阅读说明：本技术 支架及可移动装置 (Support and mobile device ) 是由 熊坤 黎雄 张东胜 周诚 于 2019-11-25 设计创作，主要内容包括：本公开提供一种支架及包括该支架的可移动装置。该支架包括第一车轮转向机构、第二车轮转向机构、以及第一支撑转向机构。第一车轮转向机构连接第一车轮且配置为能够分别将第一车轮分别固定在第一方向上和固定在与第一方向垂直的第二方向上,以及在第一方向和所述第二方向之间转换；第二车轮转向机构连接第二车轮且配置为能够将第二车轮分别固定在第一方向上和固定在第二方向上,以及在第一方向和所述第二方向之间转换；第一支撑转向机构连接被支撑物且配置为能够将被支撑物分别固定在第一方向上和固定在第二方向上,以及在第一方向和所述第二方向之间转换。当该可移动装置为车时,可以通过变形作为自行车,也可以作为平衡车。(The present disclosure provides a stand and a movable apparatus including the same. The bracket includes a first wheel steering mechanism, a second wheel steering mechanism, and a first support steering mechanism. The first wheel steering mechanism is connected with the first wheel and configured to be capable of fixing the first wheel in a first direction and a second direction perpendicular to the first direction respectively and switching between the first direction and the second direction; the second wheel steering mechanism is connected with the second wheel and configured to be capable of fixing the second wheel in the first direction and the second direction and switching between the first direction and the second direction; the first support steering mechanism is connected with the supported object and configured to be capable of fixing the supported object in a first direction and a second direction respectively and switching between the first direction and the second direction. When the movable device is a bicycle, the movable device can be deformed to be used as a bicycle and also can be used as a balance car.)

1. A bracket, wherein the bracket extends in a first direction and has first and second ends opposite in the first direction, and comprises:

a first wheel steering mechanism provided at a first end of the bracket to connect first wheels and configured to be capable of fixing the first wheels in the first direction and in a second direction perpendicular to the first direction, respectively, and switching between the first direction and the second direction;

a second wheel steering mechanism disposed at a second end of the bracket to couple a second wheel and configured to be capable of fixing the second wheel in the first direction and the second direction, and switching between the first direction and the second direction, respectively;

a first support steering mechanism provided between the first wheel steering mechanism and the second wheel steering mechanism to connect a supported object, and configured to be able to fix the supported object in the first direction and the second direction, and switch between the first direction and the second direction, respectively.

2. The bracket of claim 1, wherein the first wheel steering mechanism includes a first wheel bracket, a first axle, and a first steering motor,

wherein the first wheel bracket is used for fixedly connecting the first wheel, the first rotating shaft is connected with the first wheel bracket, an output shaft of the first steering motor is connected with the first rotating shaft,

the first steering motor drives the first wheel carrier via the first rotary shaft to be fixed in the first direction and the second direction, respectively, and to switch between the first direction and the second direction.

3. The bracket of claim 1, wherein the second wheel steering mechanism includes a second wheel bracket, a second spindle, and a second steering motor,

wherein the second wheel bracket is used for fixedly connecting a second wheel, the second rotating shaft is connected with the second wheel bracket, the output shaft of the second steering motor is connected with the second rotating shaft,

the second steering motor drives the second wheel bracket to be fixed in the first direction and the second direction respectively through the second rotating shaft, and switches between the first direction and the second direction.

4. The bracket of claim 1, wherein the first support steering mechanism comprises: a support rod and a support steering driving piece,

the supporting rod comprises a first end for supporting the supported object and a second end driven by the supporting steering driving piece to rotate,

the support steering driving piece is matched with the second end of the support rod to rotate the support rod.

5. The bracket of claim 4, wherein the first support steering mechanism further comprises a support base, a first cam contact member and a second cam contact member,

wherein the support bar is rotatably mounted on the support base, and the first cam contact member and the second cam contact member are provided at a second end of the support bar,

the support steering drive member includes a cam that,

wherein the support base and the cam are movable relative to each other in the first direction,

the first cam contact piece and the second cam contact piece are matched with the cam, and in the relative movement process of the supporting base and the cam, the first cam contact piece and the second cam contact piece are respectively stirred by the cam to fix the supported object in the first direction and the second direction respectively and switch between the first direction and the second direction.

6. The stent of claim 1, further comprising:

a first adjustment structure provided between the first wheel steering mechanism and the first support steering mechanism,

a handlebar support assembly coupled to the first wheel steering mechanism and configured to mount a handlebar,

wherein, first regulation structure with handlebar supporting component is connected and is adjusted the contained angle between handlebar and the horizontal holding surface.

7. The stent of claim 6, further comprising:

a second adjustment mechanism disposed between the first wheel steering mechanism and the second wheel steering mechanism of the bracket,

wherein the second adjustment structure is connected to the second wheel steering mechanism and is movable in the first direction, thereby adjusting a distance between the first wheel steering mechanism and the second wheel steering mechanism.

8. The stand of claim 7, wherein the first adjustment mechanism includes a third shaft, a rotational member, a first link, a second link, and a first slide,

wherein the rotating component is arranged at one end of the third rotating shaft and can be driven to rotate by the third rotating shaft,

the first end of the first connecting rod is movably connected with the rotating component, the second end of the first connecting rod is connected with the second connecting rod,

one end of the second connecting rod is connected with the handlebar supporting component, and the first slide rail is arranged on the second connecting rod in a manner of relatively sliding along the longitudinal direction of the second connecting rod,

the second end of the first connecting rod is arranged in the first sliding rail and can slide along the first sliding rail,

when the rotating part rotates, the first connecting rod is driven to swing, so that the second connecting rod is driven to slide in the first sliding rail, and an included angle between the handlebar supporting component and the horizontal supporting surface is adjusted.

9. The stand of claim 8, wherein the second adjustment mechanism includes a third link and a wheel movement assembly,

wherein one end of the third link is fixedly connected with the second wheel steering mechanism,

the wheel moving assembly comprises a sliding block, the sliding block is arranged to be capable of moving in the first direction, the other end of the third connecting rod is fixedly connected with the sliding block,

when the slider is moved in the first direction, the third link is driven to move in the first direction, thereby driving the second wheel steering mechanism, thereby adjusting the distance between the first wheel steering mechanism and the second wheel steering mechanism.

10. The bracket of claim 9, wherein the support steering drive further comprises a fourth shaft and a first gear,

wherein the first gear is arranged on the fourth rotating shaft, the supporting base comprises a first rack, the first gear is meshed with the first rack,

when the first gear rotates, the first rack moves in the first direction, so that the support base moves in the first direction;

the cam is fixed in the first direction.

11. The stand of claim 10, wherein the wheel moving assembly further includes a fifth rotating shaft and a second gear provided on the fifth rotating shaft to be rotated by the fifth rotating shaft,

the sliding block comprises a second rack, the second gear is meshed with the second rack,

wherein when the second gear rotates, the slider moves in the first direction so that the third link moves in the first direction.

12. The bracket of claim 11, wherein the fifth rotation axis is the same rotation axis as the third rotation axis; or the fifth rotating shaft and the fourth rotating shaft are the same rotating shaft.

13. The stent of claim 12, further comprising:

the first driving device is used for driving the third rotating shaft and the fourth rotating shaft to rotate;

wherein the first driving device comprises a first driving motor and a first driving shaft,

the first driving motor is connected with the first driving shaft to drive the first driving shaft to rotate;

the first driving shaft is in transmission connection with the third rotating shaft and the fourth rotating shaft so as to drive the third rotating shaft and the fourth rotating shaft to rotate.

14. The cradle of claim 13, wherein said first drive device further comprises a first turbine and a second turbine,

the first drive shaft comprises a worm screw,

wherein the first worm wheel is fixedly connected with the third rotating shaft, the second worm wheel is fixedly connected with the fourth rotating shaft, the worm is in transmission connection with the first worm wheel and the second worm wheel, the first driving motor is connected with the worm to drive the worm to rotate,

when the worm rotates, the first turbine and the second turbine rotate, so that the third rotating shaft and the fourth rotating shaft are driven to rotate.

15. A mobile device, comprising:

the stent of any one of claims 1-14;

the first wheel and the second wheel, wherein the first wheel and the second wheel are disposed at a first end and a second end of the bracket via a first wheel steering mechanism of the bracket and a second wheel steering mechanism of the bracket, respectively; and

and the supported object is arranged on the bracket through the first support steering mechanism.

Technical Field

Embodiments of the present disclosure relate to a stand and a movable apparatus including the same.

Background

The two-wheeled vehicle that ordinary masses generally used at present mainly includes bicycle and balance car, and the bicycle is as a traditional two-wheeled vehicle, because characteristics such as its environmental protection, convenient parking and adaptable multiple road surface travel, has always been the vehicle that everybody likes of short distance trip. In recent years, a balance car which is suitable for running on a flat road surface and which can pass on a narrow road surface, particularly during a trip of a young person to get on or off work in a city, is receiving increasing attention as a transportation tool.

Disclosure of Invention

Embodiments of the present disclosure provide a stand that allows a mobile device to change between different states as desired, and a mobile device including the stand.

At least one embodiment of the present disclosure provides a stent. The bracket extends in a first direction and has first and second ends opposite in the first direction, and includes a first wheel steering mechanism, a second wheel steering mechanism, and a first support steering mechanism. A first wheel steering mechanism disposed at a first end of the bracket to connect with a first wheel and configured to be capable of respectively fixing the first wheel in the first direction and in a second direction perpendicular to the first direction, and switching between the first direction and the second direction; a second wheel steering mechanism disposed at a second end of the bracket for coupling to a second wheel and configured to be capable of securing the second wheel in the first direction and the second direction, and switching between the first direction and the second direction, respectively; the first support steering mechanism is provided between the first wheel steering mechanism and the second wheel steering mechanism to connect a supported object, and is configured to be able to fix the supported object in the first direction and the second direction, and to switch between the first direction and the second direction, respectively.

For example, in a support provided by an embodiment of the present disclosure, the first wheel steering mechanism includes a first wheel support, a first rotating shaft, and a first steering motor, wherein the first wheel support is configured to fixedly connect to the first wheel, the first rotating shaft is connected to the first wheel support, an output shaft of the first steering motor is connected to the first rotating shaft, and the first steering motor drives the first wheel support to be fixed in the first direction and the second direction respectively through the first rotating shaft and switches between the first direction and the second direction.

For example, in the bracket provided in an embodiment of the present disclosure, the second wheel steering mechanism includes a second wheel bracket, a second rotating shaft, and a second steering motor, wherein the second wheel bracket is configured to fixedly connect to a second wheel, the second rotating shaft is connected to the second wheel bracket, an output shaft of the second steering motor is connected to the second rotating shaft, and the second steering motor drives the second wheel bracket to be fixed in the first direction and the second direction, respectively, through the second rotating shaft, and switches between the first direction and the second direction.

For example, in a bracket provided in an embodiment of the present disclosure, the first support steering mechanism includes: the supporting rod comprises a first end for supporting the supported object and a second end driven by the supporting and steering driving piece to rotate, and the supporting and steering driving piece is matched with the second end of the supporting rod to rotate the supporting rod.

For example, in a bracket provided in an embodiment of the present disclosure, the first support steering mechanism further includes a support base, a first cam contact member and a second cam contact member, wherein the support rod is rotatably mounted on the support base, and the first cam contact member and the second cam contact member are disposed at a second end of the support rod, the support steering driving member includes a cam, wherein the support base and the cam are movable relative to each other in the first direction, the first cam contact member and the second cam contact member are engaged with the cam, and during the relative movement of the support base and the cam, the first cam contact member and the second cam contact member are respectively shifted by the cam to fix the supported object in the first direction and in the second direction, and switching between the first direction and the second direction.

For example, in a bracket provided in an embodiment of the present disclosure, an included angle between the first cam contact piece and the second cam contact piece on a plane perpendicular to the first direction and the second direction is 90 degrees.

For example, an embodiment of the present disclosure provides a stand further including a first adjustment structure disposed between the first wheel steering mechanism and the first support steering mechanism, a handlebar support assembly coupled to the first wheel steering mechanism and configured to mount a handlebar, wherein the first adjustment structure is coupled to the handlebar support assembly and adjusts an included angle between the handlebar and a horizontal support surface.

For example, an embodiment of the present disclosure provides the stand further comprising a second adjustment mechanism disposed between the first wheel steering mechanism and the second wheel steering mechanism of the stand, wherein the second adjustment mechanism is coupled to the second wheel steering mechanism and is movable in the first direction, thereby adjusting a distance between the first wheel steering mechanism and the second wheel steering mechanism.

For example, in a bracket provided in an embodiment of the present disclosure, the first adjusting mechanism includes a third rotating shaft, a rotating member, a first link, a second link, and a first slide rail, wherein the rotating component is arranged at one end of the third rotating shaft and can be driven to rotate by the third rotating shaft, the first end of the first connecting rod is movably connected with the rotating component, the second end of the first connecting rod is connected with the second connecting rod, one end of the second connecting rod is connected with the handlebar supporting component, the first sliding rail is arranged on the second connecting rod in a relatively sliding way along the longitudinal direction of the second connecting rod, the second end of the first connecting rod is arranged in the first sliding rail and can slide along the first sliding rail, when the rotating part rotates, the first connecting rod is driven to swing, so that the second connecting rod is driven to slide in the first sliding rail to adjust an included angle between the handlebar supporting component and the horizontal supporting surface.

For example, in a bracket provided in an embodiment of the present disclosure, the second adjustment mechanism includes a third link and a wheel moving assembly, wherein one end of the third link is fixedly connected to the second wheel steering mechanism, the wheel moving assembly includes a slider, the slider is configured to be movable in the first direction, the other end of the third link is fixedly connected to the slider, and when the slider moves in the first direction, the third link is driven to move in the first direction, thereby driving the second wheel steering mechanism, and adjusting a distance between the first wheel steering mechanism and the second wheel steering mechanism.

For example, in a bracket provided in an embodiment of the present disclosure, the support steering driving member further includes a fourth rotating shaft and a first gear, wherein the first gear is disposed on the fourth rotating shaft, the support base includes a first rack, the first gear is engaged with the first rack, and when the first gear rotates, the first rack moves in the first direction, so that the support base moves in the first direction; the cam is fixed in the first direction.

For example, the bracket provided in an embodiment of the present disclosure further includes a first limiting member and a second limiting member, where the first limiting member and the second limiting member are located at two sides of the supporting base in the first direction to limit the movement of the supporting base in the first direction, respectively.

For example, in the stand provided by an embodiment of the present disclosure, the wheel moving assembly further includes a fifth rotating shaft and a second gear, the second gear is disposed on the fifth rotating shaft to be rotated by the fifth rotating shaft, the slider includes a second rack, and the second gear is engaged with the second rack, wherein when the second gear is rotated, the slider is moved in the first direction so that the third link is moved in the first direction.

For example, in the bracket provided in an embodiment of the present disclosure, the fifth rotating shaft and the third rotating shaft are the same rotating shaft; or, the fifth rotating shaft and the fourth rotating shaft are the same rotating shaft.

For example, an embodiment of the present disclosure provides a support further including a first driving device, where the first driving device is configured to drive the third rotating shaft and the fourth rotating shaft to rotate.

For example, in the bracket provided by an embodiment of the present disclosure, the first driving device includes a first driving motor and a first driving shaft, and the first driving motor is connected with the first driving shaft to drive the first driving shaft to rotate; the first driving shaft is in transmission connection with the third rotating shaft and the fourth rotating shaft so as to drive the third rotating shaft and the fourth rotating shaft to rotate.

For example, in the bracket provided in an embodiment of the present disclosure, the first driving device further includes a first worm wheel and a second worm wheel, the first driving shaft includes a worm, wherein the first worm wheel is fixedly connected to the third rotating shaft, the second worm wheel is fixedly connected to the fourth rotating shaft, the worm is in transmission connection with the first worm wheel and the second worm wheel, the first driving motor is connected to the worm to drive the worm to rotate, and when the worm rotates, the first worm wheel and the second worm wheel rotate to drive the third rotating shaft and the fourth rotating shaft to rotate.

For example, in the support provided in an embodiment of the present disclosure, the first driving device includes a second driving motor and a third driving motor, where the first motor and the second motor are respectively used for driving the third rotating shaft and the fourth rotating shaft to rotate.

For example, in the bracket provided in an embodiment of the present disclosure, the first driving device includes a fourth driving motor and a third gear, the third gear is disposed on the third rotating shaft, the third gear is engaged with the second gear, so that the third rotating shaft is in transmission connection with the fourth rotating shaft, and the fourth driving motor is connected with the third rotating shaft and is configured to drive the third rotating shaft to rotate, so as to drive the fourth rotating shaft to rotate.

At least one embodiment of the present disclosure also provides a mobile device comprising the support of any one of the above, a first wheel and a second wheel, a supported object, wherein the first wheel and the second wheel are respectively disposed at a first end and a second end of the support by a first wheel steering mechanism of the support and a second wheel steering mechanism of the support; the supported object is arranged on the bracket through the first support steering mechanism.

For example, an embodiment of the present disclosure provides that the mobile device further includes a controller in signal connection with the first wheel steering mechanism, the second wheel steering mechanism, and the first support steering mechanism, and configured to control the first wheel steering mechanism, the second wheel steering mechanism, and the first support steering mechanism to simultaneously position the first wheel, the second wheel, and the supported object in the first direction or the second direction.

For example, an embodiment of the present disclosure provides the mobile device further including a first travel driving motor provided on a hub of the first wheel for driving travel of the first wheel, a second travel driving motor provided on a hub of the second wheel for driving travel of the second wheel, and an attitude sensor. The attitude sensor is provided on the support for sensing an attitude of the movable device.

For example, in a movable apparatus provided in an embodiment of the present disclosure, the first travel driving motor and the second travel driving motor are brushless motors, and the attitude sensor is a gyro sensor.

For example, in the mobile device provided in an embodiment of the present disclosure, the controller is further connected to the first travel driving motor, the second travel driving motor, and the attitude sensor, and configured to receive a sensing result of the attitude sensor and control travel of the mobile device by the first travel driving motor and the second travel driving motor.

The support and the mobile device including the support that this at least one embodiment of this disclosure provided, because this support accessible first wheel steering mechanism and second wheel steering mechanism realize the conversion of first wheel and second wheel place direction, realize through first support steering mechanism by the conversion of support place direction, when the mobile device is the car, this support can be realized as the frame that is used for the bicycle and is used for the frame of balance car, mobile device can be for the car can enough use as the bicycle through the deformation and also can use as the balance car, so, this car can travel on multiple complicated road surfaces, also bring better trip experience for the user simultaneously.

Drawings

To more clearly illustrate the technical solutions of the embodiments of the present disclosure, the drawings of the embodiments will be briefly introduced below, and it is apparent that the drawings in the following description relate only to some embodiments of the present disclosure and are not limiting to the present disclosure.

Fig. 1A is a schematic three-dimensional structure diagram of a frame of a convertible vehicle according to an embodiment of the disclosure;

fig. 1B is a schematic front view of a frame of a convertible vehicle according to an embodiment of the disclosure;

FIG. 2 is a schematic view of a portion of a frame according to an embodiment of the present disclosure;

FIG. 3 is a schematic view of a first wheel steering mechanism of the vehicle frame provided by an embodiment of the present disclosure;

FIG. 4 is a schematic view of a second wheel steering mechanism of the vehicle frame provided in accordance with an embodiment of the present disclosure;

FIG. 5A is a schematic view of a first seat steering mechanism and a second adjustment mechanism of a vehicle frame provided in accordance with an embodiment of the present disclosure;

FIG. 5B is a schematic cross-sectional view of a third link of the second adjustment mechanism of the vehicle frame according to one embodiment of the present disclosure;

FIG. 6 is a schematic view of a portion of a first seat steering mechanism of the vehicle frame provided in accordance with an embodiment of the present disclosure;

FIG. 7A is a schematic view of a first adjustment mechanism of a vehicle frame provided in accordance with an embodiment of the present disclosure;

FIG. 7B is a schematic view of a first adjustment mechanism of a vehicle frame provided in accordance with an embodiment of the present disclosure in one position;

FIG. 7C is a schematic view of a first adjustment mechanism of a vehicle frame provided in accordance with an embodiment of the present disclosure in another position;

FIG. 8 is a schematic view of a convertible vehicle in a bicycle state according to an embodiment of the present disclosure;

FIG. 9A is a schematic view of a handlebar of a convertible vehicle provided in accordance with an embodiment of the present disclosure;

FIG. 9B is a partial enlarged front view of a portion A of a handlebar of the convertible vehicle provided in accordance with an embodiment of the present disclosure;

FIG. 9C is a partial enlarged left view of a handlebar of the convertible vehicle in accordance with an embodiment of the present disclosure;

FIG. 9D is a partial enlarged front view at B of a handlebar of the convertible vehicle provided in accordance with an embodiment of the present disclosure;

FIG. 9E is a schematic view of a driving device for a handlebar of a convertible vehicle according to an embodiment of the present disclosure;

FIG. 9F is a schematic view of a modified vehicle provided in accordance with an embodiment of the present disclosure, with the handle bars in a folded state;

FIG. 9G is a schematic view of a modified vehicle provided in accordance with an embodiment of the present disclosure with the handle bars in an open position;

fig. 10 is a schematic view of a convertible vehicle provided in an embodiment of the disclosure in a state of a balance vehicle;

FIG. 11 is a schematic view of an intermediate state of the convertible vehicle changing from a bicycle state to a balance state provided by an embodiment of the present disclosure;

FIG. 12 is a schematic view of another intermediate state of the convertible vehicle changing from a bicycle state to a balance state provided by an embodiment of the present disclosure;

FIG. 13 is a schematic view of an intermediate state of the convertible vehicle provided by an embodiment of the present disclosure changing from a state of a balance vehicle to a state of a bicycle; and

fig. 14 is a schematic view of a wheeled robot according to an embodiment of the present disclosure.

Detailed Description

In order to make the objects, technical solutions and advantages of the embodiments of the present disclosure more apparent, the technical solutions of the embodiments of the present disclosure will be described clearly and completely with reference to the drawings of the embodiments of the present disclosure. It is to be understood that the described embodiments are only a few embodiments of the present disclosure, and not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the described embodiments of the disclosure without any inventive step, are within the scope of protection of the disclosure.

Unless otherwise defined, technical or scientific terms used herein shall have the ordinary meaning as understood by one of ordinary skill in the art to which this disclosure belongs. The use of "first," "second," "third," "fourth," "fifth," and the like in this disclosure is not intended to imply any order, quantity, or importance, but rather the intention is to distinguish one element from another. Also, the use of the terms "a," "an," or "the" and similar referents do not denote a limitation of quantity, but rather denote the presence of at least one. The word "comprising" and similar words are intended to mean that the elements or items listed before the word cover the elements or items listed after the word and their equivalents.

Two-wheeled vehicles currently in common use by the general public mainly include bicycles and balance cars. As a traditional two-wheeled vehicle, the bicycle is convenient to park and can adapt to running on various road surfaces, but the bicycle is not suitable for commuting in indoor conditions such as offices, delivery rooms and the like due to the limitation of the bending radius angle of the bicycle. On the other hand, the balance car can run on a narrow road surface, but the balance car is only suitable for running on a flat road surface and is not suitable for running on a rugged road surface. Therefore, there is a need for a vehicle having two functions of a bicycle and a balance car, which can have the advantages of the bicycle and the balance car, and can convert a narrow and flat road surface into a balance car and convert the narrow and flat road surface into a bicycle, thereby satisfying various driving requirements of users.

To address the above technical problems, embodiments of the present disclosure provide a support and a movable apparatus. The bracket extends in a first direction and has first and second ends opposite in the first direction, and includes a first wheel steering mechanism, a second wheel steering mechanism, and a first support steering mechanism. The first wheel steering mechanism is arranged at the first end of the bracket to be connected with the first wheel and is configured to be capable of fixing the first wheel in a first direction and a second direction perpendicular to the first direction respectively and switching between the first direction and the second direction; a second wheel steering mechanism disposed at a second end of the bracket to couple to a second wheel and configured to be capable of securing the second wheel in the first direction and the second direction, and switching between the first direction and the second direction, respectively; the first support steering mechanism is provided between the first wheel steering mechanism and the second wheel steering mechanism to connect the supported object, and is configured to be capable of fixing the supported object in the first direction and in the second direction, and switching between the first direction and the second direction, respectively.

In at least one embodiment of the present disclosure, the bracket is a frame for a vehicle, for example, the frame is used for connecting a first wheel, a second wheel and a seat, and the seat is a supported object, so in this embodiment, since the frame can realize the conversion of the directions of the first wheel and the second wheel through a first wheel steering mechanism and a second wheel steering mechanism, and the conversion of the direction of the support through a first support steering mechanism, the bracket can be realized as a frame for a bicycle and a frame for a balance vehicle, and the movable device including the bracket can be realized as a vehicle, and the vehicle can be used as a bicycle and a balance vehicle. Therefore, the vehicle can run on various complex road surfaces, and meanwhile, better travel experience is brought to users.

In other embodiments of the present disclosure, the support is a support for, for example, a wheeled robot or other wheeled vehicles, the support is used for connecting a first wheel, a second wheel, and a supported object supported on the support, and in these embodiments, for example, a robot body or the like is used as the supported object, so that the direction of the robot body can be changed while the wheels are steered, and therefore, better control of the wheeled robot or other wheeled vehicles can be achieved.

The following detailed description of the mobile device for a cradle and including the cradle provided in one or more embodiments of the present disclosure is provided in conjunction with the accompanying drawings, but is not intended to limit the present disclosure.

The following provides a vehicle and a frame for the vehicle, the vehicle being an embodiment of the mobile device of the present disclosure and the corresponding frame being an embodiment of the stand of the present disclosure, and also referred to herein as a "morph vehicle" due to its ability to at least partially morph, but this does not constitute a limitation on the embodiments of the present disclosure.

Fig. 1A is a schematic three-dimensional structure diagram of a frame of a convertible vehicle according to an embodiment of the disclosure; fig. 1B is a schematic front view of a frame of a convertible vehicle according to an embodiment of the disclosure.

As shown in fig. 1A and 1B, the frame 100 extends in a first direction X, and the frame 100 has a first end 101 and a second end 102 in the first direction X. The first end 101 and the second end 102 are disposed opposite to each other, and a line connecting the first end 101 and the second end 102 is parallel to the first direction X, that is, the first direction X is a direction in which the vehicle frame 100 is located along a horizontal direction. The frame 100 may be used in a convertible vehicle for converting between a bicycle and a balance vehicle.

The frame 100 includes a first wheel steering mechanism 110, a second wheel steering mechanism 120, and a first seat steering mechanism 130. The first wheel steering mechanism 110 is disposed at the first end 101 of the frame 100. The first wheel steering mechanism is rotatably disposed (e.g., nested) at the first end 101. The first wheel steering mechanism 110 is configured to couple (e.g., mount) a first wheel, the first wheel steering mechanism 100 can fix the first wheel in a first direction X (as shown in fig. 1A), and the first wheel steering mechanism 110 is configured to convert the first wheel from the first direction X to a second direction Y, whereby the first wheel can be fixed in the second direction Y. Likewise, the first wheel steering mechanism 110 may also switch the first wheel from the second direction Y to the first direction X. The second direction Y is perpendicular to the first direction X, i.e., the second direction Y is perpendicular to the extending direction of the frame 100 (in fig. 1A).

A second wheel steering mechanism 120 is disposed at the second end 102 of the frame 100. The second wheel steering mechanism 120 is rotatably disposed (e.g., sleeved) at the second end 102. The second wheel steering mechanism 120 is configured to couple (e.g., mount) a second wheel, the second wheel steering mechanism 120 can secure the second wheel in the first direction X (as shown in fig. 1A), and the second wheel steering mechanism 120 is configured to convert the second wheel from the first direction X to the second direction Y, whereby the second wheel can be secured in the second direction Y. Similarly, the second wheel steering mechanism 120 may also switch the second wheel from the second direction Y to the first direction X.

The first seat steering mechanism 130 is disposed between the first wheel steering mechanism 110 and the second wheel steering mechanism 120 to couple (e.g., mount) the seat. Here, the first seat steering mechanism 130 is an example of a first support steering mechanism of the embodiment of the present disclosure, and correspondingly, the seat is an example of a supported object of the embodiment of the present disclosure; similarly, the seat support rod, the seat base, the seat steering drive, and the like mentioned below are also examples of the support rod, the support base, the support steering drive, and the like of the embodiments of the present disclosure, respectively. The first seat steering mechanism 130 may fix the seat in a first direction X (as shown in fig. 1A), and the first seat steering mechanism 130 is configured to convert the seat from the first direction X to a second direction Y, whereby the seat may be fixed in the second direction Y. Similarly, the first seat steering mechanism 130 may also switch the seat from the second direction Y to the first direction X.

Since the frame 100 can respectively realize the conversion of the directions of the first wheel and the second wheel through the first wheel steering mechanism 110 and the second wheel steering mechanism 120, and the conversion of the direction of the seat through the first seat steering mechanism 130, the frame 100 can be realized as a frame for a bicycle and a frame for a balance car.

For example, in some examples, fig. 3 is a schematic view of a first wheel steering mechanism of a vehicle frame provided by an embodiment of the present disclosure. As shown in fig. 3, the first wheel steering mechanism 110 includes a first wheel bracket 111 and a first rotation shaft 112. The first wheel bracket 111 is used for fixedly connecting a first wheel, and one end of the first rotating shaft 112 is connected with the first wheel bracket 111. The first rotating shaft 112 is used for driving the first wheel bracket 111 to switch between the first direction X and the second direction Y. For example, the first rotation shaft 112 fixes the first wheel holder 111 in the first direction X, and the first rotation shaft 112 drives the first wheel holder 111 to switch from the first direction X to the second direction Y, whereby the first wheel holder 111 is fixed in the second direction Y; similarly, the first rotating shaft 112 can also convert the first wheel frame 111 from the second direction Y to the first direction X. When the first wheel bracket 111 is fixed in the first direction X, the plane of the bracket on the two sides of the first wheel bracket 111 is perpendicular to the direction of the line connecting the first end 101 and the second end 102 of the frame 100 (as shown in fig. 2); when the first wheel bracket 113 is fixed in the second direction Y, the planes of the brackets on both sides of the first wheel bracket 111 are parallel to the direction of the line connecting the first end 101 and the second end 102 of the frame 100.

For example, in some examples, as shown in fig. 3, the first wheel steering mechanism 110 further includes a first steering motor 113, and the other end of the first rotating shaft 112 opposite to the end connected to the first wheel bracket 111 is connected to an output shaft of the first steering motor 113. The first steering motor 113 is used to drive the rotation of the first rotating shaft 112. Therefore, the first rotating shaft 112 rotates to switch the first wheel bracket 111 between the first direction X and the second direction Y.

For example, in other examples, the first steering motor 113 may also be replaced by another mechanism that can drive the first rotating shaft 112 to rotate, and the embodiment of the present disclosure is not limited thereto.

For example, in some examples, first wheel steering mechanism 110 may be rotatably coupled to frame 100 via a coupling (e.g., a sleeve) disposed at a first end of the frame.

For example, in some examples, as shown in fig. 3, the first wheel steering mechanism 110 may further include a first bearing 114, where the first bearing 114 is disposed on the first rotating shaft 112 to provide support for the rotation of the first rotating shaft 112 driven by the first steering motor 113, reduce friction during the rotation, and improve the service life of the first wheel steering mechanism 110.

For example, in some examples, fig. 4 is a schematic view of a second wheel steering mechanism of a vehicle frame provided by an embodiment of the present disclosure. As shown in fig. 4, the second wheel steering mechanism 120 includes a second wheel bracket 121 and a second rotating shaft 122. The second wheel bracket 121 is used for fixedly connecting a second wheel, and one end of the second rotating shaft 122 is connected with the second wheel bracket 121. The second rotating shaft 122 is used for driving the second wheel bracket 121 to switch between the first direction X and the second direction Y. For example, the second rotation shaft 122 fixes the second wheel carriage 121 in the first direction X, and the second rotation shaft 122 may drive the second wheel carriage 121 to be switched from the first direction X to the second direction Y, whereby the second wheel carriage 121 is fixed in the second direction Y; likewise, the second axle 122 can also switch the second wheel carriage 121 from the second direction Y to the first direction X. When the second wheel bracket 121 is fixed in the first direction X, the plane of the bracket on the two sides of the second wheel bracket 121 is perpendicular to the direction of the line connecting the first end 101 and the second end 102 of the frame 100 (as shown in fig. 2); when the second wheel bracket 121 is fixed in the second direction Y, the planes of the brackets on both sides of the second wheel bracket 123 are parallel to the direction of the line connecting the first end 101 and the second end 102 of the frame 100.

For example, in some examples, as shown in fig. 4, the second wheel steering mechanism 120 further includes a second steering motor 123, and the other end of the second rotating shaft 122 opposite to the end connected to the second wheel bracket 121 is connected to an output shaft of the second steering motor 123. The second steering motor 123 is used for driving the second rotating shaft 122 to rotate. Therefore, the second rotating shaft 122 rotates to drive the second wheel bracket 121 to switch between the first direction X and the second direction Y.

For example, in other examples, the second steering motor 123 may also be replaced by another mechanism that can drive the second rotating shaft 122 to rotate, and the embodiment of the present disclosure is not limited thereto.

For example, in some examples, the second wheel steering mechanism 120 may be rotatably coupled to the frame 100 via a coupling (e.g., a sleeve) disposed at a second end of the frame.

For example, in some examples, as shown in fig. 4, the second wheel steering mechanism 120 may further include a second bearing 124, where the second bearing 124 is sleeved on the second rotating shaft 122 to provide support for the rotation of the second rotating shaft 122 driven by the second steering motor 123, reduce friction during the rotation, and improve the service life of the second wheel steering mechanism 120.

For example, in some examples, fig. 5A is a schematic view of a first seat steering mechanism and a second adjustment structure of a vehicle frame provided by an embodiment of the present disclosure; fig. 6 is a partial structural schematic view of a first seat steering mechanism of a vehicle frame according to an embodiment of the present disclosure.

As shown in fig. 5A and 6, the first seat steering mechanism 130 includes a seat support rod 131 and a seat steering driver 140. The seat support rod 131 includes a first end 132 for supporting the seat and a second end 133 driven to rotate by the seat steering drive 140. The seat steering drive 140 cooperates with the second end 133 of the seat support rod 131 to rotate the seat support rod 131. Thereby, the seat fixed to the first end 132 of the seat support rod 131 is rotated.

For example, in some examples, the material of the seat support rod 131 may be selected from aluminum alloy and other materials with better strength, corrosion resistance, processability, and the like. For example, in some examples, as shown in fig. 5A and 6, the first seat steering mechanism 130 further includes a seat base 134, a first cam contact 135, and a second cam contact 136. The seat support rod 131 is rotatably mounted on the seat base 134. A first cam contact 135 and a second cam contact 136 are provided at the second end 133 of the seat support bar 131. For example, the seat base 134 is provided with a mounting hole 139, and the seat support rod 131 is sleeved on the mounting hole 139 of the seat base 134. The mounting hole 139 is loosely fitted with the seat support rod 131, and the seat support rod 131 can rotate relative to the seat base 134. The first cam contact 135 and the second cam contact 136 are, for example, fixedly connected to the second end of the seat support bar 131. Here, the fixing connection manner may be, for example, a threaded connection, a riveting, a welding, and the like, and the embodiment of the disclosure is not limited thereto. The first cam contact member 135 and the second cam contact member 136 are, for example, rod-shaped or plate-shaped members extending from the first connector 1310. Thus, the seat support rod 131 can rotate along with the rotation of the first cam contact piece 135 and the second cam contact piece 136, and further rotate the seat mounted thereon.

For example, in some embodiments, a first connector 1310 is fixedly disposed at the second end 133 of the seat support bar 131, and an end of the first cam contact member 135 and an end of the second cam contact member 136 are fixedly coupled to the first connector 1310, such as by a threaded connection. Thus, the seat support rod 131 can rotate along with the rotation of the first cam contact piece 135 and the second cam contact piece 136, and further rotate the seat mounted thereon.

As shown in fig. 5A and 6, in one example, the seat steering driver 140 includes a cam 141, the cam 141 is fixedly disposed on the frame, and the cam 141 is located on the side of the second end 133 of the seat support rod 131 and is, for example, on the same horizontal plane as the first cam contact member 135 and the second cam contact member 136. The seat base 134 is movable in the first direction X relative to the cam 141, and the cam 141 cooperates with the first cam contact 135 and the second cam contact 136. During the movement of the seat base 134 in the first direction relative to the cam 141, the first cam contact member 135 contacts the cam 141 and is tangent to the cam 141, so that the first cam contact member 135 is toggled, thereby rotating the seat support bar 131 from the first direction X to the second direction Y; during movement of the seat base 134 in the first direction relative to the cam 141, the second cam contact 136 contacts the cam 141 and is tangent to the cam 141, such that the second cam contact 136 is toggled to rotate the seat support bar 131 from the second direction Y to the first direction X, thereby switching the seat fixed to the first end 132 of the seat support bar 131 between the first direction and the second direction. In this example, the position of the seat relative to the vehicle frame is not fixed, and the seat moves in the first direction X along with the deformation of the transformable vehicle.

For example, in other examples, the seat base 134 is fixedly disposed on the vehicle frame, and the cam can move (e.g., translate) relative to the seat base 134 in, for example, a first direction, thereby toggling the first cam contact 135 and the second cam contact 136, respectively, during the cam movement, such that the seat support bar 131 rotates from the second direction Y to the first direction X, thereby enabling the seat fixed on the first end 132 of the seat support bar 131 to switch between the first direction and the second direction. In this example, the position of the seat relative to the vehicle frame is fixed and does not move with the deforming operation of the deforming vehicle.

For example, in the above example, the angle between the first cam contact piece 135 and the second cam contact piece 136 on the plane determined perpendicular to the first direction X and the second direction Y is 90 degrees.

For example, in some examples, as shown in fig. 5A, the seat steering drive 140 further includes a fourth shaft 142 and a first gear 143. The axis direction of the fourth rotating shaft 142 is perpendicular to the direction of the horizontal supporting surface, that is, the fourth rotating shaft 142 is disposed in the vertical direction. The first gear 143 is fixedly disposed at an upper end of the fourth rotating shaft 142, the first gear 143 coincides with an axis of the fourth rotating shaft 142, and the fourth rotating shaft 142 can drive the first gear 143 to rotate.

For example, in other examples, the first gear 143 may also be disposed at a lower end of the fourth rotating shaft 142.

For example, in some examples, as shown in fig. 5A, the seat base 134 includes a first gear rack 137, the first gear rack 137 being in meshing engagement with a first gear 143. The first rack 137 is fixed to the seat base 134 and extends in a first direction. When the first gear 143 rotates, the first rack 137 is driven to move in the first direction X, so that the seat base 134 is driven to move in the first direction X, and the cam 141 is fixed in the first direction. Thereby, the relative movement of the seat base 134 and the cam 141 is realized.

For example, in some examples, the vehicle frame 100 further includes at least one moving rail 1311, the moving rail 1311 being fixed to the vehicle frame 100. In the example shown in fig. 5A, the vehicle frame 100 includes two moving rails 1311, one on each side of the seat base 134 in the second direction. The moving track 1311 is parallel to the first direction X. Both sides of the seat base 134 are disposed on the moving rails 1311 and move along the moving rails 1311. The travel rails 1311 provide support for the seat base 134.

For example, in some examples, the material of the moving rail 1311 may be selected from aluminum alloy and other materials having good strength, corrosion resistance, workability, and the like.

For example, in some examples, as shown in fig. 5A, the frame 100 further includes a first retaining member 104 and a second retaining member 105. The first limiting member 104 and the second limiting member are fixed to the frame 100, for example, have a substantially rod shape, and are located on two sides of the seat base 134 in the first direction X to limit the movement of the seat base 134 in the first direction X.

For example, in other examples, the first limiting member 104 and the second limiting member 105 may also be limiting members respectively fixed on the moving rail 1311 to limit the movement of the seat base 134.

For example, in some examples, as shown in fig. 1A and 1B, the vehicle frame 100 further includes a housing 103 disposed between the first wheel steering mechanism 110 and the second wheel steering mechanism 120 for securing various structural components included in the vehicle frame 100 and providing support and protection.

For example, in some examples, the material of the enclosure 103 may be selected from an aluminum alloy material that has a light weight and structural strength that can meet the needs of the enclosure 103. In addition, the aluminum alloy material has better strength, corrosion resistance, processability and the like. For example, in some examples, as shown in fig. 1B and 2, frame 100 further includes a first adjustment mechanism 150 and a handlebar support assembly 160. The first adjustment structure 150 is disposed between the first wheel steering mechanism 110 and the first seat steering mechanism 130, thereby connecting the two (and the housing 103), and the handlebar support assembly 160 is coupled to the first wheel steering mechanism 110 and configured to mount a handlebar. The first adjustment mechanism 150 is coupled to the handlebar support assembly 160 and adjusts the angle between the handlebar and the horizontal support surface.

For example, in some examples, as shown in fig. 2, the handlebar support assembly 160 is sleeved on the first rotating shaft 112 of the first wheel steering mechanism 110. For example, the handlebar support assembly 160 includes a sleeve 161, a second connector 162, and a third connector 163. The second connector 162 and the third connector 163 are plate-shaped connectors having two through holes, and the second connector 162 and the third connector 163 are fixed to the upper and lower sides of the sleeve 161; the sleeve 161 is sleeved on the first rotating shaft 112, and the first rotating shaft 112 can rotate in the sleeve 161. The through holes of the second and third connecting members 162 and 163 at the first ends communicate with the sleeve, thereby being sleeved on the first rotating shaft 112. The through holes of the second and third connecting members 162 and 163 at the second end are aligned with each other, facing away from the first steering mechanism 110 in the first direction X, for mounting the handlebar.

For example, in other examples, the frame 100 may be provided with only one of the second connector 162 or the third connector 163. Alternatively, the frame 100 may eliminate the second connecting member 162 and the third connecting member 163 and fix the handle bar directly to the sleeve 162. The specific structure of the handlebar support assembly 160 is not limited in the embodiments of the present disclosure.

For example, in some examples, fig. 7A is a schematic view of a first adjustment mechanism of a vehicle frame provided by an embodiment of the present disclosure; FIG. 7B is a schematic view of a first adjustment mechanism of a vehicle frame provided in accordance with an embodiment of the present disclosure in one position; fig. 7C is a schematic view of the first adjustment mechanism of the vehicle frame in another position according to an embodiment of the disclosure.

As shown in the example of fig. 7A, 7B, and 7C, the first adjustment mechanism 150 includes a third rotating shaft 151, a rotating member 152, a first link 153, a second link 154, and a first slide rail 155. The third rotation shaft 151 is disposed in a vertical direction, i.e., a direction perpendicular to the horizontal support surface. The rotating member 152 may be, for example, a rotating disk 1521 (shown in fig. 7A). Relative to the horizontal supporting surface, the rotating disc 1521 is disposed at an upper end of the third rotating shaft 151, and the rotating disc 1521 is fixedly connected to the third rotating shaft 151. Here, the fixed connection manner may be, for example, a threaded connection, riveting, welding, or the like, and for example, the rotation disc 1521 and the third rotation shaft 151 may be integrally formed, which is not limited in the embodiments of the present disclosure.

As shown in fig. 7A, the axis of the rotating disc 1521 coincides with the axis of the third rotating shaft 151, and the rotating disc 1521 can be driven to rotate by the third rotating shaft 151. A first end of the first link 153, i.e., an end away from the first seat steering mechanism 130, is movably connected to the rotation plate 1521 and is driven when the rotation plate 1521 is rotated by the third rotation shaft 151, and a second end of the first link 153, i.e., an end away from the rotation plate 1521, is movably connected to the second link 154.

For example, in other embodiments, the rotating component 152 may also be disposed at the lower end of the third rotating shaft 153. For another example, in other embodiments, the rotating member 152 may be a partial disk or may be replaced by a cross bar as long as it can rotate around the third rotating shaft 151.

For example, in some examples, as shown in fig. 7A, a plurality of threaded holes 156 are uniformly provided on the same circumference of the rotating member 152. A first upright 157 is disposed in the threaded hole of the rotating component 152, and a first sleeve is disposed at a first end of the first connecting rod 153, and the first sleeve is rotatably sleeved on the first upright 157. The second end of the first link 153 is provided with a second sleeve, and the second sleeve is movably sleeved on a second upright 1541 fixed on the second link 154, so as to be movably connected with the second link 154. In this embodiment, the connection manner of the first link 153 with the rotating component 152 and the second link 154 is not limited to the above manner, and other manners capable of achieving movable connection may also be used, and the embodiment of the present disclosure is not limited thereto. The fixing manner of the first upright and the second upright may be, for example, welding, screwing, and the like, and the embodiments of the present disclosure are not limited thereto.

For example, the first slide rail 155 is relatively slidably provided on the second link 154 in the longitudinal direction of the second link 154. As shown in fig. 7A, the first slide rail 155 and the second link 154 are both arc-shaped and have the same arc. The first end of the first slide rail 155 is fixedly connected to the box 103 of the frame 100 through the fixing hole 1551, the second link 154 is sleeved in the second end of the first slide rail 155, and the fixedly disposed second upright 1541 of the second link 154 is embedded in the opening of the first slide rail 155, so that the second link 154 plays a role of guiding when sliding relatively on the first slide rail 155. Accordingly, the second end of the first link 153 is also disposed in the first slide rail 155 and can slide along the first slide rail 155. One end of the second link 154 is fixedly connected to the sleeve 161 of the handlebar support assembly 160, which can be, for example, welded, screwed, etc., and the disclosed embodiment is not limited thereto.

For example, in some examples, the material of the first link 153 and the second link 154 may be selected from aluminum alloy and other materials with better strength, corrosion resistance, processability, and the like.

For example, in some examples, when the rotating component 152 rotates, the rotating component 152 drives the first link 153 to swing, so as to drive the second link 154 to slide in the first slide rail 155, thereby adjusting the angle between the handlebar support 160 and the horizontal support surface, so that the angle between the handlebar mounted on the handlebar support 160 and the horizontal support surface can be adjusted to adapt to different requirements of bicycles and balance cars for the inclination angle of the handlebar.

Specifically, when the first adjustment mechanism 150 is in the first state, such as the first state for a bicycle shown in fig. 7B, the included angle β between the direction J of the handlebar support member 160 and the horizontal support plane L is smaller than 90 degrees, such as the included angle β is about 85 degrees to 65 degrees, or the included angle β is about 75 degrees, where the word "about" indicates that the included angle may vary, such as ± 5% or ± 15%.

For example, in some examples, as shown in fig. 1B and 2, frame 100 also includes a second adjustment mechanism 170. The second adjustment mechanism 170 is disposed between the first wheel steering mechanism 110 and the second wheel steering mechanism 120 of the vehicle frame 100. The second adjustment mechanism 170 is connected to the second wheel steering mechanism 120 and is movable in the first direction X, thereby adjusting the distance D between the first wheel steering mechanism 110 and the second wheel steering mechanism 120, and accordingly, the distance between the housing 103 and the second wheel steering mechanism 120. Here, the distance D between the first wheel steering mechanism 110 and the second wheel steering mechanism 120 is also the distance between the first end 101 of the frame 100 and the second end 102 of the frame 100 in the first direction X.

For example, in some examples, as shown in fig. 2 and 5A, the second adjustment mechanism 170 includes a third link 171 and a wheel moving assembly 180. A first end of the third link 171 is connected to the second wheel steering mechanism 120; a second end of the third link 171 is connected to the wheel moving assembly 180; the wheel moving assembly 180 is disposed in the case 103. The second wheel steering mechanism 120 includes a fourth linkage 106 disposed at the second end 102, the fourth linkage 106 being movably disposed on a second axle 122 of the second wheel steering mechanism 120. A first end of the third link 171 is fixedly coupled to the fourth link 106, whereby the third link 171, and the second wheel coupled thereto, can move together with the third link 171 when the third link 171 is moved by the wheel moving assembly 180. Here, the fixed connection manner may be, for example, welding, screwing, and the like, and the embodiments of the present disclosure are not limited thereto.

For example, in some examples, as shown in fig. 5A, wheel moving assembly 180 includes a slider 181, a second slide track 185. The second slide rail 185 is fixed to the case 103 of the vehicle frame 100. The slider 181 is disposed on the second slide rail 185 and configured to be movable in the first direction X, and a second end of the third link 171, which is away from the second wheel steering mechanism 120, is fixedly connected to the slider 181. Here, the fixed connection manner may be, for example, welding, screwing, and the like, and the embodiments of the present disclosure are not limited thereto.

When the slider 181 moves in the first direction X, the third link 171 is driven to move in the first direction X, and the third link 171 drives the second wheel steering mechanism 120 located at the second end 102 of the frame to move, thereby adjusting the distance between the first wheel steering mechanism 110 and the second wheel steering mechanism 120.

For example, in some examples, as shown in fig. 5B, the cross-section of the third link 171 is cross-shaped to have a desired structural strength while reducing the weight of the third link 171. The third link 171 includes a first dimension X1 and a second dimension X2 in the first direction X, a third dimension Y1 and a fourth dimension Y2 in the second direction Y. The first dimension X1 may range, for example, from about 10 mm to about 14 mm; for example, the first dimension X1 may be approximately 10 millimeters. The third dimension Y1 may range, for example, from about 10 mm to about 14 mm; for example, the third dimension Y1 may take on a value of about 10 millimeters. The second dimension X2 can range, for example, from about 20 mm to about 28 mm; for example, the second dimension X2 may take on a value of about 24 millimeters. The fourth dimension Y2 may range, for example, from about 20 mm to about 28 mm; for example, the fourth dimension Y2 may take on a value of about 24 millimeters. If the size of the third link 171 is smaller than the above size, the third link 171 may be damaged due to insufficient strength when a large force is applied to the vehicle frame 100, and the vehicle frame 100 may be scrapped. The third link 171 may have sufficient structural strength at the above-mentioned dimensioning, thereby increasing the service life of the vehicle frame 100.

For example, the material of the third link 171 may be, for example, an aluminum alloy material that has a light weight and can satisfy the structural strength required for the third link 171. In addition, the aluminum alloy material has better strength, corrosion resistance, processability and the like.

As shown in fig. 5A, the wheel moving assembly 180 further includes a fifth rotating shaft 182 and a second gear 183. The second gear 183 is fixedly provided at one end of the fifth rotation shaft 182. The axis of the second gear 183 coincides with the axis of the fifth rotating shaft 182, and the fifth rotating shaft 182 can drive the second gear 183 to rotate.

In this example, the slider 181 includes a second rack 184. The second rack 184 is engaged with the second gear 183, and the rotation of the second gear 183 drives the second rack 184 to move. When the second gear 183 rotates, the driving slider 181 moves in the first direction X, so that the third link 171 moves in the first direction X.

For example, in some examples, as shown in fig. 5A, the fifth rotation shaft 182 is the same rotation shaft as the fourth rotation shaft 142. At this time, the first gear 143 is located at an upper end of the fifth rotation shaft 182, and the second gear 183 is located at a lower end of the fifth rotation shaft 182.

For example, in other examples, the fifth rotating shaft 182 and the third rotating shaft 151 may be the same rotating shaft, in which case, the rotating component 152 is located at an upper end of the third rotating shaft 151, the second gear 183 is located at a lower end of the third rotating shaft 151, and the slider 181 includes the second rack 184. The second rack 184 is engaged with the second gear 183, and the rotation of the second gear 183 drives the second rack 184 to move. When the second gear 183 rotates, the driving slider 181 moves in the first direction X, so that the third link 171 moves in the first direction X.

For example, in other examples, the wheel moving assembly 180 may be provided with other types of mechanisms, including, for example, a motor, a guide wheel, and a pull rope fixedly connected to the slider 181 to drive the slider 181 to move in the first direction.

For example, in some examples, as shown in fig. 2 and 5A, the frame 100 further includes a first driving device 190 for driving the third rotating shaft 151 and the fourth rotating shaft 142 to rotate.

As shown in fig. 2 and 5A, the first driving device 190 includes a first driving motor 191 and a first driving shaft 192. An output shaft of the first driving motor 191 is connected to the first driving shaft 192 to drive the first driving shaft 192 to rotate. The first driving shaft 192 is in transmission connection with the third rotating shaft 151 and the fourth rotating shaft 142 to drive the third rotating shaft 151 and the fourth rotating shaft 142.

For example, in some examples, as shown in fig. 5A, the first drive device 190 further includes a first worm gear 193 and a second worm gear 194, and the first drive shaft 192 includes a worm 195. The first turbine 193 is fixedly connected to the third shaft 151, the second turbine 194 is fixedly connected to the fourth shaft 182, and the second turbine 194 is located between the first gear 143 and the second gear 183. The worm 195 is drivingly connected to the first worm wheel 193 and the second worm wheel 194 to drive the worm 195 to rotate. When the worm 195 rotates, the first worm wheel 193 and the second worm wheel 194 are rotated by the worm 195, so as to drive the third rotating shaft 151 and the fourth rotating shaft 182 to rotate, and further drive other components to move, thereby realizing the deformation of the deformable vehicle.

For example, in other examples, the first driving device 190 includes a second driving motor and a third driving motor to respectively drive the first adjusting structure 150 and the second adjusting structure 170, i.e., in this example, the same driving device is not used to drive the first adjusting structure 150 and the second adjusting structure 170. The second driving motor is connected with the third rotating shaft to drive the third rotating shaft to rotate. The third driving motor is connected with the fourth rotating shaft to drive the fourth rotating shaft to rotate.

For example, in other examples, the first driving device includes a fourth driving motor and a third gear, the third gear is disposed at a lower end of the third rotating shaft 151, the first gear 143 is disposed at an upper end of the fourth rotating shaft 142, and the second gear 183 is disposed at a lower end of the fourth rotating shaft 142. The third gear is engaged with the second gear 183, for example, or engaged with a transmission gear additionally provided on the fourth rotating shaft 142, so that the third rotating shaft 151 is in transmission connection with the fourth rotating shaft 142. The fourth driving motor is connected to the third shaft 151 for driving the third shaft 151 to rotate, so as to drive the fourth shaft 142 to rotate.

For example, in other examples, the first driving device may further include a fourth gear disposed on the fourth rotating shaft 142 and engaged with the third gear, such that the third rotating shaft 151 is in transmission connection with the fourth rotating shaft 142. The fourth driving motor is connected to the third shaft 151 for driving the third shaft 151 to rotate, so as to drive the fourth shaft 142 to rotate.

Some embodiments of the present disclosure also provide a convertible vehicle including the frame of any of the above examples, and further including a first wheel, a second wheel, and a seat; the first wheel and the second wheel are respectively arranged at the first end and the second end of the frame through the first wheel steering mechanism of the frame and the second wheel steering mechanism of the frame; the seat is arranged on the frame through a first seat steering mechanism.

This warp car accessible first wheel steering mechanism and second wheel steering mechanism realize the conversion of first wheel and second wheel place direction, realize the conversion of seat place direction through first seat steering mechanism to make warp the car both can regard as the bicycle to use and also can regard as the balance car to use, so, should warp the car and can go on the road surface of multiple complicacy, also bring better trip to experience for the user simultaneously.

The following describes in detail a convertible vehicle provided in accordance with one or more embodiments of the present disclosure with reference to the accompanying drawings.

Fig. 8 is a schematic view of a convertible vehicle in a bicycle state according to an embodiment of the disclosure. Fig. 10 is a schematic view of a convertible vehicle in a state of a balance vehicle according to an embodiment of the disclosure.

As shown in FIG. 8, the convertible vehicle 1000 is in a bicycle state, the convertible vehicle 1000 includes a frame 100, a first wheel 200, a second wheel 300, a seat 400, and a handlebar 500. the first wheel 200 is mounted on a bracket on either side of a first wheel bracket 111 of a first wheel steering mechanism 110. the first wheel 200 lies in a plane perpendicular to a plane in which the first wheel bracket 111 lies. the second wheel 300 is mounted on a bracket on either side of a second wheel bracket 121 of a second wheel steering mechanism 120. the second wheel 300 lies in a plane perpendicular to a plane in which the second wheel bracket 121 lies. the first wheel 200 lies in a plane coincident with a plane in which the second wheel 300 lies and parallel to a first direction X. the seat 400 is disposed at a second end 132 of a seat support rod 131. the seat 400 is oriented in the direction in which the first wheel 200 and the direction of the seat 400 is parallel to the first direction X. when the seat 400 is offset from the center of the frame and closer to the second wheel 300. the seat 400 is disposed in the direction in which the second wheel support rod 162 and the third link 163 of the handlebar support assembly 160 is aligned with the same range of angles of the handlebar angles 6332. when the handlebar assembly 500 is less than the range of the horizontal angle of the handle bar support directions of the handle bar support structure 500. the handle bar 120. the range of the handle bar support structure 500. the range of the.

For example, in some examples, as shown in fig. 9A, 9B, 9C, and 9D, the handlebar 500 includes a grip 501, two levers 502, two links 503, a first pin 504, a spring collar 505, a second pin 506, a bracket 507, a third pin 508, a lever seat 509, a lever 510, a first bushing 511, an inner sleeve 512, a sleeve end cap 513, a second bushing 514, an outer sleeve 515, and a sleeve bottom cap 516.

For example, in some examples, the brace 507 is secured to a first end of the inner sleeve 512, and the brace 507 is fixedly coupled to a first end surface of the inner sleeve 512 by a bolt. The fixed connection between the support 507 and the inner sleeve 512 may be, for example, welding, riveting, or the like, which is not limited in the embodiment of the disclosure. The pull rod 510 is disposed within the support 507 and the inner sleeve 512, such that a portion of the inner sleeve 512 is disposed (e.g., sleeved) within the outer sleeve 515 and can rotate and move axially within the outer sleeve 515. The outer sleeve 515 is disposed in the through holes of the second ends of the second and third connecting members 162 and 163 to fix the handlebar 500 to the frame 100. Relative axial movement between inner sleeve 512 and outer sleeve 515 can change the overall length of handlebar 500.

As shown in fig. 9B, 9C and 9D, the two levers 502 and the two links 503 are symmetrically disposed with respect to the bracket 507, and by the arrangement described below, it is possible to make the two levers 502 respectively in a horizontal state when the handlebars are expanded, as shown in fig. 9F, and in a vertical state when the handlebars are contracted, as shown in fig. 9G, corresponding to the state of the transformable vehicle in the bicycle state and the state of the balance vehicle, respectively.

In some examples, each shaft 502 has two pin holes with the same diameter at one end and a sleeve 501 fixed at the other end. The symmetrical sides of the support 507 include two lug portions, each of which is provided with a pin hole. The pin holes of the lug parts on both sides of the bracket 507 are respectively connected with the pin holes of the lug parts of the two levers 502 close to the bracket 507 through a revolute pair consisting of a second pin shaft 506, and the two levers 502 can rotate relative to the bracket 507. The pin holes on the outer sides of the two rods 502 are respectively connected with the pin holes on the first ends of the two connecting rods 503 through a revolute pair formed by a first pin 504. The pin holes at the second ends of the two connecting rods 503 are connected with the pin holes on the pull rod seat 509 through a revolute pair formed by the same third pin shaft 508. The lower end of the pull rod seat 509 is fixedly connected to the pull rod 510, and the lower end of the pull rod seat 509 is fixedly connected to the pull rod 510, for example, a threaded hole may be formed at the lower end of the pull rod seat 509, and the lower end of the pull rod seat 509 is fixedly connected to the pull rod 510 through a bolt (as shown). In addition, the lower end of the pull rod seat 509 and the pull rod 510 may also be fixedly connected by other methods, such as welding, riveting, etc., which is not limited in the embodiments of the present disclosure. The lower end of the support 507 is provided with a through hole with a diameter larger than the inner diameter of the first shaft sleeve 511 and smaller than the outer diameter of the first shaft sleeve 511. The first bushing 511 is mounted in a stepped bore at one end of the inner sleeve 512 adjacent the bracket 507. The pull rod 510 penetrates through the through hole at the lower end of the support 507 and is arranged at the inner side of the first shaft sleeve 511, and forms a sliding pair with the first shaft sleeve 511, and the first shaft sleeve 511 plays a guiding role. Spring collars 505 are provided at each end of each pin to limit movement of the pin along the axis of the pin hole. The first bushing 511 is made of, for example, copper or a copper alloy.

For example, in some examples, the tie rod 510 may also be a threaded rod. The screw is fixedly connected with the lower end of the pull rod seat 509, for example, a threaded hole is formed in the lower end of the pull rod seat 509 and connected with the screw, and the screw is fixed by the mounting nut. The disclosed embodiment is not limited to the structure of the pull rod 510.

For example, in some examples, inner sleeve 512 is non-rotatable with respect to outer sleeve 515, at least one flat surface is provided on an outer cylindrical surface of inner sleeve 512, sleeve end cap 513 is provided on a first end surface of outer sleeve 515, and sleeve end cap 513 is provided with a slot that is a clearance fit with inner sleeve 512 and that has a shape that is substantially equal to the shape of inner sleeve 512.

For example, the cross-sectional profile of the inner sleeve 512 is a non-centrosymmetric pattern, such as a triangle, polygon, oval, racetrack shape, and the like. For example, as shown in FIG. 9D, the cross-section of the inner sleeve 512 is racetrack shaped. Thus, the outer surface of the inner sleeve 512 comprises two opposing cylindrical surfaces and two opposing and parallel planar surfaces. That is, the cross-sectional shape of the inner sleeve 512 is a shape formed by a circle being tangent to two parallel straight lines, and the outer surface of the inner sleeve 512 is two cylindrical surfaces on the same circumference and opposite to each other, and two parallel flat surfaces and opposite to each other. Sleeve end cap 513 is provided with a slot having two opposing parallel sides that is substantially the same shape as the inner sleeve. It should be noted that the shape of the substantially same slot, including the slot, is the same as the shape of the inner sleeve 512 and has slight differences, so that the inner sleeve 512 can pass through the slot and does not rotate in the axial direction with respect to the outer sleeve 515. The vertical distance between the two parallel sides of the slot is substantially equal to the vertical distance between the two flat surfaces on the outer cylindrical surface of the inner sleeve 512. It should be noted that substantially equal means that the vertical distance between the two parallel sides of the slot is slightly greater than the vertical distance between the two planes on the outer cylindrical surface of the inner sleeve 512, so as to achieve that the inner sleeve 512 passes through the slot and does not rotate in the axial direction with respect to the outer sleeve 515. The flats of inner sleeve 512 and sleeve end cap 513 act to limit rotation between inner sleeve 512 and outer sleeve 515 in the direction of the axis of outer sleeve 515. The sleeve end cover 513 is fixedly connected with the outer sleeve 515 through bolts, the second shaft sleeve 514 is installed in a stepped hole at one end of the outer sleeve 515, and the inner sleeve 512 penetrates through a slotted hole in the sleeve end cover 513 and is arranged on the inner side of the second shaft sleeve 514 to form a sliding pair with the second shaft sleeve 514. The slots in sleeve end cap 513 are a clearance fit with the outer surface of inner sleeve 512. The second bushing 514 serves as a guide. The second bushing 514 is made of copper or a copper alloy, for example. A sleeve bottom cover 516 is fixedly arranged at the bottom end of the outer sleeve 515.

For example, in some examples, as shown in fig. 9E, the handlebar 500 further includes a handlebar drive for varying the overall length of the handlebar 500 and the folding and unfolding of the handlebar 500.

In one example, the driving device of the handlebar includes a first motor 519, a first drag wheel 518, a first traction rope, and a first guide wheel 517. The first dragging wheel 518 is connected with an output shaft of the first motor 519 and is driven by the first motor 519 to rotate, one end of the first traction rope is wound on the first dragging wheel 518, and after the first traction rope passes through the first guide wheel 517, the other end of the first traction rope is connected with the inner sleeve 512. The inner sleeve 512 reciprocates axially relative to the outer sleeve 515 under drive of the first pull-cord. The handlebar 500 also includes a positioning member 5113, and the second end of the inner sleeve 512 is coupled to the positioning member 5113 via a cable. During the upward movement of the inner sleeve 512 relative to the outer sleeve 515, the positioning member 5113 ascends along with the inner sleeve, and when the positioning member 5113 contacts the sleeve bottom cover 516 of the outer sleeve 515, the movement of the inner sleeve 512 is stopped.

For example, the driving device of the handle bar further includes a second motor 5112, a second drawing wheel 5111, a second traction rope, and a second guide wheel 5110. The second dragging wheel 5111 is connected to an output shaft of the second motor 5112 and is driven by the second motor 5112 to rotate, one end of the second traction rope is wound around the second dragging wheel 5111, and after passing through the second guiding wheel 5110, the other end of the second traction rope is connected to the pull rod 510. The pull rod 510 is driven by the first pulling rope to reciprocate in the axial direction relative to the inner sleeve 512, so as to drive the two handle rods 502 to rotate relative to the bracket 507, thereby realizing the folding and unfolding of the handlebar 500.

For example, in other examples, a second pull cord may be coupled to the pull rod socket 509, and the second pull cord drives the pull rod socket 509 to reciprocate so as to axially reciprocate the pull rod 510 relative to the inner sleeve 512.

For example, in other examples, the driving device of the handlebar may also be a screw pair driving device, a pneumatic driving device or a hydraulic driving device, and the reciprocating movement of the inner sleeve 512 relative to the outer sleeve 515 and the reciprocating movement of the inner pull rod 510 relative to the inner sleeve 512 are driven by pneumatic or hydraulic means, which is not limited by the disclosed embodiments. In the above embodiment, relative movement between pull rod 510 and inner sleeve 512 of handlebar 500 and bracket 507 controls the collapsing of the handlebar, and movement between inner sleeve 512 and outer sleeve 515 of handlebar 500 controls the telescoping movement of the handlebar. Specifically, for the handlebar shown in FIG. 9A, when one or both of the two levers 502 partially in the horizontal state are forced downward to rotate toward the inner sleeve 512 around the second pin 506, the connecting rod 503 is driven upward, and accordingly the pull rod 10 is driven upward in the inner sleeve 512, so that the handlebar contracted state shown in FIG. 9F can be realized; alternatively, for the handlebar illustrated in FIG. 9A, when one or both of the two levers 502 partially in the horizontal position are forced upward to pivot away from inner sleeve 512 about second pin 506, link 503 will be moved downward, and pull rod 10 will be correspondingly moved downward within inner sleeve 512, thereby achieving the handlebar open position illustrated in FIG. 9G.

As shown in FIG. 10, in the state of the convertible vehicle 1000, the planes of the brackets on both sides of the first wheel 200 and the planes of the brackets on both sides of the second wheel 300 are parallel to the second direction Y, and are perpendicular to the first direction X. the direction in which the front end of the seat 400 faces is perpendicular to the first direction X and parallel to the second direction Y, and is parallel to the directions in which the first wheel 200 and the second wheel 300 are located, in which case the seat 400 is substantially at the center of the frame, in which case the direction in which the handle bar 500 faces is the same as the direction J in which the handle bar support assembly 160 is located, in which case the direction in which the handle bar 500 faces has an angle β with the direction in which the horizontal support surface lies, in which case the angle β is about 90 degrees, the distance between the first wheel 200 and the second wheel 300 is smaller than the distance between the first wheel 200 and the second wheel 300 in the state of the convertible vehicle shown in FIG. 8, the handle bar 502 of the handle bar 500 is folded and the inner sleeve 512 is retracted into the outer sleeve 515.

For example, in some examples, the transformation process of the transformable vehicle 1000 from the bicycle state as shown in fig. 8 to the balance vehicle state as shown in fig. 10, as shown in fig. 11 and 12, includes the steps as follows.

In step 101, the first wheel 200 and the second wheel 300 are switched from the first direction X to the second direction Y by the first wheel steering mechanism 110 and the second wheel steering mechanism 120. As shown in fig. 11, the first steering motor 113 and the second steering motor 123 are driven to rotate the first rotating shaft 112 and the second rotating shaft 122, so that the first wheel 200 and the first wheel bracket 111 are switched from the first direction X to the second direction Y, and the second wheel 300 and the second wheel bracket 121 are switched from the first direction X to the second direction Y.

Step 102, the seat 400 is switched from the first direction X to the second direction Y by the first seat steering mechanism 130, and the distance between the first wheel 200 and the second wheel 300 is decreased, the angle between the handlebar 500 and the horizontal support surface is changed from less than 90 degrees to about 90 degrees. As shown in fig. 12, the first driving motor 191 rotates the worm 195, thereby rotating the first turbine 193 and the second turbine 194, and the first turbine 193 and the second turbine 194 rotate the third rotating shaft 151 and the fourth rotating shaft 142, thereby rotating the rotating member 152, the first gear 143, and the second gear 183. The rotation of the rotating component 152 causes the first link 153 to swing, so as to drive the second link 154 to slide in the first slide rail 155 toward the handlebar 500, and further change the included angle between the handlebar 500 and the horizontal supporting surface from less than 90 degrees to about 90 degrees. The rotation of the first gear 143 drives the first rack 137 to move, so that the seat base 134 moves, the first cam contact 135 touches the cam 141 and then is shifted, and the seat support rod 131 is driven to rotate, so that the seat 400 is converted from the first direction X to the second direction Y. The rotation of the second gear 183 moves the second rack 184, so that the slider 181 moves along the second track 185 toward the first wheel 200, thereby reducing the distance between the first wheel 200 and the second wheel 300.

Step 103, the handlebar 500 is folded and retracted. As shown in FIG. 10, when a downward force is applied to the handle 501 of two rods 502, the handle 500 is moved relatively between the pull rod 510 and the inner sleeve 512 to gradually decrease the angle between the rods 502 and the connecting rod 503 until the rods 502 and the connecting rod 503 are substantially parallel, and the rods 502 are folded. And, inner sleeve 512 is retracted into outer sleeve 515 by movement between inner sleeve 512 and outer sleeve 515.

The above steps 101-103 are not limited to the above sequence, for example, three steps may be performed simultaneously, or any two steps may be performed simultaneously, which is not limited by the embodiment of the disclosure.

For example, in some examples, the process of transforming the transformable vehicle 1000 from the balance state shown in fig. 10 to the bicycle state shown in fig. 8, as shown in fig. 12 and 13, is the reverse of the process of transforming the transformable vehicle 1000 from the bicycle state shown in fig. 8 to the balance state shown in fig. 10, which comprises the steps as shown below.

Step 104, the handlebar 500 is unfolded and stretched. The transformable vehicle is in the state shown in fig. 12. As shown in FIG. 12, when an upward force is applied to the handle 501 of two handles 502, the handle 500 gradually increases the angle between the handles 502 and the connecting rod 503 through the relative movement between the pull rod 510 and the inner sleeve 512 until the handles 502 and the connecting rod 503 are aligned, and at this time, the handles 502 are fully opened. At the same time, the inner sleeve 512 is stretched by the movement between the inner sleeve 512 and the outer sleeve 515 to be exposed above the outer sleeve 515.

Step 105, the seat 400 is switched from the second direction Y to the first direction X by the first seat steering mechanism 130, and the distance between the first wheel 200 and the second wheel 300 increases, and the angle between the handlebar 500 and the horizontal supporting surface changes from about 90 degrees to less than 90 degrees. As shown in fig. 13, the first driving motor 191 rotates the worm 195, and the rotation direction of the worm 195 is opposite to the rotation direction in step 102, so as to rotate the first turbine 193 and the second turbine 194, and the first turbine 193 and the second turbine 194 rotate the third rotating shaft 151 and the fourth rotating shaft 142, so that the rotating member 152, the first gear 143, and the second gear 183 rotate. The rotation of the rotating component 152 causes the first link 153 to swing, so as to drive the second link 154 to slide in the first slide rail 155 in a direction away from the handlebar 500, thereby changing the included angle between the handlebar 500 and the horizontal supporting surface from about 90 degrees to less than 90 degrees. The rotation of the first gear 143 drives the first rack 137 to move, so that the seat base 134 moves, the second cam contact 136 is shifted after contacting the cam 141, and the seat support rod is driven to rotate, so that the seat is converted from the second direction Y to the first direction X. The rotation of the second gear 183 drives the second rack 184 to move, so that the slider 181 moves along the second slide track 185 in a direction away from the first wheel 200, thereby increasing the distance between the first wheel 200 and the second wheel 300.

At step 106, the first and second wheels 200 and 300 are switched from the second direction Y to the first direction X by the first and second wheel steering mechanisms 110 and 120. As shown in fig. 8, the first and second rotating shafts 112 and 122 are driven by the first and second steering motors 113 and 123 to rotate, so that the first wheel 200 and the first wheel bracket 111 are switched from the second direction Y to the first direction X, and the second wheel 300 and the second wheel bracket 121 are switched from the second direction Y to the first direction X. The rotation directions of the first rotating shaft 112 and the second rotating shaft 122 are opposite to the rotation directions of the first rotating shaft and the second rotating shaft in step 101.

The above steps 104-106 are not limited to the above sequence, for example, three steps may be performed simultaneously, any two steps may be performed simultaneously, or steps 106 or 105 are performed first, etc., which is not limited by the embodiment of the disclosure.

For example, in some examples, as shown in fig. 8 and 11, the convertible car 1000 further includes a first travel drive motor 1100, a second travel drive motor 1200, and an attitude sensor 1300. The first travel driving motor 1100 is mounted on the hub of the first wheel 200, and the second travel driving motor 1200 is mounted on the hub of the second wheel 300. For example, the posture sensor 1300 is provided on the seat base or at a position on the case 103. The first travel driving motor 1100 and the second travel driving motor 1200 are used to drive the first wheel and the second wheel for travel. The attitude sensor 1300 is used to sense the attitude of the transformable vehicle 1000, and for example, detects information such as acceleration and angular velocity of the transformable vehicle during travel.

For example, in some examples, the convertible vehicle 1000 further includes a controller in signal connection with the first wheel steering mechanism 110, the second wheel steering mechanism 120, the first seat steering mechanism 130, and configured to control the first wheel steering mechanism 110, the second wheel steering mechanism 120, and the first seat steering mechanism 130 to simultaneously position the first wheel 200, the second wheel 300, and the seat 400 in the first direction X or the second direction Y.

For example, the controller may be a Central Processing Unit (CPU), a Digital Signal Processor (DSP), a Programmable Logic Controller (PLC), etc., and the embodiment of the present disclosure is not limited thereto.

For example, in some examples, the controller is further connected to the first travel drive motor 1100, the second travel drive motor 1200, and the attitude sensor 1300, and is configured to receive detected information of the attitude sensor 1300, for example, information of acceleration and angular velocity of the transformable vehicle 1000 during travel, to control travel, for example, speed, direction, and the like, of the transformable vehicle 1000 by the first travel drive motor 1100 and the second travel drive motor 1200.

For example, in some examples, the first and second motors 519, 5112 of the handlebar 500 may also be coupled to a controller, which controls the motors to control the relative movement between the pull rod 510 and the inner sleeve 512 of the handlebar 500, thereby effecting folding and unfolding of the handlebar. In some embodiments, the controller may further control the relative movement between inner sleeve 512 and outer sleeve 515 of handlebar 500 to control the overall length of the handlebar. For example, in some examples, a rotational position sensor is disposed between the inner sleeve 512 and the outer sleeve 513 of the handlebar to detect the relative rotation therebetween and the rotation amplitude, the rotational position sensor is in signal connection (e.g., wired connection) with a controller, and the controller receives the detection result of the rotational position sensor and controls the first steering motor 113 to operate to rotate the first wheel 200, thereby achieving the steering of the deformed vehicle in the bicycle state during the advancing process. The rotary position sensor may take various forms such as a contact type, a non-contact type, and the like. For example, one type of contact type rotational position sensor operates on the principle that a voltage that changes in accordance with rotation is output based on impedance that changes with rotation, and the rotational angle can be easily obtained by detecting the voltage.

For example, in some examples, the first and second travel drive motors 1100 and 1200 may be brushless motors, and the attitude sensors may be gyro sensors.

For example, in some examples, a battery is installed in the frame 100 of the modified vehicle 1000, and for example, the battery may be provided in the case 103 to supply power to components that need to use electric energy, such as the first travel driving motor, the second travel driving motor, the first steering motor, and the second steering motor. For example, the battery may be a primary battery or a secondary battery, and the secondary battery may include a nickel-hydrogen battery, a nickel-cadmium battery, a lead-acid battery, a lithium ion battery, or the like.

For example, in some examples, a housing of the frame 100 may be added in addition to the box 103 of the frame 100 of the convertible vehicle 1000 to increase the safety and aesthetic appeal of the convertible vehicle 1000.

For the frame and the transformable vehicle provided by the embodiment at least, the frame can realize the conversion of the directions of the first wheel and the second wheel through the first wheel steering mechanism and the second wheel steering mechanism and realize the conversion of the directions of the seat through the first seat steering mechanism, so that the frame can be realized as the frame for the bicycle and the frame for the balance vehicle, and the transformable vehicle comprising the frame can be used as the bicycle and the balance vehicle, so that the transformable vehicle can run on various complex road surfaces and can bring better travel experience for users.

A wheeled robot, which is an embodiment of the mobile device of the present disclosure, and a stand for the wheeled robot are provided below.

As shown in fig. 14, the wheeled robot 2000 includes a first wheel 2100, a second wheel 2200, a support 2300, and a robot body 2400. The bracket 2300 connects the first wheel 2100, the second wheel 2200, and the robot body 2400 supported on the frame. The robot body 2400 may be a supported object, and the robot body 2400 may include a device for capturing an image of the surrounding environment, such as a camera or a ccd (charged Coupled device) image sensor. The first support steering mechanism of the support 2300 can switch the direction in which the robot main body 2400 is located, and the first wheel steering mechanism and the second wheel steering mechanism of the support 2300 can switch the direction in which the first wheel 2100 and the second wheel 2200 are located, thereby enabling control of the wheeled robot 2000.

For example, in some examples, the specific configuration of the wheeled robot provided by the embodiments of the present disclosure is not limited to the style of the wheeled robot 2000 illustrated in fig. 14, and the wheeled robot may further include 3 wheels, 4 wheels, and the like, and the embodiments of the present disclosure are not limited thereto. Also, for example, wheeled robots are mobile robots, transport robots, inspection robots, and the like.

The following points need to be explained:

(1) the drawings of the embodiments of the disclosure only relate to the structures related to the embodiments of the disclosure, and other structures can refer to the common design.

(2) Without conflict, embodiments of the present disclosure and features of the embodiments may be combined with each other to arrive at new embodiments.

The above is only a specific embodiment of the present disclosure, but the scope of the present disclosure is not limited thereto, and any person skilled in the art can easily conceive of changes or substitutions within the technical scope of the present disclosure, and shall be covered by the scope of the present disclosure. Therefore, the protection scope of the present disclosure shall be subject to the protection scope of the claims.