Omnidirectional-wheel-steered handlebar-free self-balancing bicycle

Abstract

The invention discloses an omnidirectional-wheel-steered handlebar-free self-balancing bicycle. The omnidirectional-wheel-steered handlebar-free self-balancing bicycle comprises a bicycle frame, a longitudinal travelling device and a horizontal turning device. The longitudinal travelling device comprises a front driving wheel installed at a front bicycle fork of the bicycle frame. The front bicycle fork is provided with a pancake motor for driving the front driving wheel to be rotated through a travelling gear drive mechanism. The front bicycle fork is further provided with a coder for detecting rotational state of the front driving wheel. The horizontal turning device comprises a single-row omnidirectional wheel installed at a rear bicycle fork of the bicycle frame. The single-row omnidirectional wheel comprises section wheels uniformly distributed on the circumference of a wheel hub and rotated horizontally, and each section wheel is connected to be synchronously rotated by a horizontal gear rotation mechanism. The wheel hub is provided with a friction wheel which drives one section wheel to be rotated through a friction force. The driving force of the friction wheel is a turningmotor installed on the wheel hub. In the omnidirectional-wheel-steered handlebar-free self-balancing bicycle, the horizontal velocity vector of the single-row omnidirectional wheel is combined with the longitudinal velocity vector generated by the front driving wheel, so the automatic turning of the handlebar-free bicycle can be realized, and the difference of radius between inner wheels does notexist in the turning method.

Description

technical field [0001] The invention relates to a bicycle robot, in particular to an omnidirectional wheel steering self-balancing bicycle without a handlebar. Background technique [0002] Two-wheeled bicycle is a kind of riding tool commonly used by people. It has the characteristics of simple structure, energy saving and environmental protection, and convenient use and maintenance. Compared with four-wheeled vehicles, it can drive on some relatively narrow roads, which can be more convenient for people to travel . [0003] The self-balancing two-wheeled bicycle is the product of the combination of bicycle mechanism and automatic balancing control technology. At present, the representative self-balancing bicycle has the C-1 self-balancing two-wheeled bicycle produced by Lit Motors. The core of this self-balancing bicycle is the self-balancing mechanical gyroscope technology, which can adjust the car body through the gyro torque generated by the mechanical gyroscope so tha...

AI Technical Summary

Problems solved by technology

[0004] The analysis of existing studies shows that the steering of existing bicycles is usually carried out by relying on the handlebars. This turning mechanism has an inner wheel difference (the difference between the turning radius of the front wheel and the turning radius of the rear wheel). When the car makes a turn, there may be a danger of bumping into obstacles due to the difference between the inner wheels

[0005] In addition, the steering movement of the bicycle is essentially to change the course of the vehicle body, which is similar to many omnidirectional walking trolleys. In omnidirectional walking trolleys, omnidirectional wheels are usually used as supporting wheel mechanisms; however, the existing Although the omnidirectional wheel has the function of longitudinal and lateral movement, its transverse joint wheel (small roller) is usually not installed with a drive, so the autonomous lateral movement of the omnidirectional wheel cannot be realized.

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