CN107281739A - Wheel skidding device - Google Patents
Wheel skidding device Download PDFInfo
- Publication number
- CN107281739A CN107281739A CN201710625757.3A CN201710625757A CN107281739A CN 107281739 A CN107281739 A CN 107281739A CN 201710625757 A CN201710625757 A CN 201710625757A CN 107281739 A CN107281739 A CN 107281739A
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- Prior art keywords
- pedal
- earth element
- skidding device
- wheel skidding
- driving
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- 230000005540 biological transmission Effects 0.000 claims description 13
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 claims description 10
- 230000001681 protective effect Effects 0.000 claims description 7
- 230000008878 coupling Effects 0.000 claims description 5
- 238000010168 coupling process Methods 0.000 claims description 5
- 238000005859 coupling reaction Methods 0.000 claims description 5
- 238000004026 adhesive bonding Methods 0.000 claims description 4
- 238000005096 rolling process Methods 0.000 claims description 4
- 238000010586 diagram Methods 0.000 description 14
- ORQBXQOJMQIAOY-UHFFFAOYSA-N nobelium Chemical compound [No] ORQBXQOJMQIAOY-UHFFFAOYSA-N 0.000 description 10
- 210000002683 foot Anatomy 0.000 description 6
- 230000000694 effects Effects 0.000 description 2
- 230000005611 electricity Effects 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 238000000926 separation method Methods 0.000 description 2
- 208000027418 Wounds and injury Diseases 0.000 description 1
- 210000003423 ankle Anatomy 0.000 description 1
- 230000006378 damage Effects 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 208000014674 injury Diseases 0.000 description 1
- 230000003137 locomotive effect Effects 0.000 description 1
- 239000000203 mixture Substances 0.000 description 1
Classifications
-
- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63C—SKATES; SKIS; ROLLER SKATES; DESIGN OR LAYOUT OF COURTS, RINKS OR THE LIKE
- A63C17/00—Roller skates; Skate-boards
- A63C17/04—Roller skates; Skate-boards with wheels arranged otherwise than in two pairs
-
- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63C—SKATES; SKIS; ROLLER SKATES; DESIGN OR LAYOUT OF COURTS, RINKS OR THE LIKE
- A63C17/00—Roller skates; Skate-boards
- A63C17/0093—Mechanisms transforming leaning into steering through an inclined geometrical axis, e.g. truck
-
- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63C—SKATES; SKIS; ROLLER SKATES; DESIGN OR LAYOUT OF COURTS, RINKS OR THE LIKE
- A63C17/00—Roller skates; Skate-boards
- A63C17/01—Skateboards
- A63C17/011—Skateboards with steering mechanisms
- A63C17/012—Skateboards with steering mechanisms with a truck, i.e. with steering mechanism comprising an inclined geometrical axis to convert lateral tilting of the board in steering of the wheel axis
-
- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63C—SKATES; SKIS; ROLLER SKATES; DESIGN OR LAYOUT OF COURTS, RINKS OR THE LIKE
- A63C17/00—Roller skates; Skate-boards
- A63C17/01—Skateboards
- A63C17/014—Wheel arrangements
-
- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63C—SKATES; SKIS; ROLLER SKATES; DESIGN OR LAYOUT OF COURTS, RINKS OR THE LIKE
- A63C17/00—Roller skates; Skate-boards
- A63C17/22—Wheels for roller skates
-
- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63C—SKATES; SKIS; ROLLER SKATES; DESIGN OR LAYOUT OF COURTS, RINKS OR THE LIKE
- A63C17/00—Roller skates; Skate-boards
- A63C17/26—Roller skates; Skate-boards with special auxiliary arrangements, e.g. illuminating, marking, or push-off devices
Landscapes
- Footwear And Its Accessory, Manufacturing Method And Apparatuses (AREA)
- Mechanical Control Devices (AREA)
Abstract
The embodiment of the present invention provides a wheel skidding device, including：Pedal, main earth element, auxiliary earth element, driving element, the first controller, first sensor, pedal are coupled in main earth element, and main earth element is coupled to driving element, and the first controller is coupled to driving element and first sensor；Pedal is used to being applied to driver standing in single-point thereon, and for forward or being tilted backwards when single-point is stood；First sensor senses posture of the driver on pedal；Main earth element is used to act under the driving of driving element；Driving element is used to generate the action of control earth element and maintains wheel skidding device generally in the output signal of poised state；First controller is used for the generation according to gesture stability output signal；Institute's auxiliary earth element limits the inclined maximum angle of pedal for contact when being tilted according to pedal with ground.Caused physical fatigue is slided present invention, avoiding manpower driving realization, Consumer's Experience and security is improved.
Description
Technical field
The present embodiments relate to skidding or walking-replacing tool technical field, more particularly to a kind of wheel skidding device.
Background technology
Roller skate can be divided mainly into velocity profile, manipulation type as a kind of converter tools or walking-replacing tool, and still, this two
The structure type of class roller skate is basically identical, including shoe body and installed in the wheel carrier of sole and several rollers, different
It is the difference according to application target, quantity, size and the arrangement of roller have certain difference.It is by behaviour during use
The manpower driving of author is such as realized by pedaling slides, and is used for a long time or easy so as to have some limitations
Physical fatigue is caused, in addition, during sliding, balance will be kept in roller skate by standing, the requirement to operator is higher, from
And the Consumer's Experience for ultimately resulting in roller skate is poor；And the automatic speed-limiting of roller skate can not be realized.
The content of the invention
In view of this, one of technical problem that the embodiment of the present invention is solved is to provide a kind of wheel skidding device, to gram
Clothes alleviate above-mentioned technological deficiency in the prior art.
The embodiment of the present invention provides a kind of wheel skidding device, and it includes：
Pedal, main earth element, auxiliary earth element, driving element, the first controller, first sensor, wherein, it is described
Pedal is coupled in the main earth element, and the main earth element is coupled to the driving element, the first controller coupling
In the driving element and the first sensor；
The pedal is used to being applied to driver standing in single-point thereon, and for when single-point is stood forward or backward
Tilt；
Posture of the first sensor sensing driver on the pedal；
The main earth element is used to act under the driving of the driving element；
The driving element be used to generating the action of the control earth element and maintain the wheel skidding device generally in
The output signal of poised state；
First controller is used for the generation of the output signal according to the gesture stability；
The auxiliary earth element limits the pedal inclined for contact when being tilted according to the pedal with ground
Maximum angle.
In above technical scheme, the embodiment of the present invention, because the pedal is coupled in the main earth element, institute
State main earth element and be coupled to the driving element, first controller is coupled to the driving element and first sensing
Device；The pedal is used to being applied to driver standing in single-point thereon, and for forward or being tilted backwards when single-point is stood；
Posture of the first sensor sensing driver on the pedal；The main earth element is used in the driving element
Driving is lower to be acted；The driving element is used to generate the control earth element action and maintains the wheel skidding device integrally to locate
In the output signal of poised state；First controller is used for the generation of the output signal according to the gesture stability；Institute
The contact that auxiliary earth element is stated when being used to tilt according to the pedal with ground, limits the inclined maximum angle of pedal.
Because on the one hand wherein described output signal controls the action of the main earth element, on the other hand maintain the wheel skidding device whole
Body is in poised state, so that avoiding manpower driving realization slides caused physical fatigue.In addition, during sliding,
Due to that can maintain poised state, the operation skill to operator requires relatively low, so as to improve Consumer's Experience.In addition, described
Auxiliary earth element limits the inclined maximum angle of pedal for contact when being tilted according to the pedal with ground, with
Thresholding of the numerical value no more than setting of the output signal is controlled, so that the control to main earth element rotating speed is realized, so that it is right
The travel speed of wheel skidding device is limited, and finally improves the security of wheel skidding device.
Brief description of the drawings
In order to illustrate more clearly about the embodiment of the present invention or technical scheme of the prior art, below will be to embodiment or existing
There is the accompanying drawing used required in technology description to be briefly described, it should be apparent that, drawings in the following description are only this
Some embodiments described in inventive embodiments, for those of ordinary skill in the art, can also be obtained according to these accompanying drawings
Obtain other accompanying drawings.
Fig. 1 is the structure brief configuration schematic diagram of wearable wheel skidding device in the embodiment of the present application one；
Fig. 2 is the structure brief configuration schematic diagram of wearable wheel skidding device in the embodiment of the present application two；As schemed
Fig. 3 a, Fig. 3 b are one of structure brief configuration schematic diagram of wearable wheel skidding device in the embodiment of the present application three and it
Two；
Fig. 3 c are the schematic diagram of fixed pedestal in alternative the embodiment of the present application three；
Fig. 4 is the wearable wheel skidding device brief configuration schematic diagram in the embodiment of the present application four；
Fig. 5 is that wearable wheel skidding device implements structural representation in the embodiment of the present application five；
Fig. 6 is that wearable wheel skidding device implements structural representation in the embodiment of the present application six；
Fig. 7 a, Fig. 7 b are the two of one of the structural representation of wearable wheel skidding device in the embodiment of the present application seven sum；
Fig. 8 is the partial schematic diagram of wearable wheel skidding device in the embodiment of the present application eight；
Fig. 9 is the control principle schematic diagram of wearable wheel skidding device in the embodiment of the present application nine；
Figure 10 is the structural representation of setting auxiliary earth element in the embodiment of the present application ten.
Embodiment
Certainly, implementing any technical scheme of the embodiment of the present invention must be not necessarily required to while reaching all excellent of the above
Point.
In order that those skilled in the art more fully understand the technical scheme in the embodiment of the present invention, below in conjunction with the present invention
Accompanying drawing in embodiment, the technical scheme in the embodiment of the present invention is clearly and completely described, it is clear that described reality
It is only a part of embodiment of the embodiment of the present invention to apply example, rather than whole embodiments.Based on the implementation in the embodiment of the present invention
Example, the every other embodiment that those of ordinary skill in the art are obtained should all belong to the scope of protection of the embodiment of the present invention.
Further illustrate that the embodiment of the present invention is implemented with reference to accompanying drawing of the embodiment of the present invention.
In the embodiment of the present invention, because the pedal is coupled in the main earth element, the main earth element is coupled to
The driving element, first controller is coupled to the driving element and the first sensor；The pedal is used to fit
Stood for driver in single-point thereon, and for forward or being tilted backwards when single-point is stood；The first sensor sense
Answer posture of the driver on the pedal；The main earth element is used to act under the driving of the driving element；It is described
Driving element is used to generate the control earth element action and maintains the wheel skidding device generally in the defeated of poised state
Go out signal；First controller is used for the generation of the output signal according to the gesture stability；The auxiliary earth element
Contact during for being tilted according to the pedal with ground, limits the inclined maximum angle of pedal.Wherein, the output letter
Number one side controls the action of the main earth element, on the other hand maintains the wheel skidding device generally in poised state；Keep away
Exempt from manpower driving realization and slide caused physical fatigue.In addition, during sliding, due to poised state can be maintained,
Operation skill to operator requires relatively low, so as to improve Consumer's Experience.In addition, the auxiliary earth element is used for according to institute
The contact with ground when pedal is tilted is stated, the inclined maximum angle of pedal is limited, to control the numerical value of the output signal
No more than the thresholding of setting, so as to realize the control to main earth element rotating speed, and then the travel speed of wheel skidding device is carried out
Limitation, finally improves the security of wheel skidding device.
In the following embodiments of the embodiment of the present invention, the first sensor is specifically for sensing driver on the pedal
Posture and generate pitching sensed data, first controller specifically for according to the pitching sensed data determine described in step on
The current angle of pitch of plate.First controller is when controlling the output signal of the driving element, especially by the pedal
It is expected that the angle of pitch and the current angle of pitch control the output signal of the driving element, such as pass through the phase of the pedal
The differential seat angle hoped between the angle of pitch and the current angle of pitch.
It is following to realize that above-mentioned wheel skidding device is illustrative with specific roller skate form, however, it is desirable to explanation
It is that roller skate is not unique way of realization of wheel skidding device, above-mentioned wheel skidding device can also be made suitable for entering on hand
The product form that road wheel is slided, or, it is adaptable to disabled person carries out any products form of skidding.
Further, in following embodiments, the earth element is illustratively wheel, and the earth element drives described
Rolled under the driving of dynamic element.When subsequent control is turned to, control the rotating speed of wheel to generate for controlling what is turned to turn
Speed difference.
But, in other embodiments, actual thing can arbitrarily be formed with ground by being not limited to wheel or other
Manage the structure type of contact.If being such as applied to the scene such as skating or skiing, the earth element can also be similar flat
The structural member of tabular, the earth element enters line slip under the driving of the driving element.
Further, in following embodiments, the first sensor is specifically as follows gyroscope, still, is not limited to
Gyroscope, as long as posture of the driver on the pedal can be sensed and pitching sensed data is generated.Following embodiments
In, first sensor is not illustrated.
Further, in following embodiments, the driving element is specially motor, still, and portion is not limited as motor, only
The earth element can be driven to be acted, it is possible to achieve specific application scenarios.When the driving element is electricity
During machine, the output signal of the driving element is the output torque of the driving element.
Embodiment one (an independent grounding element)：
Fig. 1 is the structure brief configuration schematic diagram of wheel skidding device in the embodiment of the present application one；As shown in figure 1, with skidding
When this specific product form of footwear realizes wheel skidding device, roller skate specifically includes above-mentioned pedal 101, earth element 102, motor
(not shown in figure 1), the first controller (not shown in figure 1), the pedal 101, which is used to fit, to stand on one leg, the earth element
102 quantity is specially that one, i.e. driver only have a contact point by the roller skate and ground.Accordingly, it is described to drive
The quantity of dynamic element is one.
Specifically, the driving element can be directly embedded in the wheel hub of the earth element 102, so that skidding
It is more compact in footwear overall structure.
However, it is desirable to explanation, if do not consider or not emphasis consider the integrally-built compactedness of roller skate, the drive
Dynamic element can also be arranged in the wheel hub of the earth element 102 without embedded mode, such as by fixed seat or its
His similar structures are set directly at the lower position of pedal 101.
Embodiment two (two earth elements 102a and 102b closely setting)
Fig. 2 is the structure brief configuration schematic diagram of wheel skidding device in the embodiment of the present application two；As shown in Fig. 2 the present embodiment
In, and unlike above-described embodiment one, the quantity of the earth element is two, and respectively earth element 102a, 102b connects
Horizontal spacing between ground element 102a, 102b is smaller, so as to realize the position by the center of pedal 101 is positioned close to
Place, so that driver forms two contact points by the roller skate and ground, so as to reduce the difficulty that roller skate is used.
In the present embodiment, the power transmission shaft of the driving element laterally sets i.e. vertical with the direction that roller skate is advanced, described
The two ends of power transmission shaft set the earth element 102a and 102b respectively, and the driving element is embedded in the earth element 102
Wheel hub in, and be directly connected to by power transmission shaft with the earth element 102a, while with not being embedded with the driving element
Earth element 102b is coupled.In other words, the earth element 102a of the driving element is embedded with during roller skate is advanced
As driving wheel, and the earth element 102b of the driving element is not embedded with as driven pulley, the driven pulley is in the master
Rotated under the drive of driving wheel.
It should be noted that in other embodiments, one can also be respectively configured to described earth element 102a, 102b
Motor, so that the action of each earth element can be individually controlled.
Embodiment three (distantly located two earth elements 102a and 102b)
Fig. 3 a, Fig. 3 b are the two of one of the structure brief configuration schematic diagram of wheel skidding device in the embodiment of the present application three sum；Such as
Shown in Fig. 3 a, Fig. 3 b, in the present embodiment, from above-described embodiment and unlike, earth element 102a, 102b, which are separately positioned on, to be leaned on
At the position at the nearly left and right sides edge of pedal 101, i.e., the two contact point lateral separations formed with ground are larger, so as to enter
The difficulty that one step reduction roller skate is used.
Similar above-described embodiment two, earth element 102a, 102b share a motor, specifically by the biography of the driving element
Moving axis laterally sets i.e. vertical with the direction that roller skate is advanced, and the two ends of the power transmission shaft set the earth element respectively
102a, 102b, the driving element are embedded wherein described in one in earth element 102a wheel hub, and by power transmission shaft with it is described
Earth element 102a is directly connected to, while the earth element 102b couplings with not being embedded with the driving element.In other words, embed
There is the earth element 102a of the driving element during roller skate is advanced as driving wheel, and be not embedded with the driving
The earth element 102b of element is as driven pulley, and the driven pulley rotates under the drive of the driving wheel.
Alternately, in an other embodiment, the quantity of the driving element is two, earth element 102a, 102b
A driving element is respectively configured, so as to be grounded the independent control of element 102a, 102b rotating speed, is normally traveling across
Cheng Zhong, earth element 102a, 102b rotating speed is identical.
In above-described embodiment one to three, the axle center of the earth element is located at the lower position of pedal 101, and described connects
Ground element also integrally is located at the lower position of pedal 101.
As shown in figure Fig. 3 b, in addition to：Fixed pedestal 100a, described earth element 102a, 102b are coupling in the fixation
On pedestal 100a, the fixed pedestal 100a is fixed on the lower surface of the pedal 101., can be with a concrete application scene
102a, 102b and fixed pedestal 100a are become one by earth element, then fixed pedestal 100a is fixed on pedal 101
Lower surface.
, can also be with other arbitrary structures by described earth element 102a, 102b it should be noted that in his embodiment
It is eventually coupled on the pedal 101.Fig. 3 c are the schematic diagram of fixed pedestal in alternative the embodiment of the present application three；Such as Fig. 3 c institutes
Show, described earth point 102a, 102b are coupled to the lower surface of pedal by quick-disassembly structure 100b.
Example IV (distantly located two earth elements 102a and 102b)
From unlike above-described embodiment three, in following Fig. 4 embodiments, when including earth element 102a, 102b and phase
Lateral separation between mutually is larger, and earth element 102a, 102b axle center is located at the lower position of pedal 101, but part to
On protrude from the pedal 101.
The entirety of pedal 101 in above-described embodiment three is moved down, the wheel skidding device in example IV as shown in Figure 4 is obtained
Brief configuration schematic diagram.
Alternately, in an other embodiment, the quantity of the driving element is two, earth element 102a, 102b
A driving element is respectively configured, so as to be grounded the independent control of element 102a, 102b rotating speed, is normally traveling across
Cheng Zhong, earth element 102a, 102b rotating speed is identical.
It should be noted that in Fig. 1-Fig. 4 embodiments, due to view reason, only illustrating described earth element 102a, 102b
And other section components, all parts are not illustrated.
Fig. 5 is that wheel skidding device implements structural representation in the embodiment of the present application five；As shown in figure 5, being used as skidding
The roller skate of device includes an earth element 102, and the earth element 102 is located at the position at the center of pedal 101, and should
Motor is provided with the wheel hub of earth element 102.The power transmission shaft of motor is located in wheel hub, while power transmission shaft 103 leans on pars intermedia
Position is configured with clutch shaft bearing structure 104, and the bearing arrangement is coupled with earth element 102, so as to drive earth element 102 to rotate.
In addition, in figure 5 it is possible to setting a second bearing structure 105 respectively at the two ends of power transmission shaft, power transmission shaft is each
The bearing arrangement at end is coupled with pedal 101, so as to realize the lower position that motor, power transmission shaft are integrally provided in pedal 101.
Fig. 6 is that wheel skidding device implements structural representation in the embodiment of the present application six；As shown in fig. 6, being used as skidding
The roller skate of device is earth element 102a, 102b including two earth elements, and earth element 102a, 102b, which are separately positioned on, to be leaned on
At the position at the nearly left and right sides edge of pedal 101.Earth element 102a, 102b configure a motor, motor and biography
The set-up mode of moving axis is referred to above-mentioned embodiment illustrated in fig. 5.
From unlike above-mentioned Fig. 1-Fig. 4 embodiments, in Fig. 5, Fig. 6 embodiment, pedal 101 not be rectangle, but
Its two ends has circular arc.
Fig. 7 a, Fig. 7 b are the two of one of the structural representation of wheel skidding device in the embodiment of the present application seven sum；Referring to Fig. 7 a, figure
7b, on the basis of above-mentioned Fig. 1 embodiments, adds constraint unit 108, the constraint unit is arranged on the pedal, Gu
Surely individual foot position or the foot upper position of the wheel skidding device are used.Alternatively, it is described constraint unit be with
Thread gluing or the structure of locking buckle, the driving using the wheel skidding device is fixed by the thread gluing or the locking buckle
The foot position of person or foot upper position, prevent driver from falling from roller skate.Foot position is such as instep position,
Foot upper position is such as ankle or shank.
Further, in the present embodiment, wheel skidding device also includes：Protective cover 109, the protective cover is stepped on standing described
The heel contact of single pin on plate 101 during skidding to make single pin be stabilized on the pedal 101.Protective cover it is specific
Shape can be arc, so as to be brought into close contact with heel, there is provided stable supporting role.
In the present embodiment, provided by fettering unit and protective cover to the pin of driver in rear position and anterior position
Firm effect, so that it is dangerous to effectively prevent tumble injury caused by driver falls during skidding from roller skate.
Further, in the present embodiment, alternatively, in any embodiment of the application, in addition to：Battery compartment 106, institute
State and battery pack 107 be provided with battery compartment 106, the battery pack 107 to the driving element and other need the knot of electricity consumption
Structure or circuit are powered.Specifically, the pedal 101, which has in hollow cavity, the hollow cavity, sets the battery compartment 106.
Fig. 8 is the partial schematic diagram of wheel skidding device in the embodiment of the present application eight；In the present embodiment, in the wheel as roller skate
The rear position of sliding device is provided with battery pack 107, and specifically, such as battery compartment is arranged in the hollow cavity of protective cover 109,
Battery pack 107 is arranged in the battery compartment.
It should be noted that in an other embodiment, and unlike above-mentioned Fig. 8, but by driver by battery
Group 107 backs on the body, then passes through the power circuit or element in external power line and roller skate such as the first controller, motor
Connection.
Fig. 9 is the control principle schematic diagram of wheel skidding device in the embodiment of the present application nine；As shown in figure 9, when the pedal to
Preceding or when tilting backwards, first controller is used for expectation pitching angle theta * and the current angle of pitch according to the pedal
Differential seat angle generation between θ drives electric signal to control the output torque size of the driving element.Specifically, stepped on according to described
Differential seat angle θ between the current rate of pitch ω and expectation pitching angle theta * and current pitching angle theta of plateerrorGeneration driving telecommunications
Number to control the output torque size of the driving element.In the present embodiment, driving electric signal is such as driving voltage.First control
Device (also referred to as balance controller) processed is such as PID controller.
Specifically, wheel skidding device can also include second controller (also referred to as speed control), second control
Device is used for：According to the current rotating speed V and the maximum (top) speed V of setting of the driving element*Determine the expectation pitching angle theta *.This
In embodiment, second controller is such as also PID controller.
Further, judge whether the current rotating speed V of the driving element exceedes the maximum (top) speed V of setting*If surpassed
Cross, show that wheel skidding device will enter overspeed condition, the expectation pitching angle theta * of a setting nonzero size is exported for this, it is and current
Pitching angle theta calculates and obtains above-mentioned differential seat angle θerror, the first controller is according to differential seat angle θerrorGeneration drives electric signal to control
The output torque of the driving element simultaneously finally causes the pedal towards the direction inclination in contrast to direct of travel, so as to limit
The upper limit of the travel speed of the wheel skidding device not over travel speed.If not less than, it is 0 to expect pitching angle theta *, then
According to the differential seat angle θerror, the first controller is according to differential seat angle θerrorGeneration drives electric signal to control the driving member
The output torque of part simultaneously finally causes the pedal to be dynamically in horizontality.
Specifically, wheel skidding device can also include second sensor, and the second sensor senses the driving element
Current rotating speed.
In addition, it is necessary to which explanation, in some concrete application scenes, can not also consider in generation driving electric signal
Current rate of pitch.
In addition, it is necessary to explanation, in some concrete application scenes, it is determined that it is described expectation the angle of pitch when can not also
Second controller is configured, but is multiplexed the first controller.I.e. the first controller can be used for according to the current of the driving element
The rotating speed V and maximum (top) speed V of setting*The expectation pitching angle theta * is determined, can be also used for being bowed according to the expectation of the pedal
Differential seat angle generation between elevation angle theta * and current pitching angle theta drives electric signal to control the output torque of the driving element big
It is small.
In addition, it is necessary to explanation, the output signal of driving element can also other forms, output torque is in the present embodiment
In simply illustrate.
In an other concrete application scene, if being configured with second controller, the second controller can also be multiplexed with
First controller.I.e. second controller can be used for the current rotating speed V and the maximum (top) speed of setting according to the driving element
V*The expectation pitching angle theta * is determined, be can be also used between expectation pitching angle theta * and current pitching angle theta according to the pedal
Differential seat angle generation driving electric signal to control the output torque size of the driving element.
It should be noted that not illustrating auxiliary earth element in above-mentioned Fig. 1-Fig. 8.
Figure 10 is the structural representation of setting auxiliary earth element in the embodiment of the present application ten；As shown in Figure 10, above-mentioned
The front and back of pedal 101 set auxiliary earth element 110a, a 110b respectively on the basis of Fig. 1, respectively to leaning forward and hypsokinesis
Maximum angle limited.
In the present embodiment, specifically, fixed block 111 can be set below pedal 101, auxiliary earth element 110a or
110b is fixed on fixed block 111.
It should be noted that can also reference picture 10, the increasing on the basis of except other wheel skidding device embodiments shown in Fig. 1
Plus auxiliary earth element.
In addition, the quantity of auxiliary earth element is not limited, such as only set in application scenes in front of pedal
Auxiliary earth element is put, or, auxiliary earth element only is set at pedal rear.
In addition, the auxiliary earth number of elements for being arranged on front or behind is not also limited, it is one that can set multiple
Group.
The rolling circumference of the main earth element is more than the rolling circumference of the auxiliary earth element.
In the present embodiment, the auxiliary earth element is arranged on the front of the main earth element, when the pedal forward
Contacted during inclination with ground, limit the maximum angle that the pedal leans forward, be no more than and set with the numerical value for controlling the output signal
The first fixed thresholding.The auxiliary earth element is integrally located at below the pedal.Specifically, the pedal lower surface is provided with
Front fork structure, the auxiliary earth unit is arranged on below the pedal by the front fork structure.
In the present embodiment, the auxiliary earth element is arranged on the rear of the main earth element, when the pedal backward
Contacted during inclination with ground, limit the maximum angle of the pedal hypsokinesis, be no more than and set with the numerical value for controlling the output signal
The second fixed thresholding.The auxiliary earth element is integrally located at below the pedal.Specifically, the pedal lower surface is provided with
Back fork structure, the auxiliary earth unit is arranged on below the pedal by the back fork structure.
In addition, it is necessary to explanation, auxiliary earth element is except that can show that the inclined maximum angle of pedal plays speed limit
Effect, can also play a part of assistant sliding.
It should be noted that in above-described embodiment, wheel skidding device may operate in the driven by power state of motor, can also
Work in manpower driving condition.
In the above-described embodiments, driving element is except can be with wheel hub motor, or high-speed electric expreess locomotive.
In the disclosure, statement " including (include) " or " may include (may include) " refers to corresponding function, behaviour
The presence of work or element, without limiting one or more additional functions, operation or element.In the disclosure, such as " including
" and/or the term of " have (have) " can be regarded as representing some characteristics, numeral, step, operation, composition member (include)
Part, element or its combination, and be not to be construed as excluding one or more of the other characteristic, numeral, step, operation, element, member
Part or its combination there is a possibility that or additional.
In the disclosure, statement " A or B ", " in A or/and B at least one " or " A or/and B one or more "
It may include all possible combination of Listed Items." A or B ", " in A and B at least one " or " in A or B for example, statement
At least one " it may include：(1) at least one A, (2) at least one B, or (3) at least one A and at least one B.
Statement " first ", " second " used in the various embodiments of the disclosure, " described the first " or " described
Two " can modify various parts and unrelated with order and/or importance, but these statements do not limit corresponding component.It is presented above
The purpose for only distinguishing element and other elements.For example, the first user equipment and second user equipment represent different users
Equipment, although both of which is user equipment.For example, on the premise of without departing substantially from the scope of the present disclosure, the first element can be referred to as
Two element, similarly, the second element can be referred to as the first element.
When an element (for example, first element) is referred to as with another element (for example, second element) " (operationally or can
Communicatedly) connection " or " (operationally or communicably) is attached to " another element (for example, second element) or " being connected to " are another
During one element (for example, second element), it is thus understood that an element is connected directly to another element or an element
Another element is indirectly connected to via another element (for example, third element).Conversely, it is appreciated that when element (for example,
First element) referred to as " be directly connected to " or during " directly connection " to another element (the second element), then without element (for example, the
Three elements) it is inserted between both.
Statement " being used for " can alternatively be used with following statement as used in this article：" being suitable for ", " have ...
Ability ", " being designed as ", " being suitable to ", " being fabricated to " or " can ".Term " being used for " need not can be meant in hardware " special design
For ".Alternately, in some cases, statement " equipment being used for ... " can mean the equipment together with miscellaneous equipment or part
" can ... "." it is suitable to the processor that (or for) performs A, B and C " for example, phrase and can mean only perform the special of corresponding operating
Processor (for example, embeded processor) may be implemented within the execution of one or more of storage device software program
The general processor (for example, central processing unit (CPU) or application processor (AP)) of corresponding operating.
Device embodiment described above is only schematical, wherein the module illustrated as separating component can
To be or may not be physically separate, the part shown as module can be or may not be physics mould
Block, you can with positioned at a place, or can also be distributed on multiple mixed-media network modules mixed-medias.It can be selected according to the actual needs
In some or all of module realize the purpose of this embodiment scheme.Those of ordinary skill in the art are not paying creativeness
Work in the case of, you can to understand and implement.
Claims (24)
1. a kind of wheel skidding device, it is characterised in that including：Pedal, main earth element, auxiliary earth element, driving element, first
Controller, first sensor, wherein, the pedal is coupled in the main earth element, and the main earth element is coupled to described
Driving element, first controller is coupled to the driving element and the first sensor；
The pedal is used to being applied to driver standing in single-point thereon, and for forward or being retreated when single-point is stood
Tiltedly；
The first sensor is used to sense posture of the driver on the pedal；
The main earth element is used to act under the driving of the driving element；
The driving element is used to generate the control earth element action and maintains the wheel skidding device generally in balance
The output signal of state；
First controller is used for the generation of the output signal according to the gesture stability；
The auxiliary earth element limits the inclined maximum of pedal for contact when being tilted according to the pedal with ground
Angle.
2. wheel skidding device according to claim 1, it is characterised in that the rolling circumference of the main earth element is more than described
The rolling circumference of auxiliary earth element.
3. wheel skidding device according to claim 1, it is characterised in that the auxiliary earth element is arranged on the main ground connection
The front of element, maximum angle that the pedal leans forward is limited to control for being contacted when the pedal turns forward with ground
First thresholding of the numerical value of the output signal no more than setting.
4. wheel skidding device according to claim 3, it is characterised in that the auxiliary earth element is integrally located at the pedal
Lower section.
5. wheel skidding device according to claim 3, it is characterised in that the pedal lower surface is provided with front fork structure, institute
Auxiliary earth unit is stated to be arranged on below the pedal by the front fork structure.
6. wheel skidding device according to claim 1, it is characterised in that the auxiliary earth element is arranged on the main ground connection
The rear of element, the maximum angle of the pedal hypsokinesis is limited for being contacted when the pedal is tilted backwards with ground, to control
Make second thresholding of the numerical value no more than setting of the output signal.
7. wheel skidding device according to claim 6, it is characterised in that the auxiliary earth element is integrally located at the pedal
Lower section.
8. wheel skidding device according to claim 6, it is characterised in that the pedal lower surface is provided with back fork structure, institute
Auxiliary earth unit is stated to be arranged on below the pedal by the back fork structure.
9. wheel skidding device according to claim 1, it is characterised in that the quantity of the main earth element is one, correspondence
Ground, the quantity of the driving element is one.
10. wheel skidding device according to claim 1, it is characterised in that the quantity of the main earth element is two, and institute
The quantity for stating driving element is one, and the driving element is connected with two main earth elements.
11. wheel skidding device according to claim 1, it is characterised in that the quantity of the main earth element is two, and institute
The quantity for stating driving element is two, and each main earth element configures a driving element.
12. the wheel skidding device according to claim 9 or 10 or 11, it is characterised in that the axle center position of the main earth element
In the pedal lower position and the main earth element is integrally located at the pedal lower position.
13. the wheel skidding device according to claim 9 or 10 or 11, it is characterised in that the axle center position of the main earth element
Projected upwards in the pedal lower position and the main earth element part in the pedal.
14. wheel skidding device according to claim 10, it is characterised in that the main earth element is wheel, the driving
The power transmission shaft of element is laterally set, and the two ends of the power transmission shaft set a main earth element respectively, and the driving element is embedded
Wherein described in one in the wheel hub of main earth element, and it is straight by power transmission shaft and the main earth element that is embedded with the driving element
Connect in succession, while the main earth element coupling with not being embedded with the driving element.
15. the wheel skidding device according to claim 10 or 11, it is characterised in that two main earth elements are set respectively
At the position at close pedal left and right sides edge, or it is positioned close at the position of the pedal centre.
16. wheel skidding device according to claim 1, it is characterised in that also include：Set in battery compartment, the battery compartment
There is battery pack, the battery pack is powered to the driving element.
17. wheel skidding device according to claim 16, it is characterised in that the battery compartment is arranged under the pedal
Side.
18. according to the wheel skidding device described in claim 1-17, it is characterised in that also include：Fetter unit, the constraint list
Member is arranged on the pedal, the foot position of the fixed driver using the wheel skidding device or foot upper position.
19. wheel skidding device according to claim 18, it is characterised in that the constraint unit is with thread gluing or locking
The structure of buckle, the foot position of the driver using the wheel skidding device is fixed by the thread gluing or the locking buckle
Or foot upper position.
20. wheel skidding device according to claim 19, it is characterised in that also include：Protective cover, the protective cover is with standing
The heel contact of single pin on the pedal during skidding to make single pin be stabilized on the pedal.
21. the wheel skidding device according to claim 1-20, it is characterised in that also include：Fixed pedestal, the main ground connection member
Part is coupling on the fixed pedestal, and the fixed pedestal is fixed on the lower surface of the pedal.
22. wheel skidding device according to claim 1, it is characterised in that also include：Second controller, second control
Device is used to determine the expectation angle of pitch according to the current rotating speed of the driving element and the maximum (top) speed of setting.
23. wheel skidding device according to claim 22, it is characterised in that first controller is further used for when described
Pedal is forward or when tilting backwards, according to the expectation angle of pitch of the current rate of pitch of the pedal and the pedal with
Differential seat angle generation between the current angle of pitch drives electric signal to control the output signal size of the driving element.
24. wheel skidding device according to claim 22, it is characterised in that also include：Second sensor, second sensing
Device senses the current rotating speed of the driving element.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710625757.3A CN107281739A (en) | 2017-07-27 | 2017-07-27 | Wheel skidding device |
| PCT/CN2017/095720 WO2019019209A1 (en) | 2017-07-27 | 2017-08-02 | Roller skating device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710625757.3A CN107281739A (en) | 2017-07-27 | 2017-07-27 | Wheel skidding device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107281739A true CN107281739A (en) | 2017-10-24 |
Family
ID=60102281
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710625757.3A Pending CN107281739A (en) | 2017-07-27 | 2017-07-27 | Wheel skidding device |
Country Status (2)
| Country | Link |
|---|---|
| CN (1) | CN107281739A (en) |
| WO (1) | WO2019019209A1 (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2019019210A1 (en) * | 2017-07-27 | 2019-01-31 | 纳恩博（北京）科技有限公司 | Roller skating device, roller skating system, and steering control method |
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Also Published As
| Publication number | Publication date |
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| WO2019019209A1 (en) | 2019-01-31 |
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