CN87216196U - Automatic control balance bicycle - Google Patents

The utility model discloses a bicycle without operating the handle bar and adjusting the center of gravity by people. A self control balanced system realizes the motion balance of the bicycle, which comprises a force balance sensor, an electronic amplifier, and a torque motor. The utility model can serve as a self control bicycle, which is more suitable for serving as a remote racing bicycle or a toy.

Automatic control balance bicycle

Affiliated technical field is: two-wheel car, automatic control balancing technique.

The two-wheel vehicle as bicycle, motor bike etc., in the process of moving, all is to handle handlebar by the rider before and after existing being equipped with, and regulates front-wheel steering.Utilize the centnifugal force and the mutual balance of gravity component in the horizontal direction of vehicle barycenter, make the two-wheel car on the go keep balance, and do not topple over.General rider will have certain manipulation handlebar, keep the skill of balance.

Aspect the front fork of Bicycles and Motorcycles, there were some to improve design and invention, as the B62K-25/04 of British patent, GB2130983A bicycle front wheel suspension, or the like.But also there is not a kind of automatic guidance front-wheel steering, the device and the vehicle of automatically regulating two-wheel car balance.Commercially available toy motorcycle, two small wheels also are equipped with on the trailing wheel limit, and essence is four-wheeled.

Purpose of the present invention provides a kind of front and back two wheels is housed, and does not need the people to control the two-wheel car that balance just can be travelled.

Automatic control balanced system of the present invention can replace the people and handle handlebar and regulate gravity balance.This system's automatic guidance two-wheel car on the go keeps balance, can be used as the automatic control bicycle.More suitable is as shaking control racing car or toy.Become a sports project.Its operating difficulty and interest can be suitable with all kinds of model plane.

The automatic control balanced system is seen Fig. 1, mainly is made up of the quick balance sensor of power, electronic amplifier and torque motor.By turning to of automatic guidance front-wheel, regulate the centre-of gravity shift of two-wheel car, keep balance.Turn to electromagnet by shaking the control of control transmitter and receiver in addition, the total travel direction of control two-wheel car, and control the speed that two-wheel car advances.

Automatic control process is such, when the two-wheel car on the go when a certain inclination is oblique, quick balance sensor Fig. 2 of power (9,10) just perceives an electric signal.This electric signal is directly proportional with the two-wheel car angle of inclination, and this electric signal drives a torque motor (7) that is contained on the front-wheel front fork after electronic amplifier (13) amplifies, two-wheel car is turned to inclined side.The centnifugal force that two-wheel car produces when turning to makes two-wheel car again just.Reach the purpose of automatic guidance balance like this.

The quick balance sensor of power is a vitals of two-wheel car.As shown in Figure 5, form by flexure strip (9) and resistance strain gage (10).Have pouring weight (11) in the bottom.The flexure strip upper end is fixed on the vehicle frame.

The resistance strain gage of being pasted on flexure strip (9) (10) is connected into electric bridge as shown in Figure 6.R ₁, R ₂Be resistance strain gage, be attached on two faces of flexure strip (9).R ₃, R ₄It is permanent resistor.Resistance is identical with strain-gauge.V _iThe tilt quantity electric signal of expression electric bridge output.This signal inserts in the electronic amplifier (13).E is the power supply of power supply bridge work.

Electronic amplifier can be existing all kinds of direct current amplifier.General employing multipole differential amplifier just can reach the requirement of control system, and the signal by electric bridge output is amplified to is enough to the rotation of drive torque motor.

Torque motor is the actuating unit of automatic control balanced system.(5) are the base plates of torque motor among Fig. 2, are contained on the preceding forked standard (4), and (6) are the stators of torque motor.(8) be stator coil.(7) be the torque motor rotor, rotor shaft is front fork (3).Fig. 3 has provided the cutaway view and the birds-eye view of torque motor.Rotor (7) is made by permanent magnet, and N, S represent magnetic polarity.After the current vanishes in the stator coil (8), the hairspring that resets (19) resets rotor (7).

In order to make two-wheel car reach advantages of higher stability and controllability, the front rake of two-wheel car front fork (3) designs greatlyyer.This angle is more bigger than the front fork inclination angle of Bicycles and Motorcycles, helps front-wheel and keeps from straight-line motion.

The driving of two-wheel car, the motor or the combustion engine that adopt horsepower output and two-wheel car own wt to match drive, and make two-wheel car that a suitable speed of advance be arranged.

The gravity balance of two-wheel car is finished by the automatic control balanced system.But the total sense of motion of two-wheel car is controlled by people's consciousness also should, and this has three kinds of control methods.

(1), directly rotate handlebar, reach the purpose that turns to by the operator.But such control can upset the automatic control balanced system of two-wheel car.

(2), in torque motor, incorporate into and turn to control current, need not directly to rotate handlebar by the people.Turn to control current to shake the control machine and control, reach unpiloted purpose by radio.

(3), turn to control to carry out by the quick balance sensor of power, accomplish to turn to control be connected with automatic control balanced system contact pointless.Reach this purpose, the pouring weight (11) of the quick balance sensor of power bottom is replaced by permanent magnet, shown in Figure 5.And on the limit of permanent magnet (11), suitable at interval distance is loaded onto an electromagnet (12).The size of this distance is: when not having exciting current in the electromagnet, do not have the minor increment of obvious application force between the iron core of electromagnet and the permanent magnet (11).Turn to electromagnet (12) by shaking the control of control receiver.Send a turn sign when shaking the control emitter, receiver is received and through amplifying, export to and turn to electromagnet (12), because the effect of electromagnetic force, force flexure strip to produce an additional strain, the electric signal of quick balance sensor output of exerting all one's strength, this signal amplifies through electronic amplifier (13), the drive torque drive of motor reaches the purpose that two-wheel car turns to.

Fig. 1 is the autonomous cruise speed system functional block diagram.

Fig. 2 is an automatic control balance two-wheel car overall diagram.Among the figure: (1) elastic caoutchouc wheel; (2) spoke; (3) front fork; (4) preceding forked standard; (5) torque motor base plate; (6) torque motor stator; (7) torque motor rotor; (8) torque motor stator coil; (9) the quick balance sensor flexure strip of power; (10) resistance strain gage; (11) permanent magnet; (12) turn to electromagnet; (13) control circuit comprises electronic amplifier and shakes the control receiver; (14) friction driving roller; (15) drive motor and change-speed box; (16) axle sleeve; (17) wheel shaft; (18) battery pack; (19) hairspring that resets; (20) vehicle frame.

Fig. 3 is the cutaway view and the birds-eye view of two-wheel car steering swivel system.Numbering is identical with Fig. 2 among the figure.N, S represent the pole orientation of torque motor rotor permanent magnet.

Fig. 4 is the cutaway view of two-wheel car trailing wheel and friction driving roller.Numbering is identical with Fig. 2 among the figure.

Fig. 5 is the front elevation and the left view of the quick balance sensor of power.The left side turns to the front elevation and the birds-eye view of electromagnet in addition, and the coil scheme drawing.Numbering is identical with Fig. 2 among the figure.

Fig. 6 is the bridge-type connection line figure of resistance strain gage.R among the figure ₁, R ₂Be resistance strain gage, i.e. (10) among Fig. 5, R ₃, R ₄Be fixed resister.V _iExpression bridge circuit output voltage, E is a power supply of supplying with bridge circuit.

An embodiment of the present utility model: the present embodiment is as the two-wheel car model and design-calculated can be used as model racing car, toy etc.The assembly drawing of present embodiment as shown in Figure 2.

Two-wheel spoke (2) is made by the lightweight flat board before and after the two-wheel car, and slab-thickness is approximately 8 millimeters.On its cylindrical, be processed into interior concave arc, on interior concave arc, be embedded with elastic caoutchouc wheel (1).

At the center of spoke, be press-fitted a sliding bearing sleeve (16), wheel shaft (17) is housed in axle sleeve.The slipper of wheel shaft is slightly longer than axle sleeve, and behind the cover Upper gasket of both sides, wheel shaft should rotate flexibly, and the tolerance on fit of wheel shaft and axle sleeve can be selected H8/g7 for use.

The drive part of present embodiment places the trailing wheel top of two-wheel car.Form by DC machine, retarder and friction drive wheel (14).Frictional transmission wheel drive trailing wheel rotates.The control of the speed of a motor vehicle reaches by the received current of regulating motor.

The quick balance sensor of power is the critical component in the present embodiment, and wherein flexure strip (9) is made by thick about 1.2 millimeters phosphorus bronze sheet.Also available phosphorus bronze sheet and sheet rubber are made the composite intermediate layer flexure strip, in case flexure strip produces vibration.And make resistance strain gage that a bigger output signal be arranged.The shape of flexure strip is respectively pasted a resistance strain gage (10) as shown in Figure 5 on the two sides.It is the paper tinsel formula strain-gauge of 120 Ω that strain-gauge can adopt resistance.The flexure strip topmost is fixed on the vehicle frame (20) by the fixture block clamping.In the lower end of flexure strip, connecting a permanent magnet (11).On the place ahead vehicle frame of permanent magnet (11), be fixed with an electromagnet (12), this magnet spool resistance should be complementary with the control output resistance that turns to that shakes the control receiver.

Present embodiment is to adopt the four-way radio to shake the control machine to handle, and this shakes the control machine is made up of special IC, and special-purpose integrated package is M1871 and M1872, respectively as transmitter and receiver.About controlling respectively, two ratio passages turn to.Two switch passages are controlled at a high speed and ease ahead.Power supply adopts small battery, and output voltage is about 9 volts.