A bounceable two-wheel balance car with a spiral steel wire umbrella wheel

Abstract

This invention discloses a self-balancing scooter with a spiral steel wire parasol wheel. The scooter's main structure includes a frame, composite wheels, a wheel power unit, an elastic drive unit, a motion control unit, a camera assembly, and a power and electronic control unit. The scooter uses a composite wheel consisting of a deformable spiral steel wire parasol wheel and a soft wheel, offering advantages in adapting to complex terrain and overcoming obstacles. When the scooter is moving normally, the spiral steel wire parasol wheel is embedded in the grooves of the soft wheel and can roll normally. When the spiral steel wire parasol wheel is opened, it can also replace the soft wheel to drive the scooter. When the steel wire parasol wheel is triggered to open instantaneously, it provides the scooter with upward and forward bouncing force, enabling a certain height of jumping motion during movement. The instantaneous bouncing force of the scooter is provided by a spring energy storage device, employing a specially structured spiral mechanism to achieve the instantaneous release of spring compression energy storage and elastic potential energy.

Description

Technical Field

[0001] This invention relates to the field of robotics, and more particularly to a bouncy two-wheeled self-balancing scooter with a spiral steel wire umbrella wheel. Background Technology

[0002] With the rapid development of robotics technology, wheeled robots remain the mainstream payload platform for ground exploration. While wheeled vehicles offer significant advantages in speed and stability on relatively flat surfaces, their terrain adaptability and obstacle-crossing capabilities are noticeably lacking in complex road conditions, limiting their environmental adaptability and operational capacity. Therefore, improving wheel design to adapt to diverse working scenarios remains a practical problem to be solved. Based on the biomimetic principle of tumbleweeds, whose dry branches clump together into a spherical shape, tumbleweeds can roll and jump with the wind in complex terrains such as grasslands and deserts, demonstrating exceptional terrain adaptability. This provides a new approach for innovative wheel design. Therefore, conceiving of a spherical elastic steel wire wheel as a wheel would improve its terrain adaptability to a certain extent, enhancing the vehicle's obstacle-crossing ability. Further innovation and optimization of the steel wire wheel's foot structure could lead to new breakthroughs in improving the vehicle's off-road performance. Summary of the Invention

[0003] The purpose of this invention is to provide a bouncy two-wheeled self-balancing scooter with a spiral steel wire parasol wheel, which solves the problem of limited environmental adaptability and working capacity of conventional two-wheeled self-balancing scooters.

[0004] To solve the above-mentioned technical problems, the present invention adopts the following technical solution:

[0005] The present invention provides a bouncy two-wheeled self-balancing scooter with spiral steel wire parasol wheels, including an outer shell, composite wheels disposed at both ends of the outer shell, a frame disposed inside the outer shell, and a wheel power part, a spring drive part, an action control part, and a power control part disposed on the frame for adjusting the composite wheels.

[0006] Furthermore, the frame includes a bottom plate and a top plate disposed inside the housing;

[0007] The base plate is equipped with a main shaft bracket, a swing arm bracket, a worm gear motor bracket, a servo motor bracket, and a camera bracket.

[0008] The camera bracket is equipped with a high-definition camera assembly, and the housing has a reserved opening to facilitate the protrusion of the high-definition camera.

[0009] Furthermore, the wheel power unit includes a motor mounted on the base plate and a main shaft sleeve mounted on the base plate via the main shaft bracket;

[0010] The motor's power output shaft is connected to the main shaft sleeve via a transmission connection.

[0011] Furthermore, the composite wheel includes a soft wheel and a deformable spiral wire umbrella wheel; the deformable spiral wire umbrella wheel includes a fixed disc sleeved on the main shaft sleeve, a sliding disc slidably sleeved on the main shaft sleeve, a plurality of elastic wire units hinged on the fixed disc, and spokes hingedly connecting the sliding disc and the elastic wire units.

[0012] Or / and, the sliding disc is evenly provided with a first reserved groove for hinged installation of the spokes, and a connecting hole is provided on one end of the spoke near the first reserved groove. The connecting holes of the multiple spokes are connected in series in the first reserved groove by steel wire rings; the other end of the spoke is hinged to the middle of the elastic steel wire unit through a spherical joint.

[0013] Or / and, a resilient steel wire unit is mounted on the fixed disc via a disc pin;

[0014] The flexible wheel has an assembly slot for embedding the elastic steel wire unit.

[0015] Furthermore, the outer casing is also provided with a linkage swing arm for adjusting the position of the sliding disc on the main shaft sleeve;

[0016] One end of the linkage swing arm is hinged to the swing arm bracket, and the other end is connected to the elastic drive part.

[0017] The sliding disc and the linkage swing arm are mounted on the main shaft sleeve via spherical bearings.

[0018] Furthermore, the elastic drive component includes two guide rods mounted inside the housing via guide rod supports, a thrust plate sleeved on the two guide rods and connected to the linkage swing arm, and a compression spring sleeved on the guide rods and located between the guide rod supports and the thrust plate.

[0019] Furthermore, the motion control section includes a dual-axis worm motor mounted on the frame, a central sleeve driven by the power output shaft of the dual-axis worm motor, a lead screw sleeve driven by the central sleeve, and a split nut assembly for axially limiting the lead screw sleeve; the end of the lead screw sleeve is driven by the thrust plate to drive the thrust plate to slide on the guide rod.

[0020] Furthermore, a keyway is provided on the inner wall of the lead screw sleeve, and the central sleeve is limited and positioned in the keyway by a guide pin;

[0021] The split nut assembly includes a main body and a control servo motor; a pre-drilled hole is provided on the main body to facilitate the passage of the lead screw sleeve; a toothed post adapted to the external thread of the lead screw sleeve is provided inside the main body, and the position of the toothed post relative to the lead screw sleeve is adjusted by the control servo motor to achieve the limiting adjustment of the lead screw sleeve.

[0022] Furthermore, the split nut assembly also includes a large shank and a small shank disposed on both sides of the mother body;

[0023] A prefabricated groove is provided on the main body for mounting the large toothed shank. The control servo is connected to the servo connector for transmission. The rotating shaft on the servo connector passes through the equipment hole on the main body and is fixedly connected to the large toothed shank, thereby driving the rotation of the large toothed shank.

[0024] A horizontal through hole is provided in the mother body to connect the pre-made hole, and an inner tooth post that can be inserted into the horizontal through hole is hinged to the lower end of the large tooth shank through a tooth shank pin.

[0025] The upper end of the large tooth shank is connected to the small tooth shank via a transmission rod, and the lower end of the small tooth shank is hinged to the outer tooth post that can be inserted into the horizontal through hole at the other end via a tooth shank pin.

[0026] Furthermore, the control servo is connected between the base plate and the top plate via a split nut and bolt assembly.

[0027] Compared with the prior art, the beneficial technical effects of the present invention are as follows:

[0028] The bouncy two-wheeled self-balancing scooter described in this application utilizes a composite structure consisting of a deformable spiral steel wire parachute wheel and a soft wheel, enabling it to adapt to complex terrain and overcome obstacles. When the scooter is moving normally, the spiral steel wire parachute wheel is embedded in the grooves of the soft wheel and can roll normally. When the spiral steel wire parachute wheel is opened, it can also replace the soft wheel to drive the scooter. When the steel wire parachute wheel is triggered to open instantaneously, it can provide the scooter with upward and forward bouncing power, enabling it to jump to a certain height while moving. The instantaneous bouncing power of the scooter is provided by a spring energy storage device, employing a specially structured spiral mechanism to achieve the instantaneous release of spring compression energy storage and elastic potential energy release. Attached Figure Description

[0029] The present invention will be further described below with reference to the accompanying drawings.

[0030] Figure 1 This is a schematic diagram of the front periphery of the scooter with spiral steel wire parasol wheels of the present invention when the steel wire parasol wheels are closed.

[0031] Figure 2 This is a schematic diagram showing the front and left views of the trolley when the wire parapet wheel is closed;

[0032] Figure 3 A schematic diagram of the trolley's front sight axis when the wire parasol wheels are open;

[0033] Figure 4 A schematic diagram showing the front and left views of the trolley when the wire parasol wheels are open;

[0034] Figure 5 This is a schematic diagram of the front view axis of the car's internal structure;

[0035] Figure 6 This is a schematic diagram of the rear-view axis of the car's internal structure;

[0036] Figure 7 This is a front view schematic diagram of the internal structure of the car;

[0037] Figure 8 A top-view diagram of the car's internal structure;

[0038] Figure 9 This is a rear view schematic diagram of the car's internal structure;

[0039] Figure 10 This is a top view of the internal structure of the car;

[0040] Figure 11 This is a front-view axle view of the internal structure of the car.

[0041] Explanation of reference numerals in the attached figures:

[0042] 1. Frame; 11. Base plate; 12. Top plate; 13. Main shaft bracket; 14. Swing arm bracket; 15. Worm gear motor bracket; 16. Servo bracket; 17. Camera bracket; 18. Split nut and bolt assembly; 2. Composite wheel; 21. Deformable spiral wire parasol wheel; 211. Elastic wire unit; 212. Fixed disc; 213. Spoke; 214. Sliding disc; 215. Disc pin; 216. Spherical joint; 217. Wire ring; 22. Flexible wheel; 23. Wheel axle sleeve; 3. Wheel power unit; 31. Motor; 32. Main shaft sleeve; 33. Pin; 4. Elastic drive unit; 41. Compression spring ; 42. Guide rod; 43. Guide rod support; 44. Thrust plate; 45. Linkage swing arm; 46. Spherical bearing; 5. Motion control section; 51. Dual-axis worm gear motor; 52. Special screw mechanism; 521. Screw sleeve; 522. Center sleeve; 523. Guide pin; 524. Split nut assembly; 5241. Mother body; 5242. Inner toothed column; 5243. Outer toothed column; 5244. Transmission rod; 5245. Large toothed shank; 5246. Small toothed shank; 5247. Control servo; 5248. Servo connector; 5249. Toothed shank pin; 6. Power supply and electronic control section; 7. High-definition camera assembly; 8. Housing. Detailed Implementation

[0043] This embodiment discloses a bouncy two-wheeled self-balancing scooter with spiral steel wire parasol wheels, including a shell 8, composite wheels 2 installed on both ends of the shell 8, a frame 1 installed inside the shell 8, and a wheel power part 3, a spring drive part 4, an action control part 5, and a power control part 6 installed on the frame 1 for controlling the composite wheels 2.

[0044] In this embodiment, the frame 1 includes a bottom plate 11 and a top plate 12 that are fixedly installed inside the outer casing 8;

[0045] The base plate 11 is equipped with a main shaft bracket 13, a swing arm bracket 14, a worm gear motor bracket 15, a servo motor bracket 16, and a camera bracket 17.

[0046] like Figure 1 As shown, a high-definition camera assembly 7 is installed on the camera bracket 17, and a reserved opening is provided on the housing 8 to facilitate the protrusion of the high-definition camera. The high-definition camera assembly 7 can capture and transmit environmental image information at any time.

[0047] In this embodiment, the wheel power unit 3 includes a motor 31 mounted on the base plate 11 and a main shaft sleeve 32 mounted on the base plate 11 via the main shaft bracket 13;

[0048] The power output shaft of the motor 31 is connected to the main shaft sleeve 32 for transmission.

[0049] In this embodiment, as Figure 4 As shown, the composite wheel 2 includes a soft wheel 22 and a deformable spiral wire umbrella wheel 21; the deformable spiral wire umbrella wheel 21 includes a fixed disc 212 sleeved on the main shaft sleeve 32, a sliding disc 214 slidably sleeved on the main shaft sleeve 32, a plurality of elastic wire units 211 hinged to the fixed disc 212, and a spoke 213 hinged to the sliding disc 214 and the elastic wire units 211;

[0050] The opening and closing motion of the deformable spiral steel wire umbrella wheel 211 is achieved by the sliding disc 214 driving all the elastic steel wire units 211 in an umbrella-like opening and closing motion via spokes 213. All the elastic steel wire units 211 are connected to the sliding disc 214 via spokes 213. One end of the spokes 213 is connected to the elastic steel wire unit 211 using a spherical joint 216, and the other end of the spokes 213 is connected to a rotating pair formed by steel wire rings 217 connected in series within the radial groove of the sliding disc 214. The sliding disc 214 can slide on the wheel main shaft sleeve 32, driving the spiral elastic steel wire umbrella wheel 21 in a spiral umbrella-like opening and closing motion. Because the elastic steel wire units 211 rotate off-axis in space, the sliding disc 214 will rotate at a small angle while sliding on the main shaft sleeve 32.

[0051] Specifically, a first reserved groove is evenly provided around the circumference of the sliding disc 214 to facilitate the hinged installation of the spokes 213. A connecting hole is provided at one end of the spoke 213 near the first reserved groove. The connecting holes of multiple spokes 213 are connected in series in the first reserved groove by steel wire rings 217. The connecting holes at the ends of the spokes 213 are connected in series by steel wire rings 217 installed in the radial grooves of the sliding disc 214 to form a rotating pair. The other end of the spokes 213 is hinged to the middle of the elastic steel wire unit 211 through a spherical joint 216.

[0052] Specifically, in this embodiment, a series of elastic steel wire units 211 are installed on the fixed flower plate 212 via a flower plate pin 215. When fully installed, the elastic steel wire units 211 form a spiral umbrella shape, providing vector power upon instantaneous opening, simultaneously achieving forward and upward thrust against the ground. During normal walking, the elastic steel wire units 211 of the elastic spiral steel wire umbrella wheel 21 are embedded in the grooves of the soft wheel 22 and can roll normally. When the spiral steel wire umbrella wheel 21 is open, it can also replace the soft wheel 22 to drive the trolley. When the spiral steel wire umbrella wheel 21 is instantaneously opened, it provides upward and forward bouncing power, enabling a jumping motion to a certain height.

[0053] The flexible wheel 22 has an assembly groove on which the elastic steel wire unit 211 can be embedded, and the flexible wheel 22 can be driven to rotate by the elastic steel wire unit 211.

[0054] In this embodiment, as Figure 5 and Figure 8 As shown, a linkage swing arm 45 for adjusting the position of the sliding flower disc 214 on the main shaft sleeve 32 is also installed on the outer casing 8;

[0055] One end of the linkage swing arm 45 is hinged to the swing arm bracket 14, and the other end is connected to the elastic drive part 4; the sliding disc 214 and the linkage swing arm 45 are mounted on the main shaft sleeve 32 through a spherical bearing 46; the elastic drive part 4 provides the linkage swing arm 45 with an energy storage elastic force for sliding on the main shaft sleeve 32.

[0056] In this embodiment, as Figure 8 As shown, the elastic drive part 4 includes two guide rods 42 installed in the housing 8 through guide rod supports 43, a thrust plate 44 sleeved on the two guide rods 42 and connected to the linkage swing arm 45 in a transmission manner, and a compression spring 41 sleeved on the guide rods 42 and located between the guide rod supports 43 and the thrust plate 44.

[0057] In this embodiment, the motion control part 5 includes a dual-axis worm motor 51 mounted on the frame 1, a central sleeve 522 drivenly connected to the power output shaft of the dual-axis worm motor 51, a lead screw sleeve 521 drivenly connected to the central sleeve 522, and a split nut assembly 524 for axially limiting the lead screw sleeve 521; the end of the lead screw sleeve 521 is drivenly connected to the thrust plate 44 to drive the thrust plate 44 to slide on the guide rod 42.

[0058] In this embodiment, the motion control section 5 consists of a dual-axis worm gear motor 51 and a specially designed spiral mechanism 52, which controls the fast release and slow retraction of the left and right spiral wire parasol wheels 21, thereby achieving wheel mode switching and jumping motion. The dual-axis worm gear motor 51 is connected to the top plate 12 via a worm gear motor bracket 15. The extended shaft end of the worm gear motor 51 is connected to the central sleeve 522 and fixed with a pin. The lead screw sleeve 521 is fitted onto the central sleeve 522, and two guide pins 523 are installed in the radial holes of the central sleeve 522, which can slide in the guide grooves of the inner hole of the lead screw sleeve 521. The end of the lead screw sleeve 521 is integrated with the thrust plate 44 through a thrust bearing. The lead screw sleeve 521 and the split nut assembly 524 form a spiral pair. Driven by the dual-axis worm gear motor 51, the lead screw sleeve 521 rotates, dragging the thrust plate 44 to move axially, thereby compressing and storing energy in the spring 41. Meanwhile, under the control of the split nut assembly 524, the helical pair can also be disconnected, instantly releasing the spring potential energy.

[0059] In this embodiment, as Figure 11 As shown, a keyway is provided on the inner wall of the lead screw sleeve 521, and the center sleeve 522 is slidably installed in the keyway through the guide pin 523;

[0060] The split nut assembly 524 includes a main body 5241 and a control servo motor 5247; wherein a pre-made hole is provided on the main body 5241 to facilitate the passage of the lead screw sleeve 521; a toothed post adapted to the external thread of the lead screw sleeve 521 is installed inside the main body 5241, and the position of the toothed post relative to the lead screw sleeve 521 is adjusted by the control servo motor 5247 to achieve the limiting adjustment of the lead screw sleeve 521.

[0061] In this embodiment, the split nut assembly 524 further includes a large toothed shank 5245 and a small toothed shank 5246 installed on both sides of the mother body 5241;

[0062] A prefabricated groove is provided on the mother body 5241 for mounting the large toothed shank 5245. The control servo motor 5247 is connected to the servo motor connector 5248. The rotating shaft on the servo motor connector 5248 passes through the equipment hole on the mother body 5241 and is fixedly connected to the large toothed shank 5245, thereby driving the rotation of the large toothed shank 5245.

[0063] A horizontal through hole communicating with the pre-made hole is provided in the mother body 5241, and an inner tooth post 5242 that can be inserted into the horizontal through hole is hinged to the lower end of the large tooth shank 5245 through a tooth shank pin 5249.

[0064] The upper end of the large tooth shank 5245 is connected to the small tooth shank 5246 via a transmission rod 5244, and the lower end of the small tooth shank 5246 is hinged to the outer tooth post 5243, which can be inserted into the horizontal through hole at the other end, via a tooth shank pin 5249.

[0065] The control servo 5247 can be adjusted and controlled based on a controller that uses a gravity sensor, a pressure sensor, and a position sensor.

[0066] When the control servo motor 5247 rotates within a certain angle range, it simultaneously controls the inner and outer toothed posts 5242 and 5243 to perform opening and closing movements, thereby realizing the engagement and disengagement of the helical pair;

[0067] When the toothed columns 5242 and 5243 are in the closed state, the lead screw sleeve 521 and the split nut 524 are engaged in a helical pair; when the toothed columns 5242 and 5243 are in the open state, the lead screw sleeve 521 and the split nut 524 are separated in a helical pair, and the lead screw sleeve 521 slides inside the split nut 524.

[0068] In this embodiment, the control servo motor 5247 is connected between the base plate 11 and the top plate 12 via a split nut and bolt assembly 18.

[0069] The above embodiments are merely preferred embodiments of the present invention and are not intended to limit the scope of the present invention. Various modifications and improvements made by those skilled in the art to the technical solutions of the present invention without departing from the spirit of the present invention should fall within the protection scope defined by the claims of the present invention.

Claims

1. A self-balancing scooter with spiral steel wire parasol wheels, characterized in that: It includes an outer shell, composite wheels disposed at both ends of the outer shell, a frame disposed inside the outer shell, and a wheel power unit, a spring drive unit, a motion control unit, and a power control unit disposed on the frame and used to control the composite wheels. The frame includes a bottom plate and a top plate disposed inside the outer shell; The base plate is equipped with a main shaft bracket, a swing arm bracket, a worm gear motor bracket, a servo motor bracket, and a camera bracket. A high-definition camera assembly is installed on the camera bracket, and a reserved opening is provided on the outer shell to facilitate the protrusion of the high-definition camera. The wheel power unit includes a motor mounted on the base plate and a main shaft sleeve mounted on the base plate via the main shaft bracket; The power output shaft of the motor is connected to the main shaft sleeve for transmission. The composite wheel includes a soft wheel and a deformable spiral steel wire umbrella wheel; the deformable spiral steel wire umbrella wheel includes a fixed disc sleeved on the main shaft sleeve, a sliding disc slidably sleeved on the main shaft sleeve, a plurality of elastic steel wire units hinged on the fixed disc, and spokes hingedly connecting the sliding disc and the elastic steel wire units; Or / and, the sliding disc is evenly provided with a first reserved groove for hinged installation of the spokes, and a connecting hole is provided on one end of the spoke near the first reserved groove. The connecting holes of the multiple spokes are connected in series in the first reserved groove by steel wire rings; the other end of the spoke is hinged to the middle of the elastic steel wire unit through a spherical joint. Or / and, a resilient steel wire unit is mounted on the fixed disc via a disc pin; The soft wheel has an assembly slot for embedding the elastic steel wire unit; the elastic steel wire unit is spiral umbrella-shaped after being fully installed, and provides vector power when it opens instantly. When the spiral steel wire umbrella wheel opens instantaneously, it can provide upward and forward bouncing power to achieve a jumping action of a certain height. The outer casing is also provided with a linkage swing arm for adjusting the position of the sliding disc in the main shaft sleeve; One end of the linkage swing arm is hinged to the swing arm bracket, and the other end is connected to the elastic drive part. The sliding disc and the linkage swing arm are mounted on the main shaft sleeve via spherical bearings; The elastic drive part includes two guide rods mounted inside the housing via guide rod supports, a thrust plate sleeved on the two guide rods and connected to the linkage swing arm, and a compression spring sleeved on the guide rods and located between the guide rod supports and the thrust plate. The motion control section includes a dual-axis worm motor mounted on the frame, a central sleeve driven by the power output shaft of the dual-axis worm motor, a lead screw sleeve driven by the central sleeve, and a split nut assembly for axially limiting the lead screw sleeve. Under the control of the split nut assembly, the helical pair is disconnected, instantly releasing the spring potential energy. The end of the lead screw sleeve is driven by the thrust plate to drive the thrust plate to slide on the guide rod.

2. The self-balancing scooter with spiral steel wire parasol wheels according to claim 1, characterized in that: A keyway is provided on the inner wall of the lead screw sleeve, and the center sleeve is limited and set in the keyway by a guide pin; The split nut assembly includes a main body and a control servo motor; a pre-drilled hole is provided on the main body to facilitate the passage of the lead screw sleeve; a toothed post adapted to the external thread of the lead screw sleeve is provided inside the main body, and the position of the toothed post relative to the lead screw sleeve is adjusted by the control servo motor to achieve the limiting adjustment of the lead screw sleeve.

3. The self-balancing scooter with spiral steel wire parasol wheels according to claim 2, characterized in that: The split nut assembly also includes a large toothed shank and a small toothed shank disposed on both sides of the mother body; A prefabricated groove is provided on the main body for mounting the large toothed shank. The control servo is connected to the servo connector for transmission. The rotating shaft on the servo connector passes through the equipment hole on the main body and is fixedly connected to the large toothed shank, thereby driving the rotation of the large toothed shank. A horizontal through hole is provided in the mother body to connect the pre-made hole, and an inner tooth post that can be inserted into the horizontal through hole is hinged to the lower end of the large tooth shank through a tooth shank pin. The upper end of the large tooth shank is connected to the small tooth shank via a transmission rod, and the lower end of the small tooth shank is hinged to the outer tooth post that can be inserted into the horizontal through hole at the other end via a tooth shank pin.

4. The self-balancing scooter with spiral steel wire parasol wheels according to claim 3, characterized in that: The control servo is connected between the base plate and the top plate via a split nut and bolt assembly.

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