CN105752240A - Four-wheel drive skateboard with auxiliary steering function - Google Patents
Four-wheel drive skateboard with auxiliary steering function Download PDFInfo
- Publication number
- CN105752240A CN105752240A CN201610334313.XA CN201610334313A CN105752240A CN 105752240 A CN105752240 A CN 105752240A CN 201610334313 A CN201610334313 A CN 201610334313A CN 105752240 A CN105752240 A CN 105752240A
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- CN
- China
- Prior art keywords
- axle
- wheel
- motor
- pedal
- slide plate
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 238000007689 inspection Methods 0.000 claims description 21
- 230000006698 induction Effects 0.000 claims description 16
- 238000001514 detection method Methods 0.000 claims description 6
- 230000005484 gravity Effects 0.000 claims description 6
- 230000001133 acceleration Effects 0.000 claims description 3
- 230000006870 function Effects 0.000 description 7
- 238000010586 diagram Methods 0.000 description 3
- 230000024159 perception of rate of movement Effects 0.000 description 2
- 241000153246 Anteros Species 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 230000009467 reduction Effects 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62K—CYCLES; CYCLE FRAMES; CYCLE STEERING DEVICES; RIDER-OPERATED TERMINAL CONTROLS SPECIALLY ADAPTED FOR CYCLES; CYCLE AXLE SUSPENSIONS; CYCLE SIDE-CARS, FORECARS, OR THE LIKE
- B62K5/00—Cycles with handlebars, equipped with three or more main road wheels
- B62K5/01—Motorcycles with four or more wheels
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- B60K17/00—Arrangement or mounting of transmissions in vehicles
- B60K17/34—Arrangement or mounting of transmissions in vehicles for driving both front and rear wheels, e.g. four wheel drive vehicles
- B60K17/356—Arrangement or mounting of transmissions in vehicles for driving both front and rear wheels, e.g. four wheel drive vehicles having fluid or electric motor, for driving one or more wheels
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D11/00—Steering non-deflectable wheels; Steering endless tracks or the like
- B62D11/02—Steering non-deflectable wheels; Steering endless tracks or the like by differentially driving ground-engaging elements on opposite vehicle sides
- B62D11/04—Steering non-deflectable wheels; Steering endless tracks or the like by differentially driving ground-engaging elements on opposite vehicle sides by means of separate power sources
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62K—CYCLES; CYCLE FRAMES; CYCLE STEERING DEVICES; RIDER-OPERATED TERMINAL CONTROLS SPECIALLY ADAPTED FOR CYCLES; CYCLE AXLE SUSPENSIONS; CYCLE SIDE-CARS, FORECARS, OR THE LIKE
- B62K5/00—Cycles with handlebars, equipped with three or more main road wheels
- B62K5/08—Cycles with handlebars, equipped with three or more main road wheels with steering devices acting on two or more wheels
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Electric Propulsion And Braking For Vehicles (AREA)
- Automatic Cycles, And Cycles In General (AREA)
Abstract
The invention discloses a four-wheel drive skateboard with the auxiliary steering function. The four-wheel drive skateboard comprises a pedal. A front wheel axle is arranged at the front end of the pedal. Two front wheels and two front wheel motors are arranged on the front wheel axle. The front wheel motors correspond to the front wheels one to one. The front wheel motors are utilized for driving the front wheels to rotate. A rear wheel axle is arranged at the rear end of the pedal. Two rear wheels and two rear wheel motors. The rear wheel motors correspond to the rear wheels one to one. The rear wheel motors are utilized for driving the rear wheels to rotate. The front end of the pedal is provided with a front axle steering motor for driving the front wheel axle to deflect relative to the pedal. The rear end of the pedal is provided with a rear axle steering motor for driving the rear wheel axle to deflect relative to the pedal. The front axle steering motor and the rear axle steering motor are utilized for driving the front wheel axle and the rear wheel axle to deflect so that the skateboard is made to steer. The four-wheel drive skateboard has the advantages of being strong in driving power, flexible in steering, controllable in speed, easy to control and the like.
Description
Technical field
The present invention relates to 4 wheel driven slide plate, particularly relate to a kind of 4 wheel driven slide plate with auxiliary steering function.
Background technology
Existing electric return board is monocycly or two-wheel drive, by exerting a force to slide plate so that slide plate tilts and driven wheel axle steer, and then realize slide plate turning, wherein, the driving power of monocycly slide plate is more weak, though two-wheel drive slide plate enhances power, but driving wheel can not realize differential control when turning, dumb so turning, radius of turn when particularly relying on human body to turn, not with rotation speed change, is turned when low speed dumb, and easily out of hand during high speed, it is difficult to manipulation.
Summary of the invention
The technical problem to be solved in the present invention is in that, for the deficiencies in the prior art, it is provided that a kind of have auxiliary steering function and drive the 4 wheel driven slide plate that power is strong, it is flexible to turn, speed is controlled, be easily manipulated.
For solving above-mentioned technical problem, the present invention adopts the following technical scheme that.
A kind of 4 wheel driven slide plate with auxiliary steering function, it includes pedal, described pedal front end is provided with front axle, described front axle is provided with two front-wheels and two front turbin generators, described front turbin generator and front-wheel one_to_one corresponding, and utilize front turbin generator to drive front-drive, described pedal rear end is provided with hind axle, described hind axle is provided with two trailing wheels and two rear-wheel motors, described rear-wheel motor and trailing wheel one_to_one corresponding, and utilize rear-wheel motor to drive rear wheel, described pedal front end is provided with the front-axle steering motor for driving the relative pedal deflection of front axle, described pedal rear end is provided with the rear axle steering motor for driving the relative pedal deflection of hind axle, front axle and hind axle deflection is driven to make skateboard turns by front-axle steering motor and rear axle steering motor.
Preferably, described pedal is additionally provided with: a motor driver, is used for driving front turbin generator, rear-wheel motor, front-axle steering motor and rear axle steering motor rotation；Two front wheel rotation speed detectors, for detecting the velocity of rotation of two front-wheels respectively；Two rear wheel rotation speed detectors, for detecting the velocity of rotation of two trailing wheels respectively；One front axle roll angle inspection device, described front axle roll angle inspection device is for detecting the deflection angle of front axle；One rear axle roll angle inspection device, described rear axle roll angle inspection device is for detecting the deflection angle of hind axle；One controller, the detection signal of described front wheel rotation speed detector, rear wheel rotation speed detector, front axle roll angle inspection device and the output of rear axle roll angle inspection device is transmitted separately to controller, and described controller controls the velocity of rotation of front turbin generator, rear-wheel motor, front-axle steering motor and rear axle steering motor according to described detection signal；One power supply, described power supply is for powering to controller and motor driver.
Preferably, described pedal is additionally provided with an induction apparatus, described induction apparatus is electrically connected at controller, described induction apparatus is for gathering the center of gravity deflection signal of slide plate, center of gravity deflection signal that described controller feeds back according to induction apparatus and control the velocity of rotation of front turbin generator, rear-wheel motor, front-axle steering motor and rear axle steering motor, to adjust travel speed and the steering angle of slide plate.
Preferably, described induction apparatus includes 3-axis acceleration sensor or gyroscope.
Preferably, steering angle≤45 ° of described slide plate.
In the 4 wheel driven slide plate with auxiliary steering function disclosed by the invention, four wheels is driven respectively by four motors, thus enhance the driving dynamics of slide plate, especially by the differential control between two front-wheels and between two trailing wheels, make slide plate can realize running at high speed and also can turn flexibly when low speed, it is not only easy to manipulation, drives, and kinesthesia is strong, enriches Consumer's Experience.
Accompanying drawing explanation
Fig. 1 is the structural representation of slide plate of the present invention.
Fig. 2 is the lateral structural representation of slide plate of the present invention.
Fig. 3 is the forward structure schematic diagram of slide plate of the present invention.
Fig. 4 is the circuit block diagram of slide plate of the present invention.
Fig. 5 is steering angle schematic diagram during slide plate of the present invention turning.
Detailed description of the invention
Below in conjunction with drawings and Examples, the present invention is described in more detail.
nullThe invention discloses a kind of 4 wheel driven slide plate with auxiliary steering function，In conjunction with shown in Fig. 1 to Fig. 5，It includes pedal 1，Described pedal 1 front end is provided with front axle 2，Described front axle 2 is provided with two front-wheels 3 and two front turbin generators 4，Described front turbin generator 4 and front-wheel 3 one_to_one corresponding，And utilize front turbin generator 4 to drive front-wheel 3 to rotate，Described pedal 1 rear end is provided with hind axle 5，Described hind axle 5 is provided with two trailing wheels 6 and two rear-wheel motors 7，Described rear-wheel motor 7 and trailing wheel 6 one_to_one corresponding，And utilize rear-wheel motor 7 to drive trailing wheel 6 to rotate，Described pedal 1 front end is provided with the front-axle steering motor 8 for driving relative pedal 1 deflection of front axle 2，Described pedal 1 rear end is provided with the rear axle steering motor 9 for driving relative pedal 1 deflection of hind axle 5，Front axle 2 and hind axle 5 is driven to deflect and make skateboard turns by front-axle steering motor 8 and rear axle steering motor 9.
In the slide plate of said structure, four wheels is driven respectively by four motors, thus enhance the driving dynamics of slide plate, especially by the differential control between two front-wheels and between two trailing wheels, make slide plate can realize running at high speed and also can turn flexibly when low speed, it is not only easy to manipulation, drives, and kinesthesia is strong, enriches Consumer's Experience.
As a kind of optimal way, described pedal 1 is additionally provided with:
One motor driver 10, is used for driving front turbin generator 4, rear-wheel motor 7, front-axle steering motor 8 and rear axle steering motor 9 to operate；
Two front wheel rotation speed detectors 11, for detecting the velocity of rotation of two front-wheels 3 respectively；
Two rear wheel rotation speed detectors 12, for detecting the velocity of rotation of two trailing wheels 6 respectively；
One front axle roll angle inspection device 13, described front axle roll angle inspection device 13 is for detecting the deflection angle of front axle 2；
One rear axle roll angle inspection device 14, described rear axle roll angle inspection device 14 is for detecting the deflection angle of hind axle 5；
One controller 15, the detection signal of described front wheel rotation speed detector 11, rear wheel rotation speed detector 12, front axle roll angle inspection device 13 and the output of rear axle roll angle inspection device 14 is transmitted separately to controller 15, and described controller 15 controls the velocity of rotation of front turbin generator 4, rear-wheel motor 7, front-axle steering motor 8 and rear axle steering motor 9 according to described detection signal；
One power supply 16, described power supply 16 is for powering to controller 15 and motor driver 10.
Preferably, above-mentioned front wheel rotation speed detector 11, rear wheel rotation speed detector 12, front axle roll angle inspection device 13 and rear axle roll angle inspection device 14 can be the photoelectric encoders being respectively arranged on each motor, utilize the data that photoelectric encoder exports can converse the corner of each rotating speed taken turns and each wheel shaft.
In the present embodiment, described pedal 1 is additionally provided with an induction apparatus 17, described induction apparatus 17 is electrically connected at controller 15, described induction apparatus 17 is for gathering the center of gravity deflection signal of slide plate, center of gravity deflection signal that described controller 15 feeds back according to induction apparatus 17 and control the velocity of rotation of front turbin generator 4, rear-wheel motor 7, front-axle steering motor 8 and rear axle steering motor 9, to adjust travel speed and the steering angle of slide plate.
Further, described induction apparatus 17 includes 3-axis acceleration sensor or gyroscope.
Above-mentioned slide plate is in control process, and induction apparatus detects given travel speed and steering angle by sensing the deflection of human body, and is converted into the signal of telecommunication and is transferred to controller, and controller is according to the steering angle givenTravel speed V, the output signal of telecommunication is to motor driver, motor driver drives each electric machine rotation, the velocity of rotation of each motor and rotational angle regulate and control by controller, in addition, the rotating speed of each wheel and the deflection angle of antero posterior axis are detected by revolution detector and roll angle inspection device respectively and draw and feed back to controller, controller is according to feedback signal and default control algolithm, rotating speed is kept to meet movement needs, particularly when turning, live axle deflection angle θ 1, θ 2 control radius of turn R, and then realize turning.As a kind of optimal way, steering angle≤45 ° of described slide plate.
The 4 wheel driven slide plate with auxiliary steering function disclosed by the invention, there are 4 driving wheels and 2 steer motor, realize by controlling steering angle θ 1, θ 2 and radius of turn R turning, steering angle is particularly strengthened when running at a low speed, and then reduction radius of turn, it is achieved turn flexibly, and when running at high speed, reduce steering angle, strengthen radius of turn, driving stability during to realize high speed.
The above is preferred embodiment of the present invention, is not limited to the present invention, all amendment, equivalent replacement or improvement etc. made in the technical scope of the present invention, should be included in the scope that the present invention protects.
Claims (5)
1. a 4 wheel driven slide plate with auxiliary steering function, it is characterized in that, include pedal, described pedal front end is provided with front axle, described front axle is provided with two front-wheels and two front turbin generators, described front turbin generator and front-wheel one_to_one corresponding, and utilize front turbin generator to drive front-drive, described pedal rear end is provided with hind axle, described hind axle is provided with two trailing wheels and two rear-wheel motors, described rear-wheel motor and trailing wheel one_to_one corresponding, and utilize rear-wheel motor to drive rear wheel, described pedal front end is provided with the front-axle steering motor for driving the relative pedal deflection of front axle, described pedal rear end is provided with the rear axle steering motor for driving the relative pedal deflection of hind axle, front axle and hind axle deflection is driven to make skateboard turns by front-axle steering motor and rear axle steering motor.
2. there is the 4 wheel driven slide plate of auxiliary steering function as claimed in claim 1, it is characterised in that described pedal is additionally provided with:
One motor driver, is used for driving front turbin generator, rear-wheel motor, front-axle steering motor and rear axle steering motor rotation；
Two front wheel rotation speed detectors, for detecting the velocity of rotation of two front-wheels respectively；
Two rear wheel rotation speed detectors, for detecting the velocity of rotation of two trailing wheels respectively；
One front axle roll angle inspection device, described front axle roll angle inspection device is for detecting the deflection angle of front axle；
One rear axle roll angle inspection device, described rear axle roll angle inspection device is for detecting the deflection angle of hind axle；
One controller, the detection signal of described front wheel rotation speed detector, rear wheel rotation speed detector, front axle roll angle inspection device and the output of rear axle roll angle inspection device is transmitted separately to controller, and described controller controls the velocity of rotation of front turbin generator, rear-wheel motor, front-axle steering motor and rear axle steering motor according to described detection signal；
One power supply, described power supply is for powering to controller and motor driver.
3. there is the 4 wheel driven slide plate of auxiliary steering function as claimed in claim 1, it is characterized in that, described pedal is additionally provided with an induction apparatus, described induction apparatus is electrically connected at controller, described induction apparatus is for gathering the center of gravity deflection signal of slide plate, center of gravity deflection signal that described controller feeds back according to induction apparatus and control the velocity of rotation of front turbin generator, rear-wheel motor, front-axle steering motor and rear axle steering motor, to adjust travel speed and the steering angle of slide plate.
4. there is the 4 wheel driven slide plate of auxiliary steering function as claimed in claim 3, it is characterised in that described induction apparatus includes 3-axis acceleration sensor or gyroscope.
5. there is the 4 wheel driven slide plate of auxiliary steering function as claimed in claim 3, it is characterised in that steering angle≤45 ° of described slide plate.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610334313.XA CN105752240A (en) | 2016-05-19 | 2016-05-19 | Four-wheel drive skateboard with auxiliary steering function |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610334313.XA CN105752240A (en) | 2016-05-19 | 2016-05-19 | Four-wheel drive skateboard with auxiliary steering function |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN105752240A true CN105752240A (en) | 2016-07-13 |
Family
ID=56324313
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610334313.XA Pending CN105752240A (en) | 2016-05-19 | 2016-05-19 | Four-wheel drive skateboard with auxiliary steering function |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN105752240A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107351956A (en) * | 2017-07-20 | 2017-11-17 | 庶邦科技（上海）有限公司 | A kind of drive mechanism of electro-tricycle |
| CN110588777A (en) * | 2019-10-29 | 2019-12-20 | 合肥多加农业科技有限公司 | Four-wheel machine |
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| CN205108994U (en) * | 2015-10-23 | 2016-03-30 | 马大寨 | Full -automatic cross -country slide |
| CN205632812U (en) * | 2016-05-19 | 2016-10-12 | 深圳市硕颖智联科技有限公司 | 4 wheel driven slide with supplementary function that turns to |
-
2016
- 2016-05-19 CN CN201610334313.XA patent/CN105752240A/en active Pending
Patent Citations (16)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH10314366A (en) * | 1997-05-23 | 1998-12-02 | Sanyo Electric Co Ltd | Self-advancing skate board |
| US20050280234A1 (en) * | 2004-06-21 | 2005-12-22 | Cole Jeffrey E | Truck assembly for a skateboard, wheeled platform, or vehicle |
| JP2006217952A (en) * | 2005-02-08 | 2006-08-24 | Mitsunari Sukegawa | Self-traveling skateboard |
| KR100573366B1 (en) * | 2005-06-01 | 2006-04-26 | 김홍기 | Link type skateboard |
| US20100025131A1 (en) * | 2006-04-03 | 2010-02-04 | Bluwav Systems, Llc | Electric propulsion system |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107351956A (en) * | 2017-07-20 | 2017-11-17 | 庶邦科技（上海）有限公司 | A kind of drive mechanism of electro-tricycle |
| CN110588777A (en) * | 2019-10-29 | 2019-12-20 | 合肥多加农业科技有限公司 | Four-wheel machine |
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| SE01 | Entry into force of request for substantive examination | ||
| CB03 | Change of inventor or designer information |
Inventor after: Chen Guoming Inventor before: Pan Pengcheng |
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| CB03 | Change of inventor or designer information | ||
| TA01 | Transfer of patent application right |
Effective date of registration: 20180425 Address after: 518000 Guangdong Shenzhen Longgang District South Bay Street Zhangshu cloth community Lijing apartment 1006 room Applicant after: Chen Guoming Address before: Guangdong province Shenzhen Longhua New Area Longhua office Hualian community river back industrial area 22 A building 1-3 and 5 floors Applicant before: SHENZHEN SHUOYING ZHILIAN TECHNOLOGY Co.,Ltd. |
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Application publication date: 20160713 |