CN106275211A - A kind of single-wheel Segway Human Transporter and using method thereof - Google Patents
A kind of single-wheel Segway Human Transporter and using method thereof Download PDFInfo
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- CN106275211A CN106275211A CN201610906084.4A CN201610906084A CN106275211A CN 106275211 A CN106275211 A CN 106275211A CN 201610906084 A CN201610906084 A CN 201610906084A CN 106275211 A CN106275211 A CN 106275211A
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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
- B62K25/00—Axle suspensions
- B62K25/04—Axle suspensions for mounting axles resiliently on cycle frame or fork
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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
- B62K11/00—Motorcycles, engine-assisted cycles or motor scooters with one or two wheels
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- Mechanical Engineering (AREA)
- Motorcycle And Bicycle Frame (AREA)
Abstract
The invention discloses a kind of single-wheel Segway Human Transporter and using method thereof, this scooter includes wheel, pedal and damping, damping includes buffer stopper, it is provided with chute, slide block, spring, connection through hole on buffer stopper, seals extensible member, observation through hole and Sealed Observation Window, air-vent is all had on side before and after buffer stopper, the bottom of pedal is provided with power supply storage battery and controls device, simple operation；This using method includes step: one, start running；Two, scooter transport condition is controlled: 201, the both feet of driver step down in pedal rear and front end respectively and drive scooter, 202, judge that road is the most smooth, 203, judge whether uneven obstacle height is set up and adjust driver's transport condition；Three, driver jumps off scooter auxiliary slide car and breaks the barriers；Four, terminate to travel.The present invention designs damping and makes scooter pass through during uneven road stably to pass through, it is to avoid the discomfort that driver is produced by concussion of jolting, adaptable.
Description
Technical field
The invention belongs to single-wheel sliding plate car technical field, be specifically related to a kind of single-wheel Segway Human Transporter and using method thereof.
Background technology
Along with the intensification of energy crisis consciousness, the electronic vapour on future market in the minds of the quickening of social development rhythm and people
Car, as the walking-replacing tool of a kind of high-efficiency cleaning, will occupy one seat, and ev industry related to this also can obtain soon
Speed development, in today that urban transportation is day by day complicated, portable short distance traffic instrument is paid close attention to greatly.Scooter and cunning
Each corner that wooden handcart fan is active in life, is pursued greatly by people and has deep love for.Meanwhile, all kinds of on market today
Segway Human Transporter, electrodynamic balance car, electric unicycle also obtain the accreditation of consumers in general, obtain bigger economic benefit.Pass
System scooter is the harshest to the requirement in place, just can experience the enjoyment slided in the location that road is mild, but society's traffic
The day by day complicated and minimizing of public territory, city activity space, conventional skateboard car is brought test, conventional skateboard greatly
Low obstructions met by car or road step all cannot steadily pass through, shake of jolting when conventional skateboard car is by low obstructions
Swinging, make driver feel the most uncomfortable, when meeting road step, driver's operation with traditional scooter must parking assist sliding
Under wooden handcart.Therefore, nowadays lack that a kind of simple in construction, volume be little, low cost, single-wheel Segway Human Transporter reasonable in design and
Using method, can meet driver and travel under various road conditions, such as highway, hill path and common backroad, solves electronic
The scooter rigors to place, minimizing is jolted, and meanwhile, it is carried out Driving control, when meeting road step, can pass through
Damping drives the scooter steady avoidance of jump, brings the experience as " cross-country " to driver, expands the city of electricity single block
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Summary of the invention
The technical problem to be solved is for above-mentioned deficiency of the prior art, it is provided that a kind of single-wheel is electronic
Scooter, it is novel in design rationally, uses spring to produce active force, when being compressed by the air-vent on buffer stopper or suck air
Produce air resistance damping, it is to avoid the discomfort that driver is produced by concussion of jolting, adapt to road ability strong, it is simple to promote and make
With.
For solving above-mentioned technical problem, the technical solution used in the present invention is: a kind of single-wheel Segway Human Transporter, its feature exists
In: include wheel and the pedal being nested on wheel along wheels travel direction, and be symmetrically and fixedly mounted to bottom pedal and position
In the damping of wheel both sides, the wheel shaft position of wheel is provided with dual-axle motor, and described damping includes two difference
Being positioned at wheel both sides and be separately mounted to the amortisseur on two output shafts of dual-axle motor, described amortisseur includes solid with pedal
The fixed buffer stopper connected, buffer stopper is provided with open-topped chute, and chute is provided with connection through hole towards the side of wheel,
Chute is provided with away from the side of wheel and is connected, with described, the observation through hole that through hole is contour, and slide block stretches into through described connection through hole
To chute, slide block being provided with slider throughbores, the output shaft of dual-axle motor is fixedly mounted on slide block by slider throughbores, sliding
Being provided with spring in groove, one end of spring is fixedly mounted on slide block, and the other end of spring is fixing with the bottom of pedal to be connected, institute
State to be embedded with on connection through hole and fix the sealing extensible member being connected with slide block top, described observation through hole is provided with sealing and observes
Window, all has the air-vent connected with chute on side before and after buffer stopper, before and after the bottom of pedal is positioned at wheel, both sides are divided
Power supply storage battery is not installed and for controlling the control device that scooter runs.
Above-mentioned a kind of single-wheel Segway Human Transporter, it is characterised in that: described control device includes processor and for processing
Device and dual-axle motor respectively power conversion voltage conversion circuit, the input of processor is connected to the pressure for sensing human body weight
Power induction apparatus and for gather scooter run attitude accurate gyroscope, the outfan of processor be connected to drive dual-axle motor turn
Dynamic motor driver, power supply storage battery provides voltage source and power supply storage battery to be that voltage conversion circuit is powered for voltage conversion circuit
Loop is in series with on and off switch.
Above-mentioned a kind of single-wheel Segway Human Transporter, it is characterised in that: described pedal middle position has for nested car
The pedal through hole of wheel, described pedal is positioned at described pedal through hole and is provided with curved surface backplate.
Above-mentioned a kind of single-wheel Segway Human Transporter, it is characterised in that: described buffer stopper is connected by screw and pedal are fixing,
The top of buffer stopper is provided with multiple fixing hole, and described pedal is provided with multiple installation coordinated with multiple fixing holes respectively
Hole, described screw is through installing hole and stretches to fixing hole and buffer stopper and fixes and be connected.
Meanwhile, method step is simple, reasonable in design, can smoothly pass uneven road to the invention also discloses one, keeps away
Exempt from the concussion single-wheel Segway Human Transporter using method to the discomfort that driver produces of jolting, it is characterised in that this using method
Comprise the following steps:
Step one, start running: both feet are also stepped down in two ends before and after pedal, pressure by driver's power-on switch respectively
Induction apparatus inductively measures driver's body weight, and when having sensed people, scooter starts running；
Step 2, control scooter transport condition, process is as follows:
Step 201, the both feet of driver step down in pedal rear and front end respectively and drive scooter, when craspedodrome is given it the gun,
Driver controls centre of body weight, makes forward lean, and driver's forward foot in a step active force is more than driver's rear foot active force, the front end of pedal
Less than rear end, changing the angle of inclination of pedal, accurate gyroscope collection is measured the pose of scooter, is controlled motor by processor
Driver drives dual-axle motor accelerates, it is achieved scooter is kept straight on and given it the gun；
When craspedodrome Reduced Speed Now, driver controls centre of body weight, makes health hypsokinesis, and driver's rear foot active force is more than driving
The person's of sailing forward foot in a step active force, the front end of pedal is higher than rear end, changes the angle of inclination of pedal, and scooter is measured in accurate gyroscope collection
Pose, by processor control motor driver drive dual-axle motor slow down, it is achieved scooter craspedodrome Reduced Speed Now；
When at the uniform velocity travelling when keeping straight on, being arranged the threshold pressure difference at pedal two ends by processor, driver attentions, before and after making
In the range of foot active force difference is maintained at threshold pressure difference, level before and after pedal, scooter is measured in accurate gyroscope collection
Pose, controls motor driver by processor and drives dual-axle motor rotating speed to fix, it is achieved scooter is kept straight on and at the uniform velocity travelled；
When turning left or right-hand rotation line feed is sailed, driver's pre-decelerating before turning position travels, and driver is turning
Position, driver's rear foot promotes to right front or left front, completes turning action, adjusts centre of body weight simultaneously, balanced pedal,
Control scooter driving stability；
Step 202, judge that road is the most smooth: driver artificially identifies road flatness, when road is smooth, circulation step
Rapid 201；When road unevenness, perform step 203；
Step 203, judge uneven obstacle heightWhether set up and adjust driver's transport condition: slide plate
Car travels on uneven road, when uneven obstacle height L meets:Time, driver passes through scooter
Damping the most steadily buffer and circulation step 201；When uneven and uneven obstacle height L of road meets:Time, wheel is stopped by barrier, and driver stands in and extrudes the spring in buffer stopper on pedal, and spring recovers shape
Being stood in the driver's counteracting force on pedal during change, driver and scooter are jumped up by following after this barrier simultaneously
Ring step 201, wherein, R is the radius of wheel；Otherwise, step 3 is performed；
Step 3, driver jump off scooter auxiliary slide car and break the barriers Posterior circle step 2；
Step 4, end travel: driver jumps off scooter, turns off the power switch.
Above-mentioned using method, it is characterised in that: step 203 meets when uneven obstacle height L:Time, driver stands in and extrudes the spring in buffer stopper on pedal, and pedal, slide block, sealing extensible member and sealing are observed
The closing space that window surrounds, by extruding air, makes the air in closing space flow out from air-vent, and moment produces gas resistance
Power produces downward steady buffering to driver；The spring being extruded is stood in the driving on pedal during recovering deformation
Person's counteracting force, the closing space that pedal, slide block, sealing extensible member and Sealed Observation Window surround, by sucking air, makes closing
Air in space flows into from air-vent, and moment produces air resistance and driver produces steady buffering upwards.
The present invention compared with prior art has the advantage that
1, in the single-wheel Segway Human Transporter that the present invention uses, damping includes two amortisseurs, and two amortisseurs constitute double
Supporting construction, the slide block in amortisseur is fixing with dual-axle motor to be connected, and slide block is in chute during upward sliding, and slide block compresses bullet
Spring, it is to avoid driver is moment concussion when running into barrier, slide block is in chute during slide downward, and spring recovers to drive on pedal
Rising, it is ensured that driver steadily buffers, spring is arranged on the closing sky that pedal, slide block, sealing extensible member and Sealed Observation Window surround
In, by arranging multiple air-vent on buffer stopper, coordinate extruding during spring knee-action or suck air generation gas resistance
Power, alleviates concussion, it is simple to promote the use of further.
2, the single-wheel Segway Human Transporter that the present invention uses is nested on wheel before and after pedal, makes the both feet holding of driver
Front and back place, the scooter steady avoidance of jump can be driven by damping, bring the experience as " cross-country " to driver, use
Effective.
3, the using method of the single-wheel Segway Human Transporter that the present invention uses is new reasonable, is estimated road in real time by driver
Information, when road is smooth, driver steadily controls scooter and advances or turn；When road is uneven and obstacle height L is full
Foot:Time, driver controls scooter by damping stable buffering and advances or turn；When road is uneven and
Obstacle height L meets:Time, driver controls scooter by damping and jumps up avoidance；When road is uneven
Smooth and obstacle heightTime, driver jumps off scooter auxiliary slide car and breaks the barriers, and meets highway, hill path and general
Logical backroad various roads smooth-ride, adapts to road ability strong.
4, the using method step of the single-wheel Segway Human Transporter that the present invention uses is simple, reasonable in design and realize convenient, throws
Enter low cost.
In sum, the present invention is novel in design rationally, uses spring to produce active force, by the ventilative pore pressure on buffer stopper
Produce air resistance damping when contracting or suction air, it is to avoid the discomfort that driver is produced by concussion of jolting, adapt to road energy
Power is strong, it is simple to promote the use of.
Below by drawings and Examples, technical scheme is described in further detail.
Accompanying drawing explanation
Fig. 1 is the axonometric chart of single-wheel Segway Human Transporter of the present invention.
Fig. 2 is the mounting structure schematic diagram of wheel, dual-axle motor, slide block and spring in single-wheel Segway Human Transporter of the present invention.
Fig. 3 is the structural representation of damping in single-wheel Segway Human Transporter of the present invention.
Fig. 4 is the structure chart of buffer stopper in single-wheel Segway Human Transporter of the present invention.
Fig. 5 is power in single-wheel Segway Human Transporter of the present invention storage battery, control device and the schematic block circuit diagram of dual-axle motor.
Fig. 6 is the FB(flow block) of single-wheel Segway Human Transporter using method of the present invention.
Description of reference numerals:
1-pedal；2-curved surface backplate；3-powers storage battery；
4-controls device；4-1-processor；4-2-pressure inductor；
4-3-precision gyroscope；4-4 motor driver；4-5-on and off switch；
4-6-voltage conversion circuit；5-wheel；6-installing hole；
7-buffer stopper；8-air-vent；9 Sealed Observation Windows；
10-fixing hole；11-chute；12-dual-axle motor；
13-slide block；14-slider throughbores；15-spring；
16-seals extensible member.
Detailed description of the invention
A kind of single-wheel Segway Human Transporter as shown in Figures 1 to 4, is nested in car including wheel 5 with along wheel 5 travel direction
Pedal 1 on wheel 5, and it is symmetrically and fixedly mounted to bottom pedal 1 and is positioned at the damping of wheel 5 both sides, the wheel shaft of wheel 5
Position is provided with dual-axle motor 12, and described damping includes that two lay respectively at wheel 5 both sides and are separately mounted to twin shaft
Amortisseur on two output shafts of motor 12, described amortisseur includes the buffer stopper 7 that be connected fixing with pedal 1, on buffer stopper 7
Being provided with open-topped chute 11, chute 11 is provided with connection through hole towards the side of wheel 5, and chute 11 is away from wheel 5
Side is provided with and is connected, with described, the observation through hole that through hole is contour, and slide block 13 stretches in chute 11 through described connection through hole,
Being provided with slider throughbores 14 on slide block 13, the output shaft of dual-axle motor 12 is fixedly mounted on slide block 13 by slider throughbores 14,
Being provided with spring 15 in chute 11, one end of spring 15 is fixedly mounted on slide block 13, the other end of spring 15 and the end of pedal 1
Portion is fixing to be connected, and described connection through hole is embedded with and fixes, with slide block 13 top, the sealing extensible member 16 being connected, and described observation is led to
Sealed Observation Window 9 is installed on hole, before and after buffer stopper 7, on side, all has the air-vent 8 connected with chute 11, pedal 1
Before and after bottom is positioned at wheel 5, both sides are separately installed with power supply storage battery 3 and for controlling the control device 4 that scooter runs.
In the present embodiment, pedal 1 is nested in along wheel 5 travel direction and defines on wheel 5 that the both feet one of driver are previous
After be placed on the operating attitude determining driver on pedal 1, it is simple to regulation driver center of gravity；Damping symmetry is fixed
Being arranged on bottom pedal 1 and be positioned at wheel 5 both sides, damping includes two amortisseurs, and the wheel shaft position of wheel 5 is installed double
Spindle motor 12, two amortisseurs are separately mounted on two output shafts of dual-axle motor 12 constitute dual-support structure, it is ensured that pedal 1
Support firm；Being provided with open-topped chute 11 on buffer stopper 7, slide block 13 stretches to chute 11 through described connection through hole
In, described connection through hole is embedded with and fixes the sealing extensible member 16 being connected with slide block 13 top, sealing extensible member 16 employing can
The material that fold seals performance is good is made, and seals extensible member 16 one end and is fixed on slide block 13 top, seals extensible member 16 other end
Being fixed on described connection through hole top, the both sides sealing extensible member 16 coordinate slip, slide block 13 with the described through hole two sides that are connected
Move up and down band movable sealing extensible member about 16 to stretch.
As it is shown in figure 5, in the present embodiment, described control device 4 includes processor 4-1 and is processor 4-1 and twin shaft
Motor 12 respectively power conversion voltage conversion circuit 4-6, the input of processor 4-1 is connected to the pressure for sensing human body weight
Power induction apparatus 4-2 and for gather scooter run attitude accurate gyroscope 4-3, the outfan of processor 4-1 be connected to drive
The motor driver 4-4 that dual-axle motor 12 rotates, power supply storage battery 3 provides voltage source and power supply storage battery 3 for voltage conversion circuit 4-6
It is in series with on and off switch 4-5 in the loop that voltage conversion circuit 4-6 powers.
In the present embodiment, the fixing univoltage that power supply storage battery 3 exports is respectively converted into processor by voltage conversion circuit 4-6
The different magnitudes of voltage that 4-1 and dual-axle motor 12 need, the attitude of accurate gyroscope 4-3 Real-time Collection scooter, processor 4-1 carries
Order-driven dual-axle motor 12 corresponding to front storage scooter difference attitude makes different acceleration-deceleration instruction output.
As it is shown in figure 1, in the present embodiment, described pedal 1 middle position has the pedal through hole for nested wheel 5,
It is positioned at described pedal through hole on described pedal 1 and curved surface backplate 2 is installed.
In actually used, the protection operator's both feet that are disposed to of curved surface backplate 2 do not connect with the wheel 5 in pedal through hole
Touch, it is to avoid wheel 5 run at high speed in the case of with human body friction, human body is caused damage.
As shown in Figure 4, in the present embodiment, described buffer stopper 7 is connected by screw is fixing with pedal 1, the top of buffer stopper 7
It is provided with multiple fixing hole 10, described pedal 1 is provided with multiple installing hole 6 coordinated with multiple fixing holes 10 respectively, described
Screw is through installing hole 6 and stretches to fixing hole 10 and buffer stopper 7 and fixes and be connected.
In the present embodiment, described buffer stopper 7 is connected by screw is fixing with pedal 1, can close the top of chute 11 simultaneously
Opening, fixes the spring 15 in chute 11 bottom pedal 1.
The using method of a kind of single-wheel Segway Human Transporter as shown in Figure 6, this using method comprises the following steps:
Step one, start running: both feet are also stepped down in two ends before and after pedal 1 by driver's power-on switch 4-5 respectively,
Pressure inductor 4-2 inductively measures driver's body weight, and when having sensed people, scooter starts running；
Step 2, control scooter transport condition, process is as follows:
Step 201, the both feet of driver step down in pedal 1 rear and front end respectively and drive scooter, when craspedodrome is given it the gun,
Driver controls centre of body weight, makes forward lean, and driver's forward foot in a step active force is more than driver's rear foot active force, before pedal 1
End, less than rear end, changes the angle of inclination of pedal 1, and accurate gyroscope 4-3 gathers the pose measuring scooter, by processor 4-
1 controls motor driver 4-4 drives dual-axle motor 12 to accelerate, it is achieved scooter is kept straight on and given it the gun；
When craspedodrome Reduced Speed Now, driver controls centre of body weight, makes health hypsokinesis, and driver's rear foot active force is more than driving
The person's of sailing forward foot in a step active force, the front end of pedal 1 is higher than rear end, changes the angle of inclination of pedal 1, and accurate gyroscope 4-3 gathers and measures
The pose of scooter, controls motor driver 4-4 by processor 4-1 and drives dual-axle motor 12 to slow down, it is achieved scooter is kept straight on
Reduced Speed Now；
When at the uniform velocity travelling when keeping straight on, being arranged the threshold pressure difference at pedal 1 two ends by processor 4-1, driver attentions, and makes
In the range of front and back foot active force difference is maintained at threshold pressure difference, level before and after pedal 1, accurate gyroscope 4-3 gathers and measures
The pose of scooter, controls motor driver 4-4 by processor 4-1 and drives dual-axle motor 12 rotating speed to fix, it is achieved scooter
Keep straight on and at the uniform velocity travel；
When turning left or right-hand rotation line feed is sailed, driver's pre-decelerating before turning position travels, and driver is turning
Position, driver's rear foot promotes to right front or left front, completes turning action, adjust centre of body weight, balanced pedal simultaneously
1, control scooter driving stability；
Step 202, judge that road is the most smooth: driver artificially identifies road flatness, when road is smooth, circulation step
Rapid 201；When road unevenness, perform step 203；
In practical operation, driver artificially estimates present road traffic information, it is judged that road unevenness degree, it is determined whether
Can pass through, make different response states for different road types.
Step 203, judge uneven obstacle heightWhether set up and adjust driver's transport condition: slide plate
Car travels on uneven road, when uneven obstacle height L meets:Time, driver passes through scooter
Damping the most steadily buffer and circulation step 201；When uneven and uneven obstacle height L of road meets:Time, wheel 5 is stopped by barrier, and driver stands in and extrudes the spring 15 in buffer stopper 7, spring 15 on pedal 1
Giving during recovery deformation and stand in the driver's counteracting force on pedal 1, driver and scooter are jumped up by this barrier simultaneously
Hindering thing Posterior circle step 201, wherein, R is the radius of wheel 5；Otherwise, step 3 is performed；
In the present embodiment, driver artificially estimates obstacle height in present road, when obstacle height L meets:Time, illustrate that obstacle height is relatively low, driver can drive scooter and slowly pass through, driver pass through this section time
Craspedodrome travels or the control method of turning driving is all identical with step 201, when difference is by relatively low obstacle, due to obstacle
The obstruction of thing, scooter can rise and fall with barrier and move up and down, arrange damping in scooter, and driver stands in pedal 1
On there is inertia motion, buffer human body inertia by the damping of scooter and make driver along with the up and down motion of scooter
Adjust and drive attitude, by the human body coordination ability, change leg curvature degree, it is achieved steadily buffer, reduce moment and jolt；
In driver estimates present road, obstacle height L meets:Time, illustrate that obstacle height is inclined
In, actual camber partially in barrier be road step, driver cannot drive scooter and the most slowly pass through, and scooter can
Jumping mode is used to be advanced, when running into barrier by road step, the mode stood about traditional single-wheel Segway Human Transporter employing
When hindering thing, when scooter and driver's skip-forwards, the most forward-facing, both legs center-of-gravity regulating difficulty is big, drives for the whole health of driver
It is the most difficult that the person of sailing controls scooter, and the mode that the single-wheel Segway Human Transporter used in the present embodiment is stood before and after using is advanced,
When running into barrier, when scooter and driver's skip-forwards, due to inertia, driver leans to one side forward, both legs center-of-gravity regulating
Easily, driver passes through to keep straight on behind this section and travels or the control method of turning driving is all identical with step 201.
Step 3, driver jump off scooter auxiliary slide car and break the barriers Posterior circle step 2；
In the present embodiment, in driver estimates present road, obstacle height L meets:Time, barrier is described
The most higher, driver cannot drive scooter and pass through, and driver jumps off scooter, can use and manually move scooter by barrier
Thing, driver this barrier Posterior circle step 2 of passing through is hindered to move on.
Step 4, end travel: driver jumps off scooter, turns off the power switch 4-5.
In the present embodiment, step 203 meets when uneven obstacle height L:Time, driver stands in
The spring 15 in buffer stopper 7, the closing that pedal 1, slide block 13, sealing extensible member 16 and Sealed Observation Window 9 surround is extruded on pedal 1
Space, by extruding air, makes the air in closing space flow out from air-vent 8, and moment produces air resistance and produces driver
Raw downward steady buffering；The spring 15 being extruded is stood in the driver's retroaction on pedal 1 during recovering deformation
Power, the closing space that pedal 1, slide block 13, sealing extensible member 16 and Sealed Observation Window 9 surround, by sucking air, makes closing empty
Interior air flows into from air-vent 8, and moment produces air resistance and driver produces steady buffering upwards.
When the present invention operates, in order to ensure the service life of spring 15, spring 15 is arranged on pedal 1, slide block 13, seals
In the closing space that extensible member 16 and Sealed Observation Window 9 surround, when spring 15 is extruded downwards, spring 15 produces bullet upwards
Mechanical resistance only human body moment moves downward and realizes human body buffering, and now, slide block 13 moves upward to extrude in chute 11 and closes space
Interior air, equally generation air resistance obstruction human body moment upwards moves downward and realizes human body buffering, and this air resistance uses
Air-vent 8 pressure release；When spring 15 recovers in deformation process, and slide block 13 moves downward in chute 11, close space by ventilative
Hole 8 sucks air, spring 15 elastic force upwards by produce air resistance stop human body moment move upward realize human body delay
Punching, the elastic force of spring 15 and the dual cushioning effect of air resistance avoid the quick deformation frequently of spring 15 while shock-absorbing,
Extending the service life of spring 15, Sealed Observation Window 9 is detachable, and when scooter fault, removable Sealed Observation Window 9 is checked
Fault type, it is simple to breakdown maintenance, this scooter is applicable to multiple terrain road, controls simple, and using effect is good.
The above, be only presently preferred embodiments of the present invention, not impose any restrictions the present invention, every according to the present invention
Any simple modification, change and the equivalent structure change that above example is made by technical spirit, all still falls within skill of the present invention
In the protection domain of art scheme.
Claims (6)
1. a single-wheel Segway Human Transporter, it is characterised in that: include wheel (5) and be nested in wheel along wheel (5) travel direction
(5) pedal (1) on, and be symmetrically and fixedly mounted to pedal (1) bottom and be positioned at the damping of wheel (5) both sides, wheel
(5) wheel shaft position is provided with dual-axle motor (12), and described damping includes that two lay respectively at wheel (5) both sides and divide
Not being arranged on the amortisseur on two output shafts of dual-axle motor (12), described amortisseur includes be connected with pedal (1) fixing
Buffer stopper (7), buffer stopper (7) is provided with open-topped chute (11), and chute (11) is provided with towards the side of wheel (5)
Connecting through hole, chute (11) is provided with away from the side of wheel (5) and is connected the observation through hole that through hole is contour, slide block (13) with described
In stretching to chute (11) through described connection through hole, slide block (13) is provided with slider throughbores (14), dual-axle motor (12)
Output shaft is fixedly mounted on slide block (13) by slider throughbores (14), is provided with spring (15), spring (15) in chute (11)
One end be fixedly mounted on slide block (13), the bottom of the other end of spring (15) and pedal (1) is fixing to be connected, and described connection is logical
It is embedded with on hole and fixes the sealing extensible member (16) being connected with slide block (13) top, described observation through hole is provided with sealing and observes
Window (9), all has the air-vent (8) connected with chute (11) on side before and after buffer stopper (7), the bottom of pedal (1) is positioned at
Before and after wheel (5), both sides are separately installed with power supply storage battery (3) and for controlling the control device (4) that scooter runs.
2. according to a kind of single-wheel Segway Human Transporter described in claim 1, it is characterised in that: described control device (4) includes place
Reason device (4-1) and the voltage conversion circuit (4-6) of conversion of powering respectively for processor (4-1) and dual-axle motor (12), process
The input of device (4-1) is connected to the pressure inductor (4-2) for sensing human body weight and is used for gathering scooter operation attitude
Accurate gyroscope (4-3), the outfan of processor (4-1) is connected to drive dual-axle motor (12) motor driver (4-that rotates
4), power supply storage battery (3) is that voltage conversion circuit (4-6) provides voltage source and power supply storage battery (3) to be that voltage conversion circuit (4-6) supplies
The loop of electricity is in series with on and off switch (4-5).
3. according to a kind of single-wheel Segway Human Transporter described in claim 1 or 2, it is characterised in that: described pedal (1) centre position
Place has the pedal through hole for nested wheel (5), described pedal (1) is positioned at described pedal through hole and is provided with curved surface backplate
(2)。
4. according to a kind of single-wheel Segway Human Transporter described in claim 3, it is characterised in that: described buffer stopper (7) passes through screw
Fixing with pedal (1) and be connected, the top of buffer stopper (7) is provided with multiple fixing hole (10), described pedal (1) is provided with multiple
The installing hole (6) coordinated with multiple fixing holes (10) respectively, described screw through installing hole (6) and stretch to fixing hole (10) with
Buffer stopper (7) is fixing to be connected.
5. the using method utilizing single-wheel Segway Human Transporter as claimed in claim 4, it is characterised in that this using method
Comprise the following steps:
Step one, start running: both feet are also stepped down in two ends before and after pedal (1) by driver's power-on switch (4-5) respectively,
Pressure inductor (4-2) inductively measures driver's body weight, and when having sensed people, scooter starts running；
Step 2, control scooter transport condition, process is as follows:
Step 201, the both feet of driver step down in pedal (1) rear and front end respectively and drive scooter, when craspedodrome is given it the gun, drive
The person of sailing controls centre of body weight, makes forward lean, and driver's forward foot in a step active force is more than driver's rear foot active force, before pedal (1)
End, less than rear end, changes the angle of inclination of pedal (1), and accurate gyroscope (4-3) gathers the pose measuring scooter, by processing
Device (4-1) controls motor driver (4-4) and drives dual-axle motor (12) to accelerate, it is achieved scooter is kept straight on and given it the gun；
When craspedodrome Reduced Speed Now, driver controls centre of body weight, makes health hypsokinesis, and driver's rear foot active force is more than driver
Forward foot in a step active force, the front end of pedal (1) is higher than rear end, changes the angle of inclination of pedal (1), and accurate gyroscope (4-3) gathers surveys
The pose of amount scooter, controls motor driver (4-4) by processor (4-1) and drives dual-axle motor (12) to slow down, it is achieved be sliding
Wooden handcart craspedodrome Reduced Speed Now；
When at the uniform velocity travelling when keeping straight on, being arranged the threshold pressure difference at pedal (1) two ends by processor (4-1), driver attentions, and makes
In the range of front and back foot active force difference is maintained at threshold pressure difference, level before and after pedal (1), accurate gyroscope (4-3) gathers
Measure the pose of scooter, control motor driver (4-4) by processor (4-1) and drive dual-axle motor (12) rotating speed to fix,
Realize scooter craspedodrome at the uniform velocity to travel；
When turning left or right-hand rotation line feed is sailed, driver's pre-decelerating before turning position travels, and driver is at turning position
Place, driver's rear foot promotes to right front or left front, completes turning action, adjusts centre of body weight simultaneously, balanced pedal (1),
Control scooter driving stability；
Step 202, judge that road is the most smooth: driver artificially identifies road flatness, when road is smooth, circulation step
201；When road unevenness, perform step 203；
Step 203, judge uneven obstacle heightWhether set up and adjust driver's transport condition: slide plate garage
Sail on uneven road, when uneven obstacle height L meets:Time, driver is subtracted by scooter
Shake mechanism the most steadily buffers and circulation step 201；When uneven and uneven obstacle height L of road meets:Time, wheel (5) is stopped by barrier, and driver stands in and extrudes the spring in buffer stopper (7) on pedal (1)
(15), giving and stand in the driver's counteracting force on pedal (1) during spring (15) recovery deformation, driver is same with scooter
Shi Yueqi is by this barrier Posterior circle step 201, and wherein, R is the radius of wheel (5)；Otherwise, step 3 is performed；
Step 3, driver jump off scooter auxiliary slide car and break the barriers Posterior circle step 2；
Step 4, end travel: driver jumps off scooter, turns off the power switch (4-5).
6. according to the using method described in claim 5, it is characterised in that: full when uneven obstacle height L in step 203
Foot:Time, driver stands in the spring (15) extruding in buffer stopper (7) on pedal (1), pedal (1), slide block (13),
Seal extensible member (16) and the closing space that surrounds of Sealed Observation Window (9) by extruding air, make air in closing space from
Flowing out in air-vent (8), moment produces air resistance and driver produces downward steady buffering；The spring (15) being extruded exists
Give during recovery deformation and stand in the driver's counteracting force on pedal (1), pedal (1), slide block (13), sealing extensible member
(16) and the closing space that surrounds of Sealed Observation Window (9) is by sucking air, make the air in closing space from air-vent (8)
Flowing into, moment produces air resistance and driver produces steady buffering upwards.
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