Self-balancing monocycle

Abstract

The self-balancing monocycle comprises a frame, a running assembly, a first balancing assembly and a second balancing assembly, the frame comprises a mounting part and a driving part, the driving part is connected with the mounting part, and a seat is arranged on the driving part; the running assembly comprises a running driving part and a running wheel, the running wheel sleeves the mounting part in the circumferential direction of the mounting part, the running driving part is fixedly mounted on the mounting part, the running driving part is connected with the running wheel, the first balance assembly is connected with the mounting part, and the center line of the first balance assembly coincides with the center line of the mounting part; the first balance assembly comprises a gyroscope and a detection piece so that the gravity center change of the frame can be monitored, regulated and controlled. The second balance assembly is connected with the installation part and located below the seat, the second balance assembly comprises a balancing piece, and the balancing piece can move in the width direction of the frame. The self-balancing monocycle has the advantages of being wide in view field and good in balancing performance.

Description

Technical Field

[0001] The present invention relates to the technical field of unicycles, and in particular to a self-balancing unicycle. Background Art

[0002] Compared with other mobile vehicles, the unicycle has certain advantages. For example, the unicycle is driven by a single wheel, which makes the unicycle body very light and compact. The large wheel on the unicycle is outwardly wrapped, which not only serves as a frame, but also achieves the "iron-wrapped man" effect that ordinary bicycles cannot achieve with very little structure, making the unicycle more solid and safe. In addition, the unicycle has only one point on the ground, with low friction resistance and strong maneuverability.

[0003] In the related art, the wheelbarrow also has the problem of field of vision, that is, the use of a single wheel can easily affect the field of vision of the middle driver; the problem of instability, that is, the driver sits in the middle of the wheelbarrow to drive, and since there is only one point touching the ground, it is very unstable during driving, such as acceleration, steering and braking, and is difficult to control. Summary of the invention

[0004] The present invention aims to solve one of the technical problems in the related art at least to a certain extent. To this end, an embodiment of the present invention provides a self-balancing unicycle with a wide field of vision and good balance performance.

[0005] The self-balancing unicycle of the embodiment of the present invention comprises:

[0006] A frame, the frame comprising a mounting portion and a driving portion, the driving portion being connected to the mounting portion and extending to both sides of the mounting portion in a width direction of the frame, and a seat being arranged on the driving portion;

[0007] A travel assembly, the travel assembly comprising a travel drive member and a travel wheel, the travel wheel being sleeved on the mounting portion along the circumference of the mounting portion, the travel drive member being fixedly mounted on the mounting portion, and the travel drive member being connected to the travel wheel to drive the travel wheel to rotate;

[0008] A first balancing assembly, wherein the first balancing assembly is connected to the mounting portion, a center line of the first balancing assembly coincides with a center line of the mounting portion, and the first balancing assembly includes a gyroscope and a detection member so as to monitor and regulate changes in the center of gravity of the frame;

[0009] The second balancing assembly is connected to the mounting portion and is located below the seat. The second balancing assembly includes a balancing member, and the balancing member is movable along the width direction of the frame.

[0010] The self-balancing unicycle of the embodiment of the present invention arranges seats on both sides of the mounting portion, thereby avoiding the sight obstruction of the middle running wheel, improving the driver's field of vision, and providing a good driving experience. In addition, the first balancing component and the second balancing component can be used to adjust the balance of the vehicle, and the adjustment is rapid and the control accuracy is high.

[0011] In some embodiments, the first balancing component includes an extension member, the extension member is connected to the gyroscope, and the gyroscope is rotatable relative to the extension member, the upper and lower ends of the extension member are connected to the mounting portion, and the gyroscope is located in the middle of the extension member in the height direction of the frame.

[0012] In some embodiments, the second balancing assembly further includes a slide rail, the slide rail is connected to the frame, and an extension direction of the slide rail is parallel to a width direction of the frame, and the balancing member is connected to the slide rail and is movable relative to the slide rail.

[0013] In some embodiments, there are a plurality of slide rails, and the plurality of slide rails are arranged at intervals along the front-rear direction of the frame. There are a plurality of balancing members, and the plurality of balancing members correspond one-to-one to the plurality of slide rails.

[0014] In some embodiments, the trim member includes a trim body and a trim driving member, and the trim driving member is connected to the trim body to drive the trim body to move on the slide rail.

[0015] In some embodiments, the self-balancing unicycle of the embodiment of the present invention further includes a power supply, the second balancing assembly further includes a counterweight, the balancing body has a first installation area and a second installation area, the power supply is installed in the first installation area, and the counterweight is installed in the second installation area.

[0016] In some embodiments, the self-balancing unicycle of the embodiment of the present invention further includes a jet assembly, which is connected to the frame and located below the seat, and the jet assembly includes a spray member, which is used to spray pressure material toward the outside of the frame.

[0017] In some embodiments, there are multiple injection parts, and the multiple injection parts are relatively arranged along the front and rear directions of the frame. The multiple injection parts form an injection group, and there are multiple injection groups, and the multiple injection groups are symmetrically arranged on both sides of the mounting portion along the width direction of the frame.

[0018] In some embodiments, the self-balancing unicycle of the embodiment of the present invention further includes a support assembly, wherein the support assembly is connected to the frame, the support assembly includes support wheels, and the travel assembly has an acceleration state and a deceleration state, and in the acceleration state and the deceleration state, at least a portion of the support wheels is in contact with the ground.

[0019] In some embodiments, the self-balancing unicycle of the embodiment of the present invention also includes a reinforcement frame, which is connected to the mounting portion, and the reinforcement frames are symmetrically arranged on both sides of the mounting portion along the width direction of the frame. A safety zone is defined between the reinforcement frame and the mounting portion, and the seat is placed in the safety zone. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 2 is a front view of a self-balancing unicycle according to an embodiment of the present invention.

[0021] Figure 2 It is a schematic diagram of the three-dimensional structure of a self-balancing unicycle according to an embodiment of the present invention.

[0022] Figure 3 1 is a top view of a self-balancing unicycle according to an embodiment of the present invention.

[0023] Reference numerals:

[0024] 1. Frame, 11. Mounting part, 12. Seat,

[0025] 2. Traveling assembly, 21. Traveling wheel,

[0026] 3. first balancing component, 31. gyroscope, 32. extension member,

[0027] 4. Second balancing assembly, 41. Balancing member, 42. Slide rail,

[0028] 5. Fluidic components, 51. Injection parts,

[0029] 6. Support assembly, 61. Support wheel,

[0030] 7. Reinforcement frame. DETAILED DESCRIPTION

[0031] Embodiments of the present invention are described in detail below, and examples of the embodiments are shown in the accompanying drawings. The embodiments described below with reference to the accompanying drawings are exemplary and intended to be used to explain the present invention, but should not be understood as limiting the present invention.

[0032] like Figure 1-Figure 3 As shown, the self-balancing unicycle according to the embodiment of the present invention comprises: a frame 1, a travel assembly 2, a first balancing assembly 3 and a second balancing assembly 4.

[0033] The frame 1 includes a mounting portion 11 and a driving portion, the driving portion is connected to the mounting portion 11, and the driving portion is in the width direction of the frame 1 (such as Figure 1 The first balancing component 3 is connected to the mounting portion 11, and the center line of the first balancing component 3 coincides with the center line of the mounting portion 11. The first balancing component 3 includes a gyroscope 31 and a detection component to monitor and control the change of the center of gravity of the frame 1. The second balancing component 4 is connected to the mounting portion 11 and is located below the seat 12. The second balancing component 4 includes a balancing component 41, and the balancing component 41 is movable along the width direction of the frame 1.

[0034] Specifically, Figure 1-Figure 3 As shown, there are two driving parts, which are arranged on the left and right sides of the mounting part 11, and in a plane orthogonal to the front and rear directions, the two driving parts are symmetrically arranged on both sides of the mounting part 11 with the mounting part 11 as the symmetry axis to ensure the balance of the wheelbarrow. A seat 12 is provided on each driving part so that the driver can operate on the seat 12.

[0035] It is understandable that if Figure 1-Figure 3 As shown, the two seats 12 are respectively located on the left and right sides of the mounting portion 11, avoiding the obstruction of the running wheels 21 in the line of sight, so as to achieve a good driving experience. The extension direction of the first balancing assembly 3 generally extends in the up-down direction, and the first balancing assembly 3 is installed at the center of the frame 1 to ensure that the center of gravity of the frame 1 as a whole can be located in the extension direction of the first balancing assembly 3, so as to facilitate the subsequent better balance adjustment. The first balancing assembly 3 includes an electric power and a driving device, which is connected to the gyroscope 31 to provide the gyroscope 31 with the required driving power and power.

[0036] When the frame is tilted during balance control, the detection member can be used to detect the center of gravity of the unicycle as a whole, and the position of the balancing member 41 can be adjusted according to the detection information, so that the unicycle as a whole can be quickly leveled. In addition, during the adjustment process using the second balance component 4, the gyroscope 31 of the first balance component 3 can also be used for fine adjustment to improve the accuracy of balance control. The detection member can be a plurality of sensors to detect the gyroscope 31 and the tilt degree of the frame 1, and control the first balance component 3 and the second balance component 4 to perform balance adjustment according to the detection information.

[0037] Therefore, the self-balancing unicycle of the embodiment of the present invention arranges the seat 12 on both sides of the mounting portion 11, avoiding the line of sight of the middle running wheel 21, improving the driver's field of vision, and providing a good driving experience. In addition, the first balancing component 3 and the second balancing component 4 can be used to adjust the balance of the vehicle, and the adjustment is rapid and the control accuracy is high.

[0038] In addition, the self-balancing platform of the embodiment of the present invention is different from the equipment in the related art that only uses the gyroscope 31 for balance control. Generally, if the overall balance difference of the balance platform is too large, the momentum and rotation speed of the gyroscope 31 can only be increased, which will cause greater energy consumption and self-load. Therefore, the self-balancing unicycle of the embodiment of the present invention uses two balance control components for balance control at the same time, which avoids excessive energy consumption, simplifies the overall structure, and improves the control accuracy of the balance platform.

[0039] In other words, the self-balancing unicycle of the embodiment of the present invention can regulate the entire platform through the first balancing component 3 and the second balancing component 4, that is, by moving the balancing member 41 of the second balancing component 4, balancing in the front, back, left and right directions (i.e., coarse balance regulation) can be achieved; and by using the gyroscope 31 of the first balancing component 3 and detecting the change of the center of gravity through the detection member, subtle self-balancing regulation (i.e., fine balance regulation) can be performed.

[0040] In some embodiments, the first balancing assembly 3 includes an extension member 32, which is connected to the gyroscope 31, and the gyroscope 31 is rotatable relative to the extension member 32. The upper and lower ends of the extension member 32 are connected to the mounting portion 11. In the height direction of the frame 1, the gyroscope 31 is located in the middle of the extension member 32.

[0041] Specifically, Figure 1-Figure 3 As shown, an extension piece 32 is connected to the top and bottom of the gyroscope 31, and the extension piece 32 is connected to the gyroscope 31 in a hinged manner, so that the gyroscope 31 can rotate relative to the extension piece 32. According to different layouts of the unicycle, the length of the extension piece 32 can be adjusted to change the height of the gyroscope 31 relative to the ground, so that the gyroscope 31 can be applied to different models of unicycles.

[0042] It can be understood that the extension piece 32 is connected to the gyroscope 31 so that a certain distance is spaced between the gyroscope 31 and the mounting portion 11. On the one hand, more space can be provided for the mounting portion 11. On the other hand, the distance between the gyroscope 31 and the center of gravity of the workshop itself can be adjusted according to the length of the extension piece 32, so as to facilitate application in different environments and ensure the applicability of the self-balancing unicycle of the embodiment of the present invention in multiple environments.

[0043] In some embodiments, the second balancing assembly 4 further includes a slide rail 42 , which is connected to the frame 1 , and the extension direction of the slide rail 42 is parallel to the width direction of the frame 1 , and the balancing member 41 is connected to the slide rail 42 and is movable relative to the slide rail 42 .

[0044] Specifically, Figure 1-Figure 3 As shown, the slide rail 42 extends in the left-right direction, and the balancing member 41 can move on the slide rail 42 to achieve the left-right balancing function. It can be understood that when the left and right loads of the frame are different, such as one side of the seat 12 is loaded with people and the other side is empty, the counterweight member is moved to the unloaded side so that the left and right loads of the frame are equal, thereby achieving the left-right balancing function.

[0045] Preferably, there are multiple slide rails 42, and the multiple slide rails 42 are arranged along the front-to-back direction of the frame 1 (such as Figure 1 The balancing members 41 are arranged at intervals in the front-to-back direction, and there are multiple balancing members 41, and the multiple balancing members 41 correspond to the multiple slide rails 42 one by one.

[0046] In some embodiments, the trim member 41 includes a trim body and a trim driving member, and the trim driving member is connected to the trim body to drive the trim body to move on the slide rail 42 .

[0047] It can be understood that a slide groove is provided on the balancing body, and the balancing body is connected to the slide rail 42 through the slide groove. The balancing body and the slide rail 42 are connected in a linear sliding manner, so that the slide groove of the balancing body contacts the slide rail 42 through the roller or slider arranged inside, and through the action of a driving device (such as a motor), reciprocating linear movement along the extension direction of the slide rail 42 is achieved.

[0048] In some embodiments, the self-balancing unicycle of the embodiment of the present invention further includes a power supply, the second balancing assembly 4 further includes a counterweight, the balancing body has a first installation area and a second installation area, the power supply is installed in the first installation area, and the counterweight is installed in the second installation area.

[0049] It is understandable that the trim body can be used as a carrier with variable mass, that is, according to the needs of the use environment, the weight carried on the trim body can be changed accordingly, that is, the counterweight can be increased or decreased. In other words, under normal conditions of the trim body, the power supply unit can be loaded as a counterweight. If the required counterweight weight is insufficient, the overall counterweight weight can be increased by adding a counterweight block. It can not only meet the use of multiple scenarios, but also save the installation space required for the power supply unit.

[0050] In some embodiments, the self-balancing unicycle of the embodiment of the present invention further includes a jet assembly 5, which is connected to the frame 1 and is located below the seat 12. The jet assembly 5 includes a spray member 51, which is used to spray pressure material toward the outside of the frame 1.

[0051] It is understandable that if Figure 1-Figure 3 As shown, the ejection member 51 is disposed below the seat 12, and the ejection member 51 can eject high-pressure gas or high-pressure water toward the ground, so as to utilize the reaction force to brake the tilting tendency of the wheelbarrow. That is to say, when the center of gravity of the wheelbarrow changes suddenly and under the action of inertial acceleration, it will easily lose its overall balance, and the jet assembly 5 ejects high-pressure gas or high-pressure liquid to give the ground an impact force, and the reaction force of the ground and the change of the center of gravity as a whole compensate for the inertial acceleration caused by the movement, so that the self-balancing platform can achieve the front and rear balance.

[0052] Preferably, there are multiple injection members 51, which are relatively arranged along the front-to-rear direction of the frame 1, and the multiple injection members 51 form an injection group. There are multiple injection groups, which are symmetrically arranged on both sides of the mounting portion 11 along the width direction of the frame 1.

[0053] Specifically, Figure 1-Figure 3 As shown, a spray member 51 is disposed on the front side of the seat 12 and the rear side of the seat 12, and the outlet of the spray member 51 is disposed toward the ground, so as to spray high-pressure gas or high-pressure water toward the ground. The two spray members 51 form a spray group, and one or more spray groups can be disposed under each seat 12, and the number of spray groups disposed on the left and right is equal to ensure the weight balance on both sides of the frame 1.

[0054] In some embodiments, the self-balancing unicycle of the embodiment of the present invention further includes a support assembly 6, which is connected to the frame 1, and the support assembly 6 includes a support wheel 61. The travel assembly 2 has an acceleration state and a deceleration state. In the acceleration state and the deceleration state, at least part of the support wheel 61 is in contact with the ground.

[0055] It is understandable that if Figure 1-Figure 3 As shown, the support assembly 6 extends in the front-to-back direction, and there are two support wheels 61, which are arranged opposite to each other in the front-to-back direction. There are two support assemblies 6, which are respectively mounted on the left and right sides of the mounting portion 11. The running wheel 21 and the frame 1 can rotate relative to each other, and when the running wheel 21 is accelerating, the frame 1 will tilt to the right rear relative to the up and down direction, so that the support wheel 61 at the front contacts the ground, so that the support wheel 61 and the mounting portion 11 form a stable "triangle" structure, thereby maintaining the stability of the frame 1 in the accelerated state. Similarly, when the running wheel 21 is decelerating, the support wheel 61 at the rear can contact the ground to stabilize the frame 1 in the decelerated state.

[0056] In some embodiments, the self-balancing unicycle of the embodiment of the present invention further includes a reinforcement frame 7, which is connected to the mounting portion 11. The reinforcement frame 7 is symmetrically arranged on both sides of the mounting portion 11 along the width direction of the frame 1. A safety zone is defined between the reinforcement frame 7 and the mounting portion 11, and the seat 12 is placed in the safety zone.

[0057] It is understandable that if Figure 1-Figure 3 As shown, the reinforcement frame 7 extends from the mounting portion 11 to both sides thereof, and the reinforcement frame 7 is arranged on the outside of the seat 12, so that the reinforcement frame 7 can be used as a protective tool to protect the driver, and prevent the driver from direct contact with external objects when the wheelbarrow collides with the outside world during driving.

[0058] In the description of the present invention, it is to be understood that the terms “center”, “longitudinal”, “lateral”, “length”, “width”, “thickness”, “up”, “down”, “front”, “back”, “left”, “right”, “vertical”, “horizontal”, “top”, “bottom”, “inside”, “outside”, “clockwise”, “counterclockwise”, “axial”, “radial”, “circumferential”, etc., indicating orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as limiting the present invention.

[0059] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In the description of the present invention, the meaning of "plurality" is at least two, such as two, three, etc., unless otherwise clearly and specifically defined.

[0060] In the present invention, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral one; it can be a mechanical connection, an electrical connection, or communication with each other; it can be a direct connection, or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements, unless otherwise clearly defined. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0061] In the present invention, unless otherwise clearly specified and limited, a first feature being "above" or "below" a second feature may mean that the first and second features are in direct contact, or the first and second features are in indirect contact through an intermediate medium. Moreover, a first feature being "above", "above" or "above" a second feature may mean that the first feature is directly above or obliquely above the second feature, or simply means that the first feature is higher in level than the second feature. A first feature being "below", "below" or "below" a second feature may mean that the first feature is directly below or obliquely below the second feature, or simply means that the first feature is lower in level than the second feature.

[0062] In the present invention, the terms "one embodiment", "some embodiments", "examples", "specific examples", or "some examples" etc. mean that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the described specific features, structures, materials or characteristics may be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art may combine and combine the different embodiments or examples described in this specification and the features of the different embodiments or examples, without contradiction.

[0063] Although the above embodiments have been shown and described, it is to be understood that the above embodiments are exemplary and are not to be construed as limitations on the present invention. Changes, modifications, substitutions and variations of the above embodiments by those of ordinary skill in the art are all within the scope of protection of the present invention.

Claims

1. A self-balancing unicycle, characterized in that: include: A frame, the frame comprising a mounting portion and a driving portion, the driving portion being connected to the mounting portion and extending to both sides of the mounting portion in a width direction of the frame, and a seat being arranged on the driving portion; A travel assembly, the travel assembly comprising a travel drive member and a travel wheel, the travel wheel being sleeved on the mounting portion along the circumference of the mounting portion, the travel drive member being fixedly mounted on the mounting portion, and the travel drive member being connected to the travel wheel to drive the travel wheel to rotate; A first balancing assembly, wherein the first balancing assembly is connected to the mounting portion, a center line of the first balancing assembly coincides with a center line of the mounting portion, and the first balancing assembly includes a gyroscope and a detection member so as to monitor and regulate changes in the center of gravity of the frame; The second balancing assembly is connected to the mounting portion and is located below the seat. The second balancing assembly includes a balancing member, and the balancing member is movable along the width direction of the frame.

2. The self-balancing unicycle according to claim 1, characterized in that: The first balancing component includes an extension member, which is connected to the gyroscope and rotatable relative to the extension member. The upper and lower ends of the extension member are both connected to the mounting portion. In the height direction of the frame, the gyroscope is located in the middle of the extension member.

3. The self-balancing unicycle according to claim 1, characterized in that: The second balancing assembly further includes a slide rail, which is connected to the frame and has an extending direction parallel to a width direction of the frame. The balancing member is connected to the slide rail and is movable relative to the slide rail.

4. The self-balancing unicycle according to claim 3, characterized in that: There are a plurality of slide rails, which are arranged at intervals along the front-rear direction of the frame; there are a plurality of balancing members, which correspond one-to-one to the plurality of slide rails.

5. The self-balancing unicycle according to claim 4, characterized in that: The trimming member comprises a trimming body and a trimming driving member, wherein the trimming driving member is connected to the trimming body to drive the trimming body to move on the slide rail.

6. The self-balancing unicycle according to claim 5, characterized in that: It also includes a power supply, and the second balancing assembly also includes a counterweight. The balancing body has a first installation area and a second installation area. The power supply is installed in the first installation area, and the counterweight is installed in the second installation area.

7. The self-balancing unicycle according to any one of claims 1 to 6, characterized in that: It also includes a jet assembly, which is connected to the frame and located below the seat. The jet assembly includes a spray member, which is used to spray pressure material toward the outside of the frame.

8. The self-balancing unicycle according to claim 7, characterized in that: There are multiple injection members, which are relatively arranged along the front-rear direction of the frame. The multiple injection members form an injection group. There are multiple injection groups, which are symmetrically arranged on both sides of the mounting portion along the width direction of the frame.

9. The self-balancing unicycle according to claim 8, characterized in that: It also includes a support assembly, which is connected to the frame, and the support assembly includes support wheels. The travel assembly has an acceleration state and a deceleration state. In the acceleration state and the deceleration state, at least part of the support wheels is in contact with the ground.

10. The self-balancing unicycle according to claim 9, characterized in that: It also includes a reinforcement frame, which is connected to the mounting portion. The reinforcement frame is symmetrically arranged on both sides of the mounting portion along the width direction of the frame. A safety zone is defined between the reinforcement frame and the mounting portion, and the seat is placed in the safety zone.

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