearly and completely described below in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present disclosure, not all of them. All other embodiments obtained by those skilled in the art based on the embodiments of the present disclosure without creative work shall fall within the scope of protection of the present disclosure.

[0056] It should be understood that the various forms of the processes shown above can be used to reorder, add, or delete steps. For example, the steps described in this disclosure can be performed in parallel, sequentially, or in a different order, as long as the desired results of the technical solutions of this disclosure can be achieved. This is not a limitation herein.

[0057] 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 being referred to. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. Throughout the present disclosure, "plurality" means two or more, unless otherwise specifically defined.

[0058] For ease of explanation, Figure 3A three-dimensional rectangular coordinate system is added, wherein the direction of the X-axis is the first direction, i.e., the moving direction of the sliding rod 1341, the direction of the Y-axis is the second direction, i.e., the extension direction of the movable rod 1342, and the direction of the Z-axis is the third direction, i.e., the setting direction of the movable rod 1342 and the reinforcing rod 1349. That is, the first direction is the front and rear direction of the balancing tricycle, the second direction is the left and right direction of the balancing tricycle, and the third direction is the height direction of the balancing tricycle, and the first direction, the second direction and the third direction are perpendicular to each other. In addition, the first direction, the second direction and the third direction are all directions when the front vehicle body 11 does not tilt.

[0059] Please also refer to Figure 1-4 The present embodiment provides a balancing tricycle, including a front body 11, a rear body 12 and a balancing mechanism 13, the balancing mechanism 13 including a carrying assembly 131, a first connecting rod 132, a second connecting rod 133, a movable member 134 and a supporting assembly 135, the movable member 134 is connected to the front body 11 and is slidably connected to the carrying assembly 131 along a first direction, the supporting assembly 135 is connected to the carrying assembly 131 and is used to elastically press the movable member 134, the opposite ends of the movable member 134 in the second direction are universally connected to one end of the first connecting rod 132 and one end of the second connecting rod 133 respectively, the opposite ends of the carrying assembly 131 in the second direction are universally connected to the other end of the first connecting rod 132 and the other end of the second connecting rod 133, the first connecting rod 132 and the second connecting rod 133 are spaced apart along the second direction, and the second connecting rod 133 and the second connecting rod 133 are both spaced apart from the movable member 134 in the third direction, and the first direction, the second direction and the third direction are perpendicular to each other.

[0060] In the above-mentioned balancing tricycle, when the balancing tricycle is turning at a low speed and the centrifugal force of the front body 11 is less than the component force of gravity, the front body 11 rotates relative to the rear body 12 and tilts, and drives the movable member 134 to rotate. The two ends of the movable member 134 in the second direction drive the first connecting rod 132 and the second connecting rod 133 to flip in three-dimensional space. Under the constraints of the first connecting rod 132 and the second connecting rod 133, the movable member 134 drives the movable member 134 to move toward the abutting component 135 during the flipping process in the three-dimensional space, so that the movable member 134 presses against the abutting component 135 until elastic deformation occurs, and The elastic force generated by the elastically deformed supporting component 135 is used to compensate for the lack of centrifugal force when the balancing tricycle is turning at low speed, thereby improving the stability of the tricycle when turning at low speed; in this way, a three-dimensional connecting rod structure is formed by the load-bearing component 131, the movable part 134, the first connecting rod 132 and the second connecting rod 133, so that the movable part 134 is constrained by the first connecting rod 132 and the second connecting rod 133 while rotating and moves toward the supporting component 135, and the supporting component 135 is elastically deformed to compensate for the centrifugal force of the balancing tricycle when turning at low speed, so as to avoid the front body 11 from tipping over, thereby improving the stability of the balancing tricycle when turning at low speed.

[0061] Please also refer to Figure 5 and Figure 6 In some embodiments, the supporting assembly 131 includes a storage shell 1311 and a guide tube 1312. The storage shell 1311 is provided with a storage cavity 1317. A portion of the supporting assembly 135 is received in the storage cavity 1317. The guide tube 1312 extends along a first direction and is connected to the storage shell 1311. The guide tube 1312 is provided with a guide hole 1318 connected to the storage cavity 1317. A portion of the movable part 134 can be slidably inserted in the guide hole 1318. Another portion of the supporting assembly 135 is received in the storage cavity 1317 and is used to lock the movable part 134.

[0062] In this way, the supporting assembly 135 is respectively stored in the storage shell 1311 and the guide tube 1312, so as to facilitate the storage and protection of the supporting assembly 135, and the movable part 134 is guided by the guide hole 1318 opened on the guide tube 1312, so that when the movable part 134 rotates around the radial center line of the guide hole 1318, it can be guided to move radially along the guide hole 1318.

[0063] See also Figure 4In some embodiments, the counter-holding assembly 135 comprises an elastic member 1351 and a driving member 1352, the elastic member 1351 is received in the guide hole 1318, one end of the elastic member 1351 is counter-holding against the movable member 134, and the driving member 1352 is received in the receiving cavity 1317 and counter-holds against the other end of the elastic member 1351. Exemplarily, the elastic member 1351 can be a cylindrical rubber block, and the driving member 1352 can be a screw telescopic motor.

[0064] Thus, when the movable member 134 moves in the first direction and presses one end of the elastic member 1351, and the elastic force generated by the elastic deformation of the elastic member 1351 is still insufficient to compensate for the centrifugal force of the front vehicle body 11, the driving member 1352 drives the output shaft thereof to move in the first direction and press the other end of the elastic member 1351, so that the elastic member 1351 generates elastic deformation and generates elastic force, so that the elastic forces generated by the two ends of the elastic member 1351 are superimposed on each other to provide sufficient elastic force to compensate for the centrifugal force of the front vehicle body 11, thereby further improving the stability of the balance tricycle, and the elastic member 1351 can buffer the front vehicle body 11 when tilting, thereby improving the driving experience.

[0065] Please refer to Figure 7 In some embodiments, the bearing assembly 131 further comprises a first protruding rod 1313 and a second protruding rod 1314, one end of the first protruding rod 1313 is connected to one side of the receiving shell 1311 in the second direction, the other end of the first protruding rod 1313 is connected to the other end of the first connecting rod 132 in a universal manner, one end of the second protruding rod 1314 is connected to the other side of the receiving shell 1311 in the second direction, and the other end of the second protruding rod 1314 is connected to the other end of the second connecting rod 133 in a universal manner.

[0066] Thus, by arranging the first protruding rod 1313 and the second protruding rod 1314 on opposite sides of the receiving shell 1311 and connecting them to the first connecting rod 132 and the second connecting rod 133 in a universal manner, sufficient space is formed between the first connecting rod 132 and the movable member 134 and between the second connecting rod 133 and the movable member 134, and the first connecting rod 132 and the second connecting rod 133 have sufficient movement space when they are turned in three-dimensional space, so as to avoid movement interference.

[0067] Please refer to Figure 7In some embodiments, the movable member 134 is provided with a first spherical head 1345 at one end in the second direction, and a first spherical groove 1315 is opened at the other end of the first protruding rod 1313. The first connecting rod 132 includes a first connecting rod body 1321, a first spherical seat 1322 and a second spherical head 1324. The first connecting rod body 1321 and the second connecting rod 133 are spaced apart along the second direction and are spaced apart from the movable member 134 in the third direction. The first spherical seat 1322 is connected to one end of the first connecting rod body 1321 and is provided with a second spherical groove 1323 adapted to the first spherical head 1345. The first spherical head 1345 is rotatably arranged in the second spherical groove 1323. The second spherical head 1324 is connected to the other end of the first connecting rod body 1321 and adapted to the first spherical groove 1315. The second spherical head 1324 is rotatably arranged in the first spherical groove 1315.

[0068] In this way, by forming a universal rotating joint between the first spherical groove 1315 and the second spherical head 1324, and forming a universal rotating joint between the second spherical groove 1323 and the first spherical head 1345, a universal rotating connection can be achieved between the first connecting rod 132 and the movable part 134 and the first protruding rod 1313, and the formed universal rotating joint has a simple structure and is easy to process.

[0069] See also Figure 7 In some embodiments, the movable member 134 is provided with a third spherical head 1346 at the other end in the second direction, and a third spherical groove 1316 is opened at the other end of the second protruding rod 1314. The second connecting rod 133 includes a second connecting rod body 1331, a second spherical seat 1332 and a fourth spherical head 1334. The second connecting rod body 1331 is spaced apart from the first connecting rod 132 along the second direction and is spaced apart from the movable member 134 in the third direction. The second spherical seat 1332 is connected to one end of the second connecting rod body 1331 and is provided with a fourth spherical groove 1333 adapted to the third spherical head 1346. The third spherical head 1346 is rotatably arranged in the fourth spherical groove 1333. The fourth spherical head 1334 is connected to the other end of the second connecting rod body 1331 and adapted to the third spherical groove 1316. The fourth spherical head 1334 is rotatably arranged in the third spherical groove 1316.

[0070] In this way, by forming a universal joint between the third spherical groove 1316 and the fourth spherical head 1334, and forming a universal joint between the fourth spherical groove 1333 and the third spherical head 1346, a universal rotation connection can be achieved between the second connecting rod 133 and the movable part 134 and the second protruding rod 1314, and the formed universal joint has a simple structure and is easy to process.

[0071] See also Figure 7 In some embodiments, the movable member 134 includes a sliding rod 1341, a movable rod 1342, a first fixed body 1343 and a second fixed body 1344, one end of the sliding rod 1341 can be slidably inserted in the guide tube 1312 and abutted against the elastic member 1351, the movable rod 1342 is connected to the front body 11 and vertically connected to the sliding rod 1341, the opposite ends of the movable rod 1342 in the second direction are universally connected to one end of the first connecting rod 132 and one end of the second connecting rod 133, one end of the first fixed body 1343 in the third direction is connected to one end of the movable rod 1342, the other end of the first fixed body 1343 in the third direction is used to be universally connected to the first connecting rod 132, one end of the second fixed body 1344 in the third direction is connected to the other end of the movable rod 1342, and the other end of the second fixed body 1344 in the third direction is used to be universally connected to the second connecting rod 133.

[0072] In this way, by vertically connecting the movable rod 1342 to the sliding rod 1341 and extending it along the second direction, sufficient space structures are formed between the first connecting rod 132 and the sliding rod 1341 and between the second connecting rod 133 and the sliding rod 1341, and the first connecting rod 132 and the second connecting rod 133 have sufficient movement space when flipped in three-dimensional space to avoid movement interference.

[0073] In this embodiment, the first fixed body 1343 includes a first fixed plate 1343a and a first fixed rod 1343b, one end of the first fixed plate 1343a in the third direction is connected to one end of the movable rod 1342, the other end of the first fixed plate 1343a in the third direction is connected to one end of the first fixed rod 1343b, and the other end of the first fixed rod 1343b is universally connected to the first connecting rod 132.

[0074] In this embodiment, the second fixed body 1344 includes a second fixed portion and a second fixed rod 1344b, one end of the second fixed plate 1344a in the third direction is connected to the other end of the movable rod 1342, the other end of the second fixed plate 1344a in the third direction is connected to one end of the second fixed rod 1344b, and the other end of the second fixed rod 1344b is universally connected to the second connecting rod 133.

[0075] See also Figure 7In some embodiments, the movable member 134 further comprises a first buffer 1347 and a second buffer 1348. The first buffer 1347 is sleeved on the other end of the first fixed body 1343, and one end of the first buffer 1347 is connected to the first fixed body 1343, and the other end of the first buffer 1347 is connected to the first connecting rod 132. The second buffer 1348 is sleeved on the other end of the second fixed body 1344, and one end of the second buffer 1348 is connected to the second fixed body 1344, and the other end of the second buffer 1348 is connected to the second connecting rod 133. Exemplarily, the first buffer 1347 and the second buffer 1348 can be torsion springs.

[0076] In this way, when the front vehicle body 11 drives the first fixed body 1343 and the second fixed body 1344 to rotate through the movable rod 1342, the first fixed body 1343 rotates relative to one end of the first connecting rod 132, and drives the first buffer 1347 to twist to generate elastic force. The elastic force of the first buffer 1347 is used to buffer the front vehicle body 11 in the process of rolling, and is also used to compensate for the lack of centrifugal force when the balance tricycle passes a curve at low speed. At the same time, the second fixed body 1344 rotates relative to one end of the second connecting rod 133, and drives the second buffer 1348 to twist to generate elastic force. The elastic force generated by the second buffer 1348 is used to buffer the front vehicle body 11 in the process of rolling, and is also used to compensate for the lack of centrifugal force when the balance tricycle passes a curve at low speed.

[0077] In this embodiment, the first buffer 1347 is sleeved on the first fixed rod 1343b, and one end of the first buffer 1347 is connected to the first fixed plate 1343a, and the other end of the first buffer 1347 is connected to the first connecting rod 132. The second buffer 1348 is sleeved on the second fixed rod 1344b, and one end of the second buffer 1348 is connected to the second fixed plate 1344a, and the other end of the second buffer 1348 is connected to the second connecting rod 133.

[0078] Please refer to Figure 6 In some embodiments, the movable member 134 further comprises a reinforcing rod 1349. The reinforcing rod 1349 is arranged along the third direction and is spaced apart from the movable rod 1342, and the reinforcing rod 1349 is connected to the first fixed body 1343 and the second fixed body 1344 on the opposite sides in the second direction. In this way, the reinforcing rod 1349 is arranged to improve the overall strength of the movable member 134, thereby improving the service life of the movable member 134.

[0079] The working principle of the above balance tricycle is as follows:

[0080] First, when the front body 11 tilts, the movable member 134 is driven to rotate. Under the constraints of the first connecting rod 132 and the second connecting rod 133, the movable member 1342 rotates and moves toward the elastic member 1351, squeezing the elastic member 1351 until it is elastically deformed. The elastic force generated by the elastic member 1351 squeezes the movable member 1342 and is converted into friction force on the movable member 1342. In this way, the elastic force generated by the elastic member 1351 can not only cushion the front body 11 when it tilts, but also compensate for the centrifugal force of the front body 11, thereby improving the stability of the front body 11.

[0081] Then, while the front body 11 drives the movable member 134 to rotate, the movable member 134 also drives the first buffer body 1347 and the second buffer body 1348 to twist to generate elastic force. The elastic force generated by the first buffer body 1347 and the second buffer body 1348 can not only cushion the front body 11, but also compensate for the centrifugal force of the front body 11. By combining with the elastic force of the elastic member 1351, the stability of the front body 11 is improved.

[0082] Finally, when the elastic force generated by the elastic member 1351 is not sufficient to compensate for the centrifugal force of the front body 11, the driving member 1352 drives its output shaft toward the elastic member 1351 and squeezes the elastic member 1351 until further elastic deformation is generated, so that the elastic member 1351 further generates elastic force to compensate for the centrifugal force of the front body 11, thereby further improving the stability of the front body 11.

[0083] Please also refer to Figure 8 and Figure 9 This embodiment also provides a control system, which includes the above-mentioned balancing tricycle, a control module 21, a speed detection module 22, a front body roll angle detection module 23, and a front body rotation angle module block 24. The control module 21 is electrically connected to the supporting component 135. The speed detection module 22 is electrically connected to the control module 21 and is used to detect the walking speed of the balancing tricycle. The front body roll angle detection module 23 is electrically connected to the control module 21 and is used to detect the tilt angle of the front body 11 when the balancing tricycle turns. The front body rotation angle module block 24 is electrically connected to the control module 21 and is used to detect the turning radius of the front body 11.

[0084] In this way, the control module 21 obtains the vehicle speed information V through the speed detection module 22, obtains the rollover angle θ of the front body 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 gravity component of the front body 11 are balanced, the balance formula is: , when the centrifugal force is smaller than the gravity force, the equilibrium formula is:

[0085] ,in, ;

[0086] m is the weight of the front body 11, M is the anti-roll moment of the front body 11, H is the distance from the center of gravity of the front body 11 to the rotation point when the front body 11 rolls, and the anti-roll force F is formed by the sum of the friction force F1 generated by the movable member 134 squeezing the elastic member 1351, the elastic force F2 generated by the driving member 1352 squeezing the elastic member 1351, the elastic force F3 generated by the first buffer body 1347, and the elastic force F4 generated by the second buffer body 1348.

[0087] The control module 21 calculates the size of the anti-roll force F2 required when the front body 11 rolls, and further calculates the distance that the driving member 1352 needs to drive the output shaft toward the elastic member 1351 to accurately compensate for the centrifugal force of the front side body.

[0088] In this embodiment, the control module 21 is a PLC controller, the speed detection module 22 is a vehicle speed sensor, the front body roll angle detection module 23 is a first degree angle sensor, and the front body rotation angle module 24 is a second angle sensor.

[0089] It is understandable that calculating the friction force generated when the elastic member 1351 produces different deformation amounts is a common technical means for those skilled in the art, and calculating the elastic force generated when the first buffer member and the second buffer member are twisted to any angle is a common technical means for those skilled in the art.

[0090] The above description is merely a specific embodiment of the present disclosure, but the scope of protection of the present disclosure is not limited thereto. Any changes or substitutions that can be easily conceived by a person skilled in the art within the technical scope disclosed in this disclosure should be included in the scope of protection of the present disclosure. Therefore, the scope of protection of the present disclosure should be based on the scope of protection of the claims.

Claims

1. A balancing tricycle, characterized in that: include: front body; rear body; The balancing mechanism includes a bearing assembly, a first connecting rod, a second connecting rod, a movable member, and a supporting assembly, wherein the movable member is connected to the front vehicle body and is slidably connected to the bearing assembly along a first direction, the supporting assembly is connected to the bearing assembly and is used to elastically press the movable member, the opposite ends of the movable member in the second direction are universally connected to one end of the first connecting rod and one end of the second connecting rod, respectively, and the opposite ends of the bearing assembly in the second direction are universally connected to the other end of the first connecting rod and the other end of the second connecting rod; wherein, The first connecting rod and the second connecting rod are spaced apart along a second direction, and the first connecting rod and the second connecting rod are spaced apart from the movable member in a third direction, the first direction is a front-to-back direction of the balancing tricycle, the second direction is a left-to-right direction of the balancing tricycle, and the third direction is a height direction of the balancing tricycle, and the first direction, the second direction, and the third direction are perpendicular to each other; The bearing assembly includes: a receiving shell and a guide tube, the receiving shell defines a receiving cavity, a portion of the abutting assembly is received in the receiving cavity; the guide tube extends along the first direction and is connected to the receiving shell, the guide tube defines a guide hole connected to the receiving cavity, a portion of the movable member is slidably inserted into the guide hole, and another portion of the abutting assembly is received in the receiving cavity and is used to lock the movable member; The abutting assembly includes an elastic member and a driving member. The elastic member is received in the guide hole, and one end of the elastic member abuts against the movable member. The driving member is received in the receiving cavity and abuts against the other end of the elastic member.

2. The balancing tricycle according to claim 1, characterized in that: The bearing assembly further includes: a first protruding rod, one end of the first protruding rod being connected to one side of the storage shell in the second direction, and the other end of the first protruding rod being universally connected to the other end of the first connecting rod; A second protruding rod, one end of the second protruding rod is connected to the other side of the storage shell in the second direction, and the other end of the second protruding rod is universally connected to the other end of the second connecting rod.

3. The balancing tricycle according to claim 2, characterized in that: The movable member is provided with a first spherical head at one end in the second direction, and a first spherical groove is provided at the other end of the first protruding rod. The first connecting rod includes: a first connecting rod body spaced apart from the second connecting rod along the second direction and spaced apart from the movable member in the third direction; A first spherical seat is connected to one end of the first connecting rod body and is provided with a second spherical groove adapted to the first spherical head, wherein the first spherical head is rotatably disposed in the second spherical groove; The second spherical head is connected to the other end of the first connecting rod body and is adapted to the first spherical groove. The second spherical head is rotatably disposed in the first spherical groove.

4. The balancing tricycle according to claim 2, characterized in that: The other end of the movable member in the second direction is provided with a third spherical head, the other end of the second protruding rod is provided with a third spherical groove, and the second connecting rod includes: a second connecting rod body, spaced apart from the first connecting rod along the second direction, and spaced apart from the movable member in the third direction; A second spherical seat is connected to one end of the second connecting rod body and is provided with a fourth spherical groove adapted to the third spherical head, wherein the third spherical head is rotatably disposed in the fourth spherical groove; A fourth spherical head is connected to the other end of the second connecting rod body and is adapted to the third spherical groove. The fourth spherical head is rotatably disposed in the third spherical groove.

5. The balancing tricycle according to claim 2, characterized in that: The movable parts include: a sliding rod, one end of which is slidably inserted into the guide tube and abuts against the elastic member; a movable rod connected to the front body and perpendicularly connected to the sliding rod, wherein opposite ends of the movable rod in the second direction are universally connected to one end of the first connecting rod and one end of the second connecting rod respectively; a first fixed body, wherein one end of the first fixed body in the third direction is connected to one end of the movable rod, and the other end of the first fixed body in the third direction is universally connected to the first connecting rod; A second fixed body, wherein one end of the second fixed body in the third direction is connected to the other end of the movable rod, and the other end of the second fixed body in the third direction is used for universal connection to the second connecting rod.

6. The balancing tricycle according to claim 5, characterized in that: The movable part further comprises: a first buffer body, sleeved on the other end of the first fixed body, one end of the first buffer body being connected to the first fixed body, and the other end of the first buffer body being connected to the first connecting rod; The second buffer body is sleeved on the other end of the second fixing body, one end of the second buffer body is connected to the second fixing body, and the other end of the second buffer body is connected to the second connecting rod.

7. The balancing tricycle according to claim 5, characterized in that: The movable member further includes a reinforcing rod, which is spaced apart from the movable rod along the third direction, and the reinforcing rod is connected to the first fixed body and the second fixed body on opposite sides in the second direction, respectively.

8. A control system, characterized in that: The control system includes: The balancing tricycle according to any one of claims 1 to 7; A control module electrically connected to the abutting component; A speed detection module, electrically connected to the control module, for detecting the traveling speed of the balancing tricycle; a front body roll angle detection module, electrically connected to the control module and used to detect the roll angle of the front body when the balancing tricycle turns; The front vehicle body rotation angle module is electrically connected to the control module and is used to detect the turning radius of the front vehicle body.

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