CN102275621A - Electric unicycle - Google Patents
Electric unicycle Download PDFInfo
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- CN102275621A CN102275621A CN2011100891229A CN201110089122A CN102275621A CN 102275621 A CN102275621 A CN 102275621A CN 2011100891229 A CN2011100891229 A CN 2011100891229A CN 201110089122 A CN201110089122 A CN 201110089122A CN 102275621 A CN102275621 A CN 102275621A
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Abstract
The invention provides a standing electric unicycle. The electric unicycle mainly changes the structure of a unicycle which is provided in the industry previously; a leg leaning plate which is connected with an unicycle body is arranged above a foot pedal and is used for making the leg of an operator lean against the unicycle body; and except a pedaling position of the foot pedal, a basically fixed connection point is arranged to ensure that the operator can stand on the foot pedal steadily and stably controls the unicycle because two connection points are arranged between each leg of the operator and the unicycle body. Moreover, the electric unicycle is also provided with the design of a friendly human-computer interface that: foldable foot pedals are designed, a wheel protective guard is arranged outside the wheel to prevent cloth from being drawn into the wheel; and a handle which is convenient to carry is arranged on the upper part of the wheel. The electric unicycle has high stability, is easy to operate, and ensures that a beginner can grasp the driving technology of the unicycle easily. The standing electric unicycle can become a personal walk-replacing traffic tool.
Description
Technical field
The present invention proposes a kind of unicycle, or rather, be a kind of stand-type, have the self-balancing function, electric unicycle.
Background technology
Unicycle is known by the insider, comprising foot-driven unicycle and power operated unicycle.For the foot-driven unicycle, the cyclist will seek out the car anterior-posterior balance, stretcher must be stepped forward or backwards, drive wheels is rolled forward or backwards, and wheel and ground-surface contact point are remained under the center of gravity of cyclist and car.For power-actuated unicycle, be with an electronic navigation instrument (the sensor-type gyroscope of band microprocessor), make wheel quicken or slow down to reach dynamic stability, thereby obtain the self-balancing before and after the car towards suitable direction.Turning to of car then is by the cyclist, and the canting of driving with body is finished.Generally speaking, the electronic navigation instrument is made up of electronic circuits such as microprocessor and electronic gyroscope, the location information of the unicycle that the sensor on the electronic gyroscope arrives, carry out by passing to electrical motor after the microprocessor processes, the direct motor drive wheel is with enough speed, rotate towards suitable direction, make unicycle keep the self-balancing of front and back, and advance forward.
The stand current techniques example of self-balancing electric unicycle of operation of user, people's such as existing Kamen patent (Personal Mobility Vehicles and Methods, U.S.Patent No.6,302,230 B1, Oct.16,2001) and patent (the Motorized Transport Vehicle for a Pedestrian of people such as Simeray application, U.S.Patent Pub No.2009/0266629A1, Oct.29,2009) disclose.
The patent of Kamen has been summed up the background technology of present self-balancing two-wheeled and unicycle, has disclosed the correlation technique of their power drivens and electron steering balance.The self-balancing two-wheeled cycle that the Kamen patent is disclosed, it has two parallel wheels, and (or on) has a platform of standing for cyclist (operator) between two wheels.This self-balancing two-wheeled cycle began to produce and put goods on the market in 2002, and its trade name is now known by people " Sai Gewei " two-wheel car (Segway), has all obtained practicality in a plurality of countries, many aspects.
In the patent of Kamen, it is successful that the embodiment of handle (handrail) is arranged.Yet the unicycle that is disclosed in this patent is not provided with the embodiment of handle, up to now, does not obtain practicality as the self-balancing two-wheeled cycle that handle is arranged, and all is to be difficult to the practicality of paying.As a kind of embodiment shown in Figure 11 of this patent, it is not provided with handle, just respectively is provided with a tread plate in the both sides of wheel, and operator's bipod stand in respectively on the tread plate.Originally design idea is that operator's body drives when leaning forward, and car advances, and operator's body drives when upright, and car just stops; In addition, car also can fall back.Show that according to test the operator is difficult to stand firm on tread plate, it is difficult coming precise and stable car, control car with leg, needs suitable a twist of the wrist.Tracing it to its cause is that operator's every pin and car has only a contact point, and car is can be free-moving all around, thus be difficult to make the relative position of operator and car, control with the direction of vertical ground on constant substantially or basically identical.
If there is some method to stablize manipulation with leg, that just can use unicycle in safety and comfort ground.Likely run into: get on or off the bus, implement turning, rugged road surface, the uphill/downhill requirement car occasions such as position of being kept upright, special requirement are more accurately controlled car more.Therefore, make special consideration, otherwise this class car can not be as a kind of transportation means of practicality to the design of car.
It is identical that wheelbarrow keeps principle for balance with stilt walk, wheelbarrow and stilted operator control the position of center of gravity by the mobile of wheel or stilt and by moving of limbs, keeps balance.Here said center of gravity is meant the synthetic center of gravity when whole of operator and car, the basic in vertical direction unmodified words in the position between operator and the car, and both single-piece center-of-gravitys position also are basic unmodifieds.For unicycle, if the position between operator and the car is constantly changing, or can not keep basically identical in vertical direction, operator and car center-of-gravity position separately is to change respectively, then the synthetic center of gravity when whole of operator and car is also in continuous change, operator and car also just can't keep balance, because the operator is difficult to stand firm on tread plate, even also be to be difficult to stably to control car advance for the people who is familiar with controlling skill.
Stilt walk is in the existing very old historical of China.The stilt that moderns are used have two branches of lifting up, singly lifting up.Twoly lift up many colligations on shank, singly lift up then and respectively holding the top that every wood is lifted up with both hands.The every limit of the sort of stilt all is to have two to be fixedly coupled a little, and two lifting up is that pin is stepped on two point of connection of colligation place on place and the shank, lifts up singly that to be the foot place of pedaling locate two point of connection with holding.These two are fixedly coupled and a little make operator and stilt blend together one, with ground-surface vertical direction on maintain a common center of gravity.Therefore, operator and stilt can keep balance, not only can stablize and advance, and can also perform the civil and military stunt of all programs.Have only a point of connection can not play stilt between every leg of operator and the every stilt.After investigating stilted principle, discovery stand in every the pin of unicycle operator on the tread plate, and only a point of connection on tread plate also should have two and be fixedly coupled a little, the operator is stood firm on tread plate, stably control the work that car is advanced or done other.
The patent of Simeray application proposed a kind of on vehicle frame the both sides of wheel respectively be provided with the electric unicycle of a tread plate, one of its technical characterictic is that a guide carriage is equipped with in each tread plate top, carriage shaft-like or the hoop shape is tightly clamped the knee or the shank belly of operator's leg, be used for limiting leg with respect to wheel, therefore slant range forward or backward provides bigger stability to the operator.The operator exerts pressure leg to guide carriage, except can make electric unicycle stable, can control also that car turns to and canting.Yet, grip the limit movement that the guide carriage of leg applies leg, also bring some inconvenience, some occasion may be brought danger, because when the operator need get off fast, guide carriage can hinder operator's action.So,, need change another kind of safer structure and method into for reaching said function.
The present invention is exactly in order to overcome the shortcoming of the unicycle that proposes in above-mentioned patent and the patent application, with the structure change, make the operator can safely, easily, stably control advancing of unicycle or do other work, thus the practicality that unicycle can be paid.
Summary of the invention
As described above as can be known, the objective of the invention is to prepare a kind of stand-type electronic unicycle that has shortcoming at present in the industry that overcomes, making it to become the vehicle that a kind of individual rides instead of walk.The stand-type electronic unicycle that the present invention proposes mainly is the structure that has changed the unicycle that proposed in the industry in the past, above tread plate, be provided with a leg plate that links to each other with car body, its effect is to make operator's leg can be close to car body, pedaling sufficient the sentencing on tread plate, increased the point of connection of a basic fixed, make between operator's every leg and the car body two point of connection have been arranged after, the operator just can stand firm on tread plate, has stably controlled car.The present invention replaces the guide carriage of Simeray in applying for a patent with leg plate, can overcome its shortcoming, makes electronic unicycle have the utility function of whole necessity.Two leg plates of bus equipment be used for respectively for operator's knee with/or shank contact and lean on mutually, on the leg plate with the contacted surface of leg be use to leg slightly the material of friction force make.In addition, the face that is touched of leg plate will be given prominence to a little in the car both sides, makes both feet stand in the operator on the tread plate, and when natural erect posture, two legs are kept in touch with leg plate and leaned on mutually.For the legs and feet that make the operator are not subjected to any obstruction, cosily control car, these characteristics are necessary.After using leg plate, the operator clamps leg plate with leg and controls car, rather than with supporting leg forward with the control method of the application of force backward.
The main advantage of electronic unicycle proposed by the invention is safely, stablizes, is easy to accurate manipulation, also makes the beginner be easy to grasp its driving technique.Simultaneously, also reduced the complexity of making.In addition, the present invention has also increased the design of some friendly man-machine interfaces: designed foldable tread plate; Wheel has added the wheel guard shield outward, in order to avoid clothing is involved in the wheel; The wheel top has added to being convenient for carrying and carrying the handle of usefulness.
The experience personage is arranged in the industry check being described in detail hereinafter in conjunction with drawing after, can further understand technical characterstic of the present invention and other advantages associated.
Description of drawings
Fig. 1 is according to stand-type electronic unicycle proposed by the invention, a kind of lateral perspective of embodiment.Removed the wheel cover of a side on the figure.As seen wheel, the friction drive system of a no wheel hub arranged and hang shock mitigation system.
Fig. 2 is the stand-type electronic unicycle of above-mentioned Fig. 1, the lateral perspective when having whole wheel cover.As seen leg plate is arranged, take and carry handle and two tread plates of folded state not.
Fig. 3 is the stand-type electronic unicycle of above-mentioned Fig. 2, the lateral perspective of two tread plates when folded state.
Fig. 4 is according to stand-type electronic unicycle proposed by the invention, the transparent view of another embodiment.Figure gets on except whole wheel cover.Its tread plate is at folded state and does not change between the folded state.
Fig. 5 is the birds-eye view of the stand-type electronic unicycle of above-mentioned Fig. 1～3 or Fig. 4, illustrates the surface that contacts with leg on the leg plate and has recessed slightly curved surface.
Fig. 6 is according to stand-type electronic unicycle proposed by the invention, with the lateral perspective of above-mentioned slightly different another embodiment.The surface elevation that contacts with leg on its leg plate is higher, and its height can be regulated.
Fig. 7 is the lateral perspective of the stand-type electronic unicycle of above-mentioned Fig. 6.The surface ratio Fig. 6 that contacts with leg on its leg plate slightly raises.
Fig. 8 is according to stand-type electronic unicycle proposed by the invention, the lateral perspective of another embodiment.Its two parts that tread plate is whole wheel cover.
These examples will describe in detail hereinafter.
The specific embodiment
Consult Fig. 1, this is the lateral perspective of a kind of stand-type electronic unicycle embodiment proposed by the invention.Electronic unicycle 100 mainly hangs shock mitigation system by the wheel 110 of a no wheel hub, friction drive system, electronics self-balancing control system and one and is formed.
In order to see the parts in the wheel cover 160 clearly, removed a side of wheel cover 160 on the figure.The wheel 110 that as seen a no wheel hub is arranged on scheme can be around wheel carrier 120 rotations, and wheel carrier 120 includes guide wheel 121, and guide wheel 121 is attached at the end of guide wheel hold-down arm 122 respectively.The guide wheel hold-down arm 122 that the present embodiment is used is two, and the end of every guide wheel hold-down arm is equipped with a pair of guide wheel, and every pair of guide wheel has two coaxial wheels, is configured in the both sides of guide wheel hold-down arm 122 ends separately relatively.Wheel 110 inside casings are provided with an outstanding a little rib 123, and the width of this inside casing rib 123 is that the gap between two coaxial guide wheels 121 with relative configuration is complementary.Therefore, guide wheel 121 contacts with wheel inside casing rib 123, rotates in company with the rotation of wheel 110, and guide wheel 121 has also limited rotatablely moving of rib 123, makes wheel 110 keep suitable rotary motion trace.It is pointed out that in other embodiments the number of used guide wheel hold-down arm also can be more than one or two, the end of every guide wheel hold-down arm also can only be adorned a guide wheel, realizes the guide function of wheel.
An electrical motor 130 is housed on the wheel carrier 120.Electrical motor 130 drives a drive wheel 131.Drive wheel 131 connects with wheel carrier 120, is positioned at the nadir of wheel 110 inside casings.Similar to guide wheel 121, drive wheel 131 contacts with the inside casing of wheel.In the present embodiment, drive wheel 131 is made up of the expanded letter roller of a middle part trough of belt, and the groove on the roller matches with wheel inside casing rib 123, and by the mode of contact, drive wheel 131 passes to wheel 110 with the rotating torque of electrical motor 130.Because this drive system is come work by friction, the inside casing of drive wheel 131 and wheel 110 must be avoided skidding with enough big defeating tightly together.Drive wheel 131 be set directly at tread plate 140 under, operator's body weight but can provide above-mentioned required pressure well.Above-mentioned parts have been formed friction drive system.A kind of possible variation of above-mentioned no wheel hub friction drive system can replace frictional transmission with gear transmission exactly.Drive wheel replaces with gear, and corresponding wheel inside casing makes the concavo-convex serration circular arc that replaces into.
The tread plate 140 that is fixed on the wheel cover 160 is also matched with a slide unit 180, and this slide unit is the extrusion of rectangular hollow in the present embodiment, can slide along a basic vertical passage.Article one, (or several) spring 181 and wheel carrier 120 also link to each other with slide unit 180.Be rigidly fixed on the wheel cover 160 for two batteries 170 of electrical motor 130 power supplies.In the present embodiment, in order to make for the purpose of volume and weight balancing distribute, design is with two batteries, yet need not be with two batteries.Wheel cover 160, tread plate 140, slide unit 180 and battery 170 be can do as a whole, be equivalent to wheel carrier 120 and make perpendicular movement up and down with wheel 110,181 pairs of all structures that link to each other of spring have applied a bias voltage, form a suspension, integral body is placed in an appropriate midway location.In fact, the weight that the weight of battery and operator stand on the tread plate or the like on the car, low weight wheel and wheel carrier, it is little to be subjected to rugged ground-surface influence, ground-surface is rugged and rough to make wheel and wheel carrier oscilaltion, suspension makes other structures obtain damping, thereby makes the operator keep relative stablizing.An interval will be left in the top of wheel cover 160 the insides, is the space of staying during to wheel 110 upward movements.Hang the whole structure of shock mitigation system, increased the traveling comfort that uses, the easiness of controlling, increased safety to the operator.This point has crucial meaning for the feasibility that this electric unicycle becomes a kind of practical vehicle.The present embodiment is to be the effect that example realizes damping with the spring, and shock mitigation system also principle such as available hydraulic, air pressure obtains the effect of damping.
Fig. 2 and Fig. 3 are the lateral perspective of the electronic unicycle of Fig. 1 when whole wheel cover 160 is housed.Can see tread plate 140, leg plate 150 and take and carry handle 190.Leg plate 150 is given prominence in the both sides of wheel cover 160, and the height of its position is approximately suitable with the height on operator's knee and shank top.So that the operator can be close to the top of its knee and shank leg plate 150.In fact, leg plate 150 by the leg surface, be that main body from wheel cover 160 protrudes promptly, when operator's both feet stand on the tread plate 140 with the contact surface of operator's leg, when keeping the nature erect posture, the surface of leg plate 150 just contacts with operator's two legs and is close to.For do not establish wheel cover embodiment, then tread plate is arranged on the both sides of car main body projectedly.Therefore these features of leg plate 150 are to form owing to the leg to the operator provides friction drag, make that the operator can be in use, easily with leg suitable clamp car.It is crucial that these characteristics are used unicycle for safety and comfort ground, for get on or off the bus, turning, rugged road surface, uphill/downhill require the car special requirement such as position of being kept upright more accurately to control the occasion of car, it is important then to seem more.Certainly, the new hand who rides for is also extremely useful.
Fig. 2 and Fig. 3 have also drawn to take and have carried handle 190, and it is wheel 110 tops, the part on the wheel cover 160.Owing to include above-mentioned suspension in the present embodiment, can cut a cavity at the top of wheel cover 160 and just can be used as to take and carry handle 190 and use.
Fig. 4 is the embodiment according to another electric unicycle proposed by the invention.Figure gets on except whole wheel cover.Electronic unicycle 200 is slightly different with the wheelbarrow of Fig. 1～3, and it is unlike being the wheel both sides in the last embodiment, on one side two tread plates of one, it only is provided with the both sides that tread plate 240 of mono-is stretched over wheel 210.When using, it is identical with the effect of two tread plates.Yet, because tread plate 240 is whole rigid bodies, when carrying and storage, fold tread plate with mode to 90 ° of lopsidedness, do not make the width of car be not more than wheel 210.The miscellaneous part of electric unicycle 200 also will provide the space for the tread plate 240 of accepting folded state.On Fig. 4, the conversion of tread plate 240 of mono-between folding configuration (restoration position) and not folding configuration (control position) of having drawn.
Fig. 5 is the birds-eye view of the stand-type electronic unicycle in above-mentioned Fig. 1～3 or Fig. 4 embodiment, the tread plate 140 of mode of operation on the visible electric unicycle 100, and taking on the wheel cover 160 carried handle 190.Also illustrate the surface that contacts with leg on the leg plate 150 and have recessed slightly curved surface.This curved surface approximately with the contact surface match mutually of operator's knee or leg, an additional factor is provided, help the operator and accurately control car, and it is any contained that leg is subjected to.
Fig. 6 is the stand-type electronic unicycle 300 according to another embodiment proposed by the invention, and it is slightly different with wheelbarrow 100 or 200 is that its wheel is not the wheel of no wheel hub, therefore drives with a wheel hub motor.Wheel hub motor is a kind of motor of having known in the industry, needn't narrate here.This scheme also illustrates the surface configuration of its leg plate 350, and it is also bigger that the mating surfaces of leg plate 350 has higher height, an area, can contact with the bottom of shank.Point out that in passing the height of the leg plate 350 of this programme can be regulated.In addition, also illustrate part that wheel cover 360 that this programme uses covers car than Fig. 1～3, shown in Figure 5 more.
Fig. 7 is also to be the lateral perspective of the electric unicycle 300 of above-mentioned Fig. 6 scheme.Its leg plate 360 has moved up a bit, and the height of demonstration this programme design-calculated leg plate 360 can raise and reduce, and is presumable different with shank length to adapt to operator's height.Except this programme, also can adopt height-adjustable leg plate in other embodiments.
Fig. 8 is the lateral perspective according to another embodiment electric unicycle 400 proposed by the invention.Its two tread plates 440 are rigidly fixed to the both sides of car 400, and tread plate 440 can be shaped to parts with whole wheel cover integratedly.Tread plate 440 becomes one of the wheel carrier both sides by the leg surface.Not in specie the leg plate 450 that also shown electric unicycle 400 usefulness on the figure, it has expanded to the top of car 400 main bodys.
Point out that in passing the embodiment that the present invention is all when execution is turned round, all has the tendency of acceleration.So will add a sensor and correspondent control circuits to drive system, (for example: be used for the turning round of sensing car with the sensing car way of lateral inclination whether, because car generally all can tilt when turning round.), thereby the speed of regulating car.When car was turned, this spare system can make the car automatic deceleration.The stability and the safety of travelling have further been improved.
Though the various embodiments of above narration have comprised many specific details, should not constitute the restriction that embodiment is comprised scope, nor should only only limit on the diagram of present these specified scheme that propose.Therefore, the covering scope of these embodiments should be determined by appended claim and corresponding file thereof, rather than by above-mentioned provide example determined.In addition, should also be appreciated that to the present invention and can also do further change.This patent is intended to contain various variations, purposes or the improvement of carrying out according to principle of the present invention; Also contained with disclosed known arrangement or embodiment and departed to some extent, but still be subordinated to the scope of the technology of the present invention and application principle thereof.
Claims (10)
1. electronic unicycle, it is by being constituted as lower member:
A wheel, matched with a wheel carrier rotationally;
An electrical motor, matched with wheel, and drive wheels is rotated;
The electronics anterior-posterior balance control system at one cover control motor;
A wheel cover has partly covered car;
At least more than one tread plate, matched with wheel carrier or wheel cover;
Two leg plates are arranged on the both sides of car main body projectedly.
2. electronic unicycle according to claim 1 is characterized in that, described leg plate can be regulated its height.
3. electronic unicycle according to claim 1 is characterized in that, described leg plate has a recessed slightly curved surface.
4. electronic unicycle according to claim 1 is characterized in that, the described tread plate and the moulding of wheel cover same material that supplies operator's bipod to stand, and tread plate is the part of wheel cover.
5. electronic unicycle according to claim 1 is characterized in that, described tread plate of standing for operator's bipod is rigid unitary of mono-, can change between control position and restoration position.
6. electronic unicycle according to claim 1 is characterized in that, described wheel is the wheel of no wheel hub, on the wheel frame of wheel, has connected at least more than one guide wheel, makes wheel keep going up in position rotating.
7. electronic unicycle according to claim 1 is characterized in that, on the wheel frame of described wheel, has connected a drive wheel by motor driven, between drive wheel and the wheel inside casing is to come transmitting torque by friction or with gear.
8. electronic unicycle according to claim 7 is characterized in that, described drive wheel is the below that is positioned at tread plate.
9. electronic unicycle according to claim 1, it is characterized in that, can add a shock mitigation system, allow wheel can do the upper and lower displacement campaign with respect to tread plate, can recover to remain on an appropriate midway location, to reduce rugged ground-surface vibration influence.
10. electronic unicycle according to claim 1 is characterized in that, is provided with one and takes and carry handle above wheel, is convenient to taking of car and carries.
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| CN 201110089122 CN102275621B (en) | 2010-09-06 | 2011-04-01 | Electric unicycle |
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| CN201010272536.0 | 2010-09-06 | ||
| CN201010272536 | 2010-09-06 | ||
| CN 201110089122 CN102275621B (en) | 2010-09-06 | 2011-04-01 | Electric unicycle |
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| CN102616310A (en) * | 2012-05-04 | 2012-08-01 | 陈和 | Two-wheeled electric vehicle operated and controlled by feet |
| CN104229023A (en) * | 2013-12-10 | 2014-12-24 | 陈和 | Electric monocycle |
| CN104309744A (en) * | 2014-11-04 | 2015-01-28 | 许鑫新 | Low-abrasion friction driving mechanism and corresponding one-wheel driving vehicle |
| CN104709408A (en) * | 2015-03-31 | 2015-06-17 | 浙江同硕科技有限公司 | Circular-track monocycle |
| WO2016112500A1 (en) * | 2015-01-14 | 2016-07-21 | 深圳市富恒通科技有限公司 | Ring-rail type self-balancing electric unicycle |
| CN106005226A (en) * | 2016-07-20 | 2016-10-12 | 雷岩 | Front wheel assembly of electric bicycle and electric bicycle |
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