CN103991443B - The brake gear of Segway Human Transporter - Google Patents
The brake gear of Segway Human Transporter Download PDFInfo
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- CN103991443B CN103991443B CN201310051898.0A CN201310051898A CN103991443B CN 103991443 B CN103991443 B CN 103991443B CN 201310051898 A CN201310051898 A CN 201310051898A CN 103991443 B CN103991443 B CN 103991443B
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Abstract
The present invention is the brake gear of a kind of Segway Human Transporter, is located on a Segway Human Transporter, and the brake gear of this Segway Human Transporter includes: a micro computer；One DC-DC converter；And a motor driver；Define one between this battery with this motor driver and be connected node；One load, is connected to one first current controling element；One velocity sensor, in order to vehicle speed sensing；One brake sensor；This first current controling element is electrically connected at this connection node；One second current controling element, is electrically connected at this battery and is connected between node with this.Wherein, when brake occurs, control to flow into the electric current of this load, and then control the brake torque of this motor；And control brake torque to be directly proportional to speed size.
Description
Technical field
The present invention is relevant with Segway Human Transporter, particularly relates to the brake gear of a kind of Segway Human Transporter.
Background technology
Existing Segway Human Transporter, its brake be mostly the fender with trailing wheel as brake block, and when brake, user is to step on this fender with foot to make it contact trailing wheel and produce resistance by friction, and then produces brake weight.But, this kind of brake modes is extremely simple, can not provide the application of other circuit or signal.It addition, do not have other brake modes that fender brake can provide the effect of auxiliary yet.
Segway Human Transporter, mainly provides electric energy to produce power to a motor by a battery, and motor is not when receiving electric energy and be driven rotation, i.e. can form brake torque due to its autologous produced counter electromotive force.Therefore, if motor produced brake torque when not receiving electric energy can be applied on brake when Segway Human Transporter is advanced, i.e. can reach the effect of auxiliary brake.
PCT Patent WO2012/163789 patent, disclose a kind of Segway Human Transporter, disclosing its brake signal (brakesignal) in description [0087] section of this case can be analog or digital signal, and can be the possible numerical value that more than two is different, thus can correspond to the state of trampling of this brake pedal to make electromagnetic brake can have different brake weights.But, the brake of this kind of mode is the most accurate, and user must be learned by and be accustomed to its mode of operation, uses and inconvenient.Furthermore, due to this case be sensing brake pedal trample process, namely brake pedal trample angle position, therefore the installation of brake pedal and the assembling of sensor must be far more precise, otherwise can be incorrect and affect the judgement of brake weight because of the angle position that senses, cause the misoperation of brake on the contrary.
Summary of the invention
Known Segway Human Transporter has the problem that the action with brake block brake is the most simple, and known motor is not when powering and operate, and i.e. can produce counter electromotive force and form brake torque.In addition, known Segway Human Transporter is also provided with the technology of electromagnetic brake power, but it is to judge, with the degree of trampling of brake pedal, the brake weight size that should provide on brake weight, this is using in study and inconvenient, and also have the problem assembling precision, and then the bad problem of brake may be caused.
Therefore, the present invention to develop a kind of brake gear, applies in brake by brake torque produced by motor, and then reaches the brake torque utilizing motor to provide the purpose of brake torque.And the brake weight that should provide at present is provided according to speed, and then solves prior art needs the problem of study, and be also not required to high assembling precision, the simplest and accurate in the offer judge brake weight.
The brake gear of a kind of Segway Human Transporter provided by the present invention, it is located on a Segway Human Transporter, this Segway Human Transporter has a pedal, a front-wheel, a trailing wheel, leader and is articulated in this pedal by a standpipe and is connected to this front-wheel, a motor and a battery, and the brake gear of this Segway Human Transporter includes: a micro computer；One DC-DC converter, is electrically connected at this micro computer and this battery；And a motor driver, it is electrically connected at this micro computer, this motor, this battery and this DC-DC converter, in order to be driven this motor by the control of this micro computer；Define one between this battery with this motor driver and be connected node；The brake gear of this Segway Human Transporter also includes: a load, its one end is connected to one first current controling element, other end ground connection；One velocity sensor, is located at this front-wheel, this trailing wheel or this motor, and is electrically connected at this micro computer, in order to vehicle speed sensing；One brake sensor, is located on this Segway Human Transporter and is electrically connected at this micro computer, in order to sense brake；This first current controling element is electrically connected at this connection node；One second current controling element, is electrically connected at this battery and is connected between node with this, in order to detect the electric current of this battery into and out and to control；Wherein, when brake occurs, this micro computer controls this first current controling element according to current speed, and then controls to flow into the electric current of this load, and then controls the brake torque of this motor；And control brake torque is directly proportional to speed size.
By the said structure of the present invention, the brake torque of available motor provides brake torque.Additionally, also can coordinate other entity brakes (profit is as used brake block brake), the effect that can make brake is more preferable.Additionally, judged the brake weight that should provide at present by speed, can be not required to learn its mode of operation, and only sense merely the action with or without brake, this is not required to high assembling precision, can be the simplest and accurate in the offer judge brake weight.
Accompanying drawing explanation
Fig. 1 is the circuit block diagram of first embodiment of the invention.
Fig. 2 is the structural representation of first embodiment of the invention.
Fig. 3 is the relation schematic diagram of first embodiment of the invention, display speed and the relation of brake weight.Fig. 4 is the circuit block diagram of second embodiment of the invention.
Fig. 5 is the structural representation of second embodiment of the invention.
[symbol description]
The brake gear of 10 Segway Human Transporters
11 micro computers
12 DC-DC converters
13 motor drivers
14 loads
15 velocity sensors
16 brake sensors
17 first current controling elements
18 second current controling elements
N connects node
The brake gear of 20 Segway Human Transporters
23 motor drivers
24 loads
26 brake sensors
27 first current controling elements
28 second current controling elements
90 Segway Human Transporters
91 pedals
92 front-wheels
93 trailing wheels
94 handles
95 standpipes
96 motors
97 batteries
98 brake blocks
Detailed description of the invention
As shown in Fig. 1 to Fig. 3, brake gear 10 according to a kind of Segway Human Transporter that the present invention the first preferred embodiment is provided, it is located on a Segway Human Transporter 90, this Segway Human Transporter 90 has a pedal 91, one front-wheel 92, one trailing wheel 93, leader 94 is articulated in this pedal 91 by a standpipe 95 and is connected to this front-wheel 92, one motor 96, one battery 97 and a brake block 98, the brake gear 10 of this Segway Human Transporter is main by a micro computer 11, one DC-DC converter 12, one motor driver 13, one load 14, one velocity sensor 15, one brake sensor 16, one first current controling element 17 and one second current controling element 18 are formed, wherein:
This Segway Human Transporter 90 itself belongs to existing structure, and therefore its detailed configuration and mode of operation appearance do not repeat.But, specifically, this brake block 98 can be located at trailing wheel 93 and be a fender, or also a brake pedal or brake handle and utilize brake cable to pull brake shoes that this front-wheel 92 or trailing wheel 93 are produced braking action.In this case as a example by the fender of trailing wheel 93.
This micro computer 11, the ability of tool calculation process, for existing element, hold and do not repeat.
This DC-DC converter 12, is electrically connected at this micro computer 11 and this battery 97.
This motor driver 13, is electrically connected at this micro computer 11, this motor 96, this battery 97 and this DC-DC converter 12, in order to be driven this motor 96 by the control of this micro computer 11.
Define one between this battery 97 with this motor driver 13 and be connected node N.
This load 14, its one end is connected to this first current controling element 17, other end ground connection.Can be a resistance or a linear load in the present embodiment.
This first current controling element 17 is electrically connected at this connection node N.In the present embodiment, this first current controling element 17 is a current controller, in order to sense the electric current entering this load 14 and to control its size of current.
This velocity sensor 15, is located at this front-wheel 92, this trailing wheel 93 or this motor 96, and is electrically connected at this micro computer 11, in order to vehicle speed sensing.In the present embodiment, this velocity sensor 15 is as a example by being located at this front-wheel 92.
This brake sensor 16, is located on this Segway Human Transporter 90 and is electrically connected at this micro computer 11, in order to sense brake.In the present embodiment, this brake sensor 16 is a dynamic pickup, is located at this brake block 98, in order to sense the dynamic of this brake block 98.On the implementation, during the action (i.e. brake block 98 is butted on the action of trailing wheel 93) of entity brake, owing to this brake sensor 16 is installed on brake block 98, therefore sense this brake block 98 dynamic time, can i.e. sense the dynamic of brake block 98 before this brake block 98 is butted on trailing wheel 93, or be set as while brake block 98 is butted on trailing wheel 93 just sensing the dynamic of brake block 98.In the present embodiment, with first sense brake block 98 dynamic after, afterwards this brake block 98 be just butted on this trailing wheel 93 by produce frictional resistance situation as a example by.
This second current controling element 18, is electrically connected at this battery 97 and is connected with this between node N, in order to the electric current of this battery 97 into and out is detected and to be controlled.In the present embodiment, this second current controling element 18 is a current controller, in order to sense the electric current of this battery 97 into and out and to control its size of current.
Wherein, when brake occurs, this micro computer 11 controls this first current controling element 17 according to current speed, and then controls to flow into the electric current of this load 14, and then controls the brake torque of this motor 96；And this micro computer 11 controls brake torque and is directly proportional to speed size.Fig. 3 is to show in the present embodiment the relation that set brake torque is converted to after actual brake power with speed.Additionally, after the brake torque of this motor 96 is converted to brake weight, its brake weight maximum can not be more than the brake wheel frictional force to ground, otherwise has the brake excessive problem causing wheel body to skid of power relative to ground；Aforesaid brake wheel refers to that this front-wheel 92 or this trailing wheel 93 are by 98 actor of this brake block.
It is explained above the framework of this first embodiment, next the mode of operation of this first embodiment is described.
Referring again to Fig. 1 to Fig. 3, during riding this Segway Human Transporter 90, under having speed conditions, when this brake block 98 is trampled by user and is produced dynamically and be not yet butted on this trailing wheel 93, this brake sensor 16 the most first senses dynamically, and this micro computer 11 i.e. judges have brake to produce, and controls this motor driver 13 stopping this motor 96 of driving at once, that is, close the electric current flowing to this motor 96.Now, owing to this Segway Human Transporter 90 continues to advance, therefore this motor 96 still can be rotated by the drive of this trailing wheel 93, and produces an inverse electromotive force, and then forms a brake torque, thus provides the strength of auxiliary brake.If user continues to trample downwards this brake block 98, then can the braking effect of instantiation.
Further, since this motor 96 is when producing inverse electromotive force, its electric current can make it be fed back to this battery 97 and this load 14 by controlling this motor driver 13.It is fed back to the electric current of this battery 97 to produce and a small amount of recharge effect, negligible in application does not uses；Owing to battery 97 itself is a limited load, it is therefore necessary to use this load 14 to carry out the current drain of this inverse electromotive force.Can be detected by this first current controling element 17 and this second current controling element 18 and flow to this battery 97 and the electric current of this load 14, and then be completely consumed electric current produced by inverse electromotive force by this load 14.As can be seen here, control to flow to the size of current of this load 14 by this first current controling element 17, the size of current of inverse electromotive force can be controlled, and then the brake torque size of this motor 96 can be controlled；That is, the technology of the present invention except application motor brake torque as auxiliary brake in addition to, it is also possible to control auxiliary brake power size.
Furthermore, owing to brake weight is directly proportional to speed, therefore under the situation that speed is the fastest, i.e. need the brake torque controlling this motor 96 bigger (i.e. brake weight is the biggest), this i.e. can provide bigger auxiliary brake power to slow down when needing brake, faster speed can be lowered so that ride safer.
From the foregoing, it will be observed that effect that this first embodiment can be reached is: utilizing the brake torque of motor 96 to carry out auxiliary brake, coordinate the entity brake of brake block 98, the effect that can make brake is more preferable.Additionally, also have the effect of controllable motor brake torque.Additionally, this first embodiment judges the brake weight that should provide at present according to speed, can allowing user operationally without study, carrying out braking as long as intuitively trampling this brake block 98.Furthermore, due to the technology of the present invention be not required to sense the degree of trampling (i.e. its angle position) of this brake block 98 as long as and sense whether have brake, be therefore not required to high assembling precision, the simplest in the offer judge brake weight.And owing to brake weight is with speed as judgement basis, therefore in the judgement of brake weight, the most relatively prior art is the most accurate.
Referring again to Fig. 4 to Fig. 5, the brake gear 20 of a kind of Segway Human Transporter that the present invention the second preferred embodiment is provided, taking off first embodiment before being the most generally same as, difference is:
This second current controling element 28 is a single-way switch, only allows the electric current in the direction being flowed to this motor driver 23 by this battery 97 to pass through, and controls its path or open circuit.Thus, the electric current of counter electromotive force can be controlled and will not enter this battery 97, this kind of situation be i.e. not this battery 97 as load.
This first current controling element 27 is a sense switch, in order to sense the electric current entering this load 24 control carrying out open circuit or path.Thus, still there is detecting current and control the effect that electric current enters or do not enters load 24.
This brake sensor 26 is a strain gauge, and can be located at this standpipe 95, this pedal 91 or this handle 94.In this second embodiment, this brake sensor 26 is as a example by being located at this standpipe 95.Wherein, owing to, in brake process, user can lean forward because of deceleration and the inertia of body wt, grip this handle 94 and this pedal 91 foot-operated by user, then inertia force i.e. can be conveyed to this handle 94, this standpipe 95 and this pedal 91.Therefore, this brake sensor 26 is located at this standpipe 95, this pedal 91 or this handle 94, brake can be detected.But, this kind of mode i.e. as aforementioned first embodiment, cannot just occur the action of entity brake after first recording brake, but after entity brake produces, could be strained by the deformation of this Segway Human Transporter 90 and record brake.
In this second embodiment, although still provide the effect of entity brake arranging brake block 98, and the brake torque defining motor 96 and being provided coordinates the situation of entity brake.But the most also can be not required to utilize the entity braking effect of brake block 98, and the brake torque provided with this motor 96 merely brakes.As long as sensing the brake operation action of user, such as trampling this brake block 98 but do not contact (i.e. not having entity to brake) with wheel body in first embodiment, or the sensing brake of the strain gauge that second in embodiment, all can control this motor 96 and brake torque is provided, and then produce braking effect.
Remaining structure of this second embodiment and mode of operation, take off first embodiment before being the most generally same as, the effect that can reach takes off first embodiment before being the most generally same as, and holds no longer to give repeating.
The technology of the present invention, is particularly well suited for use on the Segway Human Transporter of when brake " operation easily allow user centre-of gravity shift ", and this kind can make the most following three kinds of the brake of centre-of gravity shift: (1) tramples fender (brake block) with foot；(2) push/pull handle makes standpipe produce strain；Or the skew that (3) user carries out before and after's center of gravity with foot on pedal controls.The technology of the present invention directly can be braked with the brake weight corresponding to speed when brake produces, therefore the reaction of its brake weight is quickly, even if therefore make centre-of gravity shift at user operation brake, brake weight still can be effectively provided, speed is effectively reduced, and then makes to ride safer.
Claims (9)
1. the brake gear of a Segway Human Transporter, it is located on a Segway Human Transporter, this Segway Human Transporter has a pedal, a front-wheel, a trailing wheel, leader and is articulated in this pedal by a standpipe and is connected to this front-wheel, a motor and a battery, and the brake gear of this Segway Human Transporter includes:
One micro computer；
One DC-DC converter, is electrically connected at this micro computer and this battery；And
One motor driver, is electrically connected at this micro computer, this motor, this battery and this DC-DC converter, in order to be driven this motor by the control of this micro computer；It is characterized in that:
Define one between this battery with this motor driver and be connected node；
The brake gear of this Segway Human Transporter also includes:
One load, its one end is connected to one first current controling element, other end ground connection；
One velocity sensor, is located at this front-wheel, this trailing wheel or this motor, and is electrically connected at this micro computer, in order to vehicle speed sensing；
One brake sensor, is located on this Segway Human Transporter and is electrically connected at this micro computer, in order to sense brake；
This first current controling element is electrically connected at this connection node；
One second current controling element, is electrically connected at this battery and is connected between node with this, in order to detect the electric current of this battery into and out and to control；
Wherein, when brake occurs, this micro computer controls this first current controling element according to current speed, and then controls to flow into the electric current of this load, and then controls the brake torque of this motor；And control brake torque is directly proportional to speed size.
2. the brake gear of the Segway Human Transporter of foundation claim 1, it is characterised in that: this second current controling element is a current controller, in order to sense the electric current of this battery into and out and to control its size of current.
3. the brake gear of the Segway Human Transporter of foundation claim 1, it is characterised in that: this second current controling element is a single-way switch, only allows the electric current in the direction being flowed to this motor driver by this battery to pass through, and controls its path or open circuit.
4. the brake gear of the Segway Human Transporter of foundation claim 1, it is characterised in that: this first current controling element is a current controller, in order to sense the electric current entering this load and to control its size of current.
5. the brake gear of the Segway Human Transporter of foundation claim 1, it is characterised in that: this first current controling element is a sense switch, in order to sense the electric current entering this load the control carrying out open circuit or path.
6. the brake gear of the Segway Human Transporter of foundation claim 1, it is characterised in that: this brake sensor is a strain gauge.
7. the brake gear of the Segway Human Transporter of foundation claim 1, it is characterised in that: this Segway Human Transporter has a brake block, and this brake sensor is a dynamic pickup, is located at this brake block, in order to sense the dynamic of this brake block.
8. the brake gear of the Segway Human Transporter of foundation claim 7, it is characterized in that: carry out in the stroke braked with this brake block, first by this brake sensor sense that this brake block carries out braking dynamic, this brake block is just physically contacting this front-wheel or this trailing wheel to produce frictional resistance afterwards.
9. the brake gear of the Segway Human Transporter of foundation claim 1, it is characterised in that: after the brake torque of this motor is converted to brake weight, its brake weight maximum can not be more than the brake wheel frictional force to ground；Aforesaid brake wheel refers to that this front-wheel or this trailing wheel are by brake institute actor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310051898.0A CN103991443B (en) | 2013-02-18 | 2013-02-18 | The brake gear of Segway Human Transporter |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310051898.0A CN103991443B (en) | 2013-02-18 | 2013-02-18 | The brake gear of Segway Human Transporter |
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| Publication Number | Publication Date |
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| CN103991443A CN103991443A (en) | 2014-08-20 |
| CN103991443B true CN103991443B (en) | 2016-08-03 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201310051898.0A Active CN103991443B (en) | 2013-02-18 | 2013-02-18 | The brake gear of Segway Human Transporter |
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Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2001015967A1 (en) * | 1999-08-27 | 2001-03-08 | Patmont Motor Werks | Electric scooter |
| CN2474461Y (en) * | 2001-04-13 | 2002-01-30 | 蓝美珠 | Brake controlling device of electric scooter |
| JP2009027830A (en) * | 2007-07-19 | 2009-02-05 | Toyota Motor Corp | Vehicle and warming method |
| KR20110002509A (en) * | 2009-07-02 | 2011-01-10 | 이정우 | Human vehicle equipment |
| WO2012163789A1 (en) * | 2011-05-27 | 2012-12-06 | Micro-Beam Sa | Electrically assisted street scooter |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20040055803A1 (en) * | 2002-09-24 | 2004-03-25 | Patmont Motor Werks | Variable speed transmission for scooter |
-
2013
- 2013-02-18 CN CN201310051898.0A patent/CN103991443B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2001015967A1 (en) * | 1999-08-27 | 2001-03-08 | Patmont Motor Werks | Electric scooter |
| CN2474461Y (en) * | 2001-04-13 | 2002-01-30 | 蓝美珠 | Brake controlling device of electric scooter |
| JP2009027830A (en) * | 2007-07-19 | 2009-02-05 | Toyota Motor Corp | Vehicle and warming method |
| KR20110002509A (en) * | 2009-07-02 | 2011-01-10 | 이정우 | Human vehicle equipment |
| WO2012163789A1 (en) * | 2011-05-27 | 2012-12-06 | Micro-Beam Sa | Electrically assisted street scooter |
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| CN103991443A (en) | 2014-08-20 |
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