Self-balancing unicycle

Abstract

The application provides a self-balancing unicycle, which comprises a frame, a running assembly, a first balancing assembly and a second balancing assembly. The frame comprises a mounting portion and a driving portion. The driving portion is connected to the mounting portion. A seat is arranged on the driving portion. The running assembly comprises a running driving element and a running wheel. The running wheel is sleeved on the mounting portion along the circumference of the mounting portion. The running driving element is fixedly installed on the mounting portion. The running driving element is connected to the running wheel. The first balancing assembly is connected to the mounting portion. The center line of the first balancing assembly is coincident with the center line of the mounting portion. The first balancing assembly comprises a gyroscope and a detection element so as to monitor and control the change of 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 comprises a trimming element. The trimming element is movable along the width direction of the frame. The self-balancing unicycle has the advantages of wide field of view and good balancing performance.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of unicycles, in particular to a self-balancing unicycle. BACKGROUND

[0002] Compared with other mobile carriers, the unicycle has certain advantages. For example, the unicycle adopts a unicycle driving mode, so that the vehicle body of the unicycle is very compact. The structure of the large wheel outside the unicycle not only has the function of the frame, but also achieves the "iron package" effect that ordinary bicycles cannot achieve with very little structure, so that the unicycle is more solid and safe. In addition, the unicycle has only one point of contact with the ground, has small frictional resistance and high maneuverability.

[0003] In the related art, the unicycle also has a field of view problem, that is, due to the adoption of a unicycle, the field of view of the driver in the middle is easily affected; and a stability problem, that is, the driver drives in the middle of the unicycle, and since there is only one point of contact with the ground, it is difficult to control during driving, such as acceleration, turning and braking. SUMMARY

[0004] The present application aims to at least solve one of the technical problems in the related art. To this end, an embodiment of the present application proposes a self-balancing unicycle, which has a wide field of view and good balance performance.

[0005] The self-balancing unicycle according to an embodiment of the present application 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 the width direction of the frame, and a seat being arranged on the driving portion;

[0007] A driving assembly, the driving assembly comprising a driving member and a driving wheel, the driving wheel being sleeved on the mounting portion in the circumferential direction of the mounting portion, and the driving member being fixedly installed on the mounting portion and connected to the driving wheel to drive the driving wheel to rotate;

[0008] A first balancing assembly, the first balancing assembly being connected to the mounting portion, the center line of the first balancing assembly coinciding with the center line of the mounting portion, and the first balancing assembly comprising a gyroscope and a detection member to monitor and control the change of the center of gravity of the frame;

[0009] A second balancing assembly, the second balancing assembly being connected to the mounting portion and located below the seat, and the second balancing assembly comprising a balancing member, the balancing member being movable in the width direction of the frame.

[0010] The self-balancing unicycle of the embodiment of the present application arranges the seat on both sides of the mounting portion, avoids the sight obstruction of the middle traveling wheel, improves the field of view of the driver, and provides a good driving experience. In addition, the balance of the vehicle can be adjusted by the first balancing assembly and the second balancing assembly, the adjustment is rapid, and the control precision is high.

[0011] In some embodiments, the first balancing assembly comprises an extension member connected with the gyroscope, and the gyroscope is rotatable relative to the extension member, both upper and lower ends of the extension member are connected with the mounting portion, and the gyroscope is located at the middle part of the extension member in the height direction of the vehicle frame.

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

[0013] In some embodiments, the slide rail is a plurality of slide rails, and the plurality of slide rails are arranged in the front-rear direction of the vehicle frame, and the balancing member is a plurality of balancing members corresponding to the plurality of slide rails.

[0014] In some embodiments, the balancing member comprises a balancing body and a balancing driving member connected with the balancing body for driving the balancing body to move on the slide rail.

[0015] In some embodiments, the self-balancing unicycle of the embodiment of the present application further comprises a power member, the second balancing assembly further comprises a counterweight, the balancing body has a first mounting area and a second mounting area, the power member is mounted on the first mounting area, and the counterweight is mounted on the second mounting area.

[0016] In some embodiments, the self-balancing unicycle of the embodiment of the present application further comprises a jet flow assembly connected with the vehicle frame and located below the seat, the jet flow assembly comprises a jet member for jetting pressure substances towards the outside of the vehicle frame.

[0017] In some embodiments, the jet member is a plurality of jet members, the plurality of jet members are oppositely arranged in the front-rear direction of the vehicle frame, the plurality of jet members form a jet group, and the jet group is a plurality of jet groups symmetrically arranged on both sides of the mounting portion in the width direction of the vehicle frame.

[0018] In some embodiments, the self-balancing unicycle of the present application further comprises a support assembly connected to the frame, the support assembly comprising a support wheel, the travel assembly having an acceleration state and a deceleration state, in which at least part of the support wheel is in contact with the ground.

[0019] In some embodiments, the self-balancing unicycle of the present application further comprises a reinforcing frame connected to the mounting portion, the reinforcing frame being symmetrically arranged on both sides of the mounting portion along the width direction of the frame, a safety zone being defined between the reinforcing frame and the mounting portion, the seat being arranged in the safety zone. BRIEF DESCRIPTION OF DRAWINGS

[0020] Figure 1 is a front view of the self-balancing unicycle of the present application.

[0021] Figure 2 is a perspective view of the self-balancing unicycle of the present application.

[0022] Figure 3 is a top view of the self-balancing unicycle of the present application.

[0023] REFERENCE NUMERALS:

[0024] 1, frame, 11, mounting portion, 12, seat,

[0025] 2, travel assembly, 21, travel wheel,

[0026] 3, first balancing assembly, 31, gyroscope, 32, extension,

[0027] 4, second balancing assembly, 41, counterweight, 42, slide rail,

[0028] 5, jet flow assembly, 51, jet flow member,

[0029] 6, support assembly, 61, support wheel,

[0030] 7, reinforcing frame. DETAILED DESCRIPTION

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

[0032] As Figures 1-3 shown, the self-balancing unicycle of the present application 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 section 11 and a driver's section. The driver's section is connected to the mounting section 11, and the driver's section is located in the width direction of the frame 1 (e.g., ...). Figure 2 The frame 11 extends to both sides of the mounting section 11 in the left-right direction, and a seat 12 is provided on the driver's section. The driving assembly 2 includes a driving drive and driving wheels 21. The driving wheels 21 are mounted on the mounting section 11 circumferentially. The driving drive is fixedly mounted on the mounting section 11 and connected to the driving wheels 21 to drive the driving wheels 21 to rotate. The first balancing assembly 3 is connected to the mounting section 11, and the center line of the first balancing assembly 3 coincides with the center line of the mounting section 11. The first balancing assembly 3 includes a gyroscope 31 and a detection element to monitor and control changes in the center of gravity of the frame 1. The second balancing assembly 4 is connected to the mounting section 11 and is located below the seat 12. The second balancing assembly 4 includes a balancing element 41, which is movable in the width direction of the frame 1.

[0034] Specifically, such as Figures 1-3 As shown, there are two driving units, one on the left and one on the right, respectively, in a plane orthogonal to the front-rear direction. The two driving units are symmetrically arranged on both sides of the mounting section 11 with the mounting section 11 as the axis of symmetry to ensure the balance of the unicycle. That is, the two driving units are arranged symmetrically on both sides of the mounting section in the width direction of the frame. Each driving unit is equipped with a seat 12 so that the driver can operate the unicycle from the seat 12.

[0035] It is understandable that, such as Figures 1-3 As shown, the two seats 12 are located on the left and right sides of the mounting section 11, respectively, avoiding obstruction of the driving wheels 21 to achieve a good driving experience. The first balancing assembly 3 extends generally in the vertical direction and is installed at the center of the frame 1 to ensure that the overall center of gravity of the frame 1 is located in the direction of extension of the first balancing assembly 3, so as to facilitate better balance adjustment later. The first balancing assembly 3 includes a power and drive device, which is connected to the gyroscope 31 to provide the gyroscope 31 with the necessary drive power.

[0036] During balance adjustment, if the frame tilts, the center of gravity of the unicycle can be detected using a detection device. Based on the detection information, the position of the balancing component 41 can be adjusted to quickly level the unicycle. Furthermore, during the adjustment process using the second balancing component 4, the gyroscope 31 of the first balancing component 3 can be used for fine adjustments to improve the accuracy of balance control. The detection device can consist of multiple sensors that detect the tilt of the gyroscope 31 and the frame 1, and control the first and second balancing components 3 and 4 to adjust the balance based on the detection information.

[0037] Therefore, the self-balancing unicycle of the embodiment of the present application arranges the seat 12 on both sides of the mounting portion 11, avoids the visual obstruction of the middle travel wheel 21, improves the field of view of the driver, and provides a good driving experience. In addition, the balance of the vehicle can be adjusted by the first balance assembly 3 and the second balance assembly 4, the adjustment is rapid, and the control precision is high.

[0038] In addition, the self-balancing platform of the embodiment of the present application is different from the device in the related art which only uses the gyroscope 31 to perform balance control. Generally, for the whole balance difference of the balance platform, only the momentum and the rotation speed of the gyroscope 31 can be increased, which causes greater energy consumption and self-load. Therefore, the self-balancing unicycle of the embodiment of the present application simultaneously uses two balance control assemblies to perform balance control, avoids excessive energy consumption, simplifies the overall structure, and improves the control precision of the balance platform.

[0039] In other words, the self-balancing unicycle of the embodiment of the present application can control the whole platform by the first balance assembly 3 and the second balance assembly 4, that is, by the movement of the trimming member 41 of the second balance assembly 4, the trimming (i.e., coarse balance control) in the front-rear and left-right directions can be realized; and by the gyroscope 31 of the first balance assembly 3 and the detection of the detection member on the change of the center of gravity, fine self-balancing control (i.e., fine balance control) can be performed.

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

[0041] Specifically, as shown in Figures 1-3 The upper and lower sides of the gyroscope 31 are connected with the extension member 32, the extension member 32 is connected with the gyroscope 31 in a hinged manner, so as to facilitate the rotation of the gyroscope 31 relative to the extension member 32. According to different layouts of the unicycle, the length of the extension member 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 member 32 is connected with the gyroscope 31, so that the gyroscope 31 is spaced apart from the mounting portion 11 by a certain distance, which can provide more space for the mounting portion 11, and on the other hand, the distance between the gyroscope 31 and the center of gravity of the vehicle itself can be adjusted according to the length of the extension member 32, so as to be applicable to different environments and ensure the applicability of the self-balancing unicycle of the embodiment of the present application in multiple environments.

[0043] In some embodiments, the second balancing assembly 4 further comprises a slide rail 42 connected with the frame 1, and the extending direction of the slide rail 42 is parallel to the width direction of the frame 1, and the counterbalance 41 is connected with the slide rail 42 and is movable relative to the slide rail 42.

[0044] Specifically, as shown in FIG. 1, the slide rail 42 extends along the left-right direction, and the counterbalance 41 is movable on the slide rail 42 to realize the left-right counterbalance function. It can be understood that when the left and right loads of the frame body are different, for example, one side of the seat 12 is loaded with a person and the other side is unloaded, the counterbalance is moved to the side without a person, so that the left and right loads of the frame body are equal, thereby realizing the left-right counterbalance function. Figures 1-3

[0045] Preferably, the slide rail 42 is a plurality of slide rails 42, and the plurality of slide rails 42 are arranged in the front-rear direction of the frame 1 (for example, the front-rear direction in FIG. 1), and the counterbalance 41 is a plurality of counterbalances 41, and the plurality of counterbalances 41 correspond to the plurality of slide rails 42 one by one. Figure 1

[0046] In some embodiments, the counterbalance 41 comprises a counterbalance body and a counterbalance driving member connected with the counterbalance body for driving the counterbalance body to move on the slide rail 42.

[0047] It can be understood that the counterbalance body is provided with a sliding groove, the counterbalance body is connected with the slide rail 42 through the sliding groove, and the counterbalance body and the slide rail 42 are connected in a linear sliding fit manner, so that the sliding groove of the counterbalance body is in contact with the slide rail 42 through the internally arranged rollers or sliding blocks, and through the action of the driving device (such as a motor), the counterbalance body is realized to move reciprocatingly along the extending direction of the slide rail 42.

[0048] In some embodiments, the self-balancing unicycle of the present embodiment further comprises a power member, the second balancing assembly 4 further comprises a counterweight, and the counterbalance body has a first mounting area and a second mounting area, the power member is mounted in the first mounting area, and the counterweight is mounted in the second mounting area.

[0049] It can be understood that the counterbalance body can be used as a carrier with variable mass, that is, according to the needs of the use environment, the weight of the counterbalance body can be changed, that is, the counterweight can be increased or decreased. That is to say, the counterbalance body can load the power member as the counterweight in the normal state, and if the required counterweight weight is insufficient, the overall counterweight weight can be increased by adding the counterweight. Not only can it meet the use of multiple scenes, but also save the installation space required by the power member.

[0050] In some embodiments, the self-balancing unicycle of the present embodiment further comprises a jet assembly 5 connected with the frame 1 and located below the seat 12, and the jet assembly 5 comprises a jet member 51 for spraying pressure substances towards the outside of the frame 1. ​​

[0051] As shown in Figures 1-3 , the spray member 51 is arranged below the seat 12, and the spray member 51 can spray high-pressure gas or high-pressure liquid towards the ground, so as to brake the tilting tendency of the unicycle by using the reaction force. That is, when the center of gravity of the unicycle suddenly changes and is subjected to the inertial acceleration, the unicycle is prone to lose the overall balance, and the spray member 51 sprays the high-pressure gas or high-pressure liquid to give an impact force to the ground. The reaction force of the ground and the change of the center of gravity overall offset the inertial acceleration caused by the movement, so that the self-balancing platform can realize the fore-and-aft force balancing.

[0052] Preferably, the spray member 51 is multiple, the multiple spray members 51 are arranged oppositely along the fore-and-aft direction of the frame 1, the multiple spray members 51 form a spray group, there are multiple spray groups, and the multiple spray groups are symmetrically arranged on the two sides of the mounting portion 11 along the width direction of the frame 1.

[0053] Specifically, as shown in Figures 1-3 , one spray member 51 is arranged on the front side of the seat 12 and one spray member 51 is arranged on the rear side of the seat 12, and the outlets of the spray members 51 are arranged towards the ground, so as to spray the high-pressure gas or high-pressure liquid towards the ground. The two spray members 51 form a spray group, and one or more spray groups can be arranged below each seat 12, and the number of the spray groups arranged on the left and right sides is equal, so as to ensure the weight balance of the frame 1 on the two sides.

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

[0055] As shown in Figures 1-3 , the support assembly 6 extends along the fore-and-aft direction, and the support wheel 61 is two, and the two support wheels 61 are arranged oppositely along the fore-and-aft direction. The support assembly 6 is two, and the two support assemblies 6 are respectively arranged on the left and right sides of the mounting portion 11. The travel wheel 21 and the frame 1 can rotate relative to each other, and in the acceleration process of the travel wheel 21, the frame 1 is inclined to the right rear relative to the up-and-down direction, so that the front support wheel 61 is in contact with the ground, and the support wheel 61 and the mounting portion 11 form a stable “triangle” structure, thereby being capable of keeping the frame 1 stable in the acceleration state. Similarly, in the deceleration process of the travel wheel 21, the rear support wheel 61 can be in contact with the ground, so as to keep the frame 1 stable in the deceleration state.

[0056] In some embodiments, the self-balancing unicycle of the present application further comprises a reinforcing frame 7 connected to the mounting portion 11, the reinforcing frame 7 is symmetrically arranged on both sides of the mounting portion 11 along the width direction of the frame 1, and a safety area is defined between the reinforcing frame 7 and the mounting portion 11, and the seat 12 is arranged in the safety area.

[0057] It can be understood that, as shown in the figure, the reinforcing frame 7 extends from the mounting portion 11 to both sides thereof, and the reinforcing frame 7 is arranged outside the seat 12, so that the reinforcing frame 7 can be used as a protective tool to protect the driver, so as to avoid the driver directly contacting with external objects when the unicycle collides with the external environment during driving. Figures 1-3

[0058] In the description of the present application, it should be understood that the terms "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential" and the like indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present application and simplifying the description, and therefore cannot be understood as indicating or implying that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as limiting the present application.

[0059] In addition, the terms "first", "second" are only for descriptive purposes, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the technical features indicated. Therefore, the features defined as "first", "second" can explicitly or implicitly include at least one of the features. In the description of the present application, the meaning of "a plurality of" is at least two, for example, two, three, etc., unless otherwise specifically limited.

[0060] In the present application, unless otherwise specifically defined and limited, the terms "mounting", "connection", "connection", "fixing" and the like should be understood in a broad sense, for example, it can be fixedly connected, or it can be detachably connected, or it can be integrated; it can be mechanically connected, or it can be electrically connected or in communication with each other; it can be directly connected, or it can be indirectly connected through an intermediate medium; it can be the internal communication or interaction relationship between two elements, unless otherwise specifically limited. For those skilled in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances.

[0061] ​In the present application, unless specifically stated and limited otherwise, a first feature is "on" or "under" a second feature can mean that the first and second features are in direct contact, or the first and second features are in indirect contact with a medium in between. Also, a first feature "over", "above" and "on top of" a second feature can mean that the first feature is directly above or obliquely above the second feature, or simply means that the first feature is horizontally higher than the second feature. A first feature "under", "below" and "underneath" a second feature can mean that the first feature is directly below or obliquely below the second feature, or simply means that the first feature is horizontally lower than the second feature.

[0062] In the present application, the terms "one embodiment", "some embodiments", "an example", "a specific example", or "some examples" mean that a particular feature, structure, material, or characteristic being described is included in at least one embodiment or example of the present application. The illustrative appearances of the above-mentioned terms in various places in the specification are not necessarily intended to refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics can be combined in any suitable manner in one or more embodiments or examples. Moreover, the terms "first", "second", "third", etc. are used herein merely as identifiers for different elements, regions, or layers, and are not intended to be taken literally, unless otherwise specified.

[0063] Although the above-mentioned embodiments have been shown and described, it is to be understood that these embodiments are exemplary only, and are not to be taken as limiting the scope of the present application, and that changes, modifications, substitutions and variations can be made to the above-mentioned embodiments by those skilled in the art without departing from the scope of the present application.

Claims

1. A self-balancing unicycle, characterized in that, include: The vehicle frame includes a mounting section and a driving section. The driving section is connected to the mounting section and extends to both sides of the mounting section in the width direction of the vehicle frame. A seat is provided on the driving section. There are two driving sections, which are respectively arranged on both sides of the mounting section in the width direction of the vehicle frame and are symmetrically arranged. A driving assembly, comprising a driving component and a driving wheel, wherein the driving wheel is circumferentially mounted on the mounting portion, the driving component is fixedly mounted on the mounting portion, and the driving component is connected to the driving wheel for driving the driving wheel to rotate; A first balancing component is connected to the mounting part, and the centerline of the first balancing component coincides with the centerline of the mounting part. The first balancing component includes a gyroscope and a detection element to monitor and control changes in the center of gravity of the vehicle frame. The second balance assembly is connected to the mounting portion and located below the seat. The second balance assembly includes a balancing member that 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 connected to the gyroscope, and the gyroscope is rotatable relative to the extension member. Both the upper and lower ends of the extension member are connected to the mounting portion. In the height direction of the vehicle 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 component further includes a slide rail connected to the frame, the slide rail extending in a direction parallel to the width direction of the frame, and the balancing member connected to the slide rail and movable relative to the slide rail.

4. The self-balancing unicycle according to claim 3, characterized in that, There are multiple slide rails, which are arranged at intervals along the front-rear direction of the vehicle frame. There are multiple balancing components, which correspond one-to-one with the multiple slide rails.

5. The self-balancing unicycle according to claim 4, characterized in that, The balancing component includes a balancing body and a balancing drive component. The balancing drive component is connected to the balancing body to drive the balancing 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 component, and the second balancing component further includes a counterweight. The balancing body has a first mounting area and a second mounting area. The power supply component is installed in the first mounting area, and the counterweight is installed in the second mounting area.

7. The self-balancing unicycle according to any one of claims 1-6, characterized in that, It also includes a jet assembly connected to the frame and located below the seat, the jet assembly including a jetting element for jetting pressurized material toward the outside of the frame.

8. The self-balancing unicycle according to claim 7, characterized in that, There are multiple spray elements, which are arranged opposite each other along the front-rear direction of the vehicle frame. The multiple spray elements form a spray group, and there are multiple spray groups, which are symmetrically arranged on both sides of the mounting part along the width direction of the vehicle frame.

9. The self-balancing unicycle according to claim 8, characterized in that, It also includes a support assembly connected to the frame, the support assembly including a support wheel, the travel assembly having an acceleration state and a deceleration state, wherein at least a portion of the support wheel is in contact with the ground in both the acceleration state and the deceleration state.

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

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