KR101860366B1 - Riding device - Google Patents

Abstract

A boarding device according to an aspect of the present invention includes a wheel module including at least one wheel, a boarding module for determining the direction and direction of rotation of the wheel according to a change in inclination, A sub-drive module for supporting the boarding module to prevent the boarding module from falling down, and an auxiliary drive module for transmitting the auxiliary rotation force to the wheel in a state where the wheel is about to stop and stopping the wheel after a predetermined rotation Wherein the auxiliary wheel module prevents the board module from falling down and the auxiliary drive module prevents the speed of the auxiliary wheel module from being reduced in a situation where the wheels are about to stop.

Description

{Riding device}

The present invention relates to a boarding device.

 The Segway is a single-person movement released by US inventor Dean Kamen in 2001 and is a scooter-like device that automatically centers, moves forward, reverses and rotates with body movement . The Segway is equipped with two wheels mounted on the left and right, and the user moves the digital key in that direction by tilting the body in a desired direction after climbing on the footboard. And stopping is done by tilting the body backward without any brake. It uses electric power, and the microprocessor controls the gyroscope and the wheels, and can speed up speeds up to 19 kilometers (12 miles) per hour.

More specifically, for the operation of the Segway, five gyro sensors and two acceleration sensors sense the tilt and acceleration. The control of the Segway according to the sensing uses the principle of the inverted pendulum control. An inverted pendulum refers to a pendulum above the center of gravity, and the Segway accelerates or stops with the same principle of balancing these weights. Recently, the development of devices such as Segway has been developed in Korea due to the increase of interest in environmental problems due to the use of fossil fuels and development of low-emission energy technology. Also, in order to solve the unstable elements of the dual- Development is underway.

However, a conventional boarding device such as a Segway is basically prevented from falling down while balancing the center of gravity. If the power of the boarding device is suddenly turned off, such a balance may collapse and the passenger may be injured.

SUMMARY OF THE INVENTION [0006] In order to solve the above-described problems, the present invention is intended to provide a boarding device capable of preventing a passenger from falling down even if the power is suddenly turned off.

A boarding device according to an aspect of the present invention includes a wheel module including at least one wheel, a boarding module for determining the direction and direction of rotation of the wheel according to a change in inclination, A sub-drive module for supporting the boarding module to prevent the boarding module from falling down, and an auxiliary drive module for transmitting the auxiliary rotation force to the wheel in a state where the wheel is about to stop and stopping the wheel after a predetermined rotation have.

According to an exemplary embodiment, a situation in which the wheel is about to be stopped can be generated by turning off the power of the boarding module when the boarding vehicle goes up a slope exceeding a predetermined angle.

According to an exemplary embodiment of the present invention, the auxiliary wheel module includes a main wheel unit, and an electromagnet unit magnetically coupled to the auxiliary wheel unit by receiving power from the boarding module and magnetically coupled to the auxiliary wheel unit. When the power of the boarding module is turned off, The magnetic coupling between the electromagnet part and the auxiliary wheel part is released and the auxiliary wheel part can be moved to support the boarding module.

According to an exemplary embodiment, the auxiliary wheel module further includes an elastic portion elastically coupled to the auxiliary wheel portion. The elastic force of the elastic portion is weaker than the magnetic force of the electromagnetic portion. When the power of the boarding module is turned off, The magnetic coupling of the auxiliary wheel portion and the auxiliary wheel portion is released and the auxiliary wheel portion is moved by the elasticity of the elastic portion to support the boarding module.

According to an exemplary embodiment, the auxiliary wheel module may further include a pushing portion for applying a pushing force to the auxiliary drive module when the boarding module is powered off.

According to the exemplary embodiment, when the power of the boarding module is turned off and the auxiliary wheels are moved, the pressing unit can apply a pushing force to the auxiliary driving module in conjunction with the pressing.

According to an exemplary embodiment, the auxiliary drive module includes a first shaft portion, and a clutch portion that receives a rotational force from the wheel and transmits the rotational force to the first shaft portion, wherein the clutch portion is in a state that the power of the boarding module is turned on Only the rotational force of the wheel in the first direction and the second direction may be transmitted to the first shaft portion so that the auxiliary torque may be stored in the first shaft portion.

According to an exemplary embodiment, when the power of the boarding module is turned off, the clutch portion and the first shaft portion are axially coupled to transmit the auxiliary torque stored in the first shaft portion to the wheel through the clutch portion.

According to an exemplary embodiment of the present invention, the clutch unit includes: a pulley that receives a rotational force from the wheel; a one-way clutch that receives a rotational force from the pulley and transmits the rotational force to the first shaft; And a second shaft rotated in the same direction.

According to an exemplary embodiment, when the power of the boarding module is turned off, the second shaft is moved and axially coupled to the first shaft portion, and the second shaft, to which the auxiliary torque stored in the first shaft portion is shaft- And can be transmitted to the wheel through a pulley.

According to an exemplary embodiment, the auxiliary wheel module may include a pressing portion for pushing the second shaft when the power of the boarding module is turned off so that the second shaft is axially coupled with the first shaft portion.

According to an exemplary embodiment, the first shaft portion may include a first shaft rotatably receiving a rotational force from the clutch portion, and a second shaft coupled to the first shaft and rotated together with the first shaft portion, May include a large flywheel.

The features and advantages of the present invention will become more apparent from the following detailed description based on the accompanying drawings.

Prior to this, terms and words used in the present specification and claims should not be construed in a conventional and dictionary sense, and the inventor may appropriately define the concept of a term in order to best describe its invention The present invention should be construed in accordance with the spirit and scope of the present invention.

The present invention provides a boarding vehicle according to the present invention which prevents the auxiliary wheel module from falling down and prevents the auxiliary drive module from reducing the speed of the vehicle when the power of the boarding module is turned off and the wheels suddenly stop. As a result, it is possible to prevent the injured occupant and the breakdown of the boarding device.

BRIEF DESCRIPTION OF THE DRAWINGS A brief description of each drawing is provided to more fully understand the drawings recited in the description of the invention.
1 is a perspective view of a boarding vehicle according to an embodiment of the present invention.
Fig. 2 and Fig. 3 are perspective views of the auxiliary wheel module of the boarding vehicle shown in Fig. 1. Fig.
Figs. 4 and 5 are schematic side views of the auxiliary wheel module and the auxiliary drive module of the boarding vehicle shown in Fig. 1. Fig.

BRIEF DESCRIPTION OF THE DRAWINGS The present invention is capable of various modifications and various embodiments, and specific embodiments are illustrated in the drawings and described in detail in the detailed description. It is to be understood, however, that the invention is not to be limited to the specific embodiments, but includes all modifications, equivalents, and alternatives falling within the spirit and scope of the invention. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, the present invention will be described in detail with reference to the accompanying drawings.

The terms first, second, etc. may be used to describe various components, but the components should not be limited by the terms. The terms are used only for the purpose of distinguishing one component from another.

The terminology used in this application is used only to describe a specific embodiment and is not intended to limit the invention. The singular expressions include plural expressions unless the context clearly dictates otherwise. In the present application, the terms "comprises" or "having" and the like are used to specify that there is a feature, a number, a step, an operation, an element, a component or a combination thereof described in the specification, But do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, or combinations thereof. Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings.

1 is a perspective view of a boarding vehicle 100 according to an embodiment of the present invention. Hereinafter, the boarding vehicle 100 according to the present embodiment will be described with reference to the drawings. 1, the boarding vehicle 100 according to the present embodiment includes a wheel module 110 including at least one wheel 111, a boarding module 120 on which a passenger boarding board, a wheel 111, The auxiliary wheel module 130 for supporting the boarding module 120 and the auxiliary driving module 140 for transmitting the auxiliary rotational force to the wheel 111 when the wheel is about to stop.

The wheel module 110 is a member for moving the boarding module 120 and the occupant boarded thereon.

At least one wheel 111 included in the wheel module 110 is satisfactory. For example, if the wheel 111 has one wheel 111, It is possible to arrange them on both sides to further improve the stability.

The wheel 111 may be rotated in the forward direction or in the reverse direction under the control of the boarding module 120. For example, the rotational speed of the left wheel 111 may be faster than the rotational speed of the right wheel 111, so that the vehicle 100 may not be rotated at the same rotational speed, May be turned to the left.

The boarding module 120 is a member that becomes the main body of the boarding vehicle 100 according to the present embodiment and can determine the turning direction and the direction of the wheel 111 according to a change in the tilt.

The boarding module 120 includes a body 121, a foot 122, a support 123, a sensing unit (not shown), a driving unit (not shown), and a battery unit (not shown) can do. At this time, the feet of the passenger may be positioned on the foot part 122 positioned on the upper surface of the main body part 121, and the foot part 122 may be divided into a seat part and a right part so that the left and right feet of the passenger can be respectively positioned. In addition, the support part 123 can facilitate the balance of the occupant on the boarding module 120. The occupant can easily grip the boarding module 120 by holding the knob 123a of the support part 123, You can balance it.

The sensing unit may include a plurality of gyro sensors and an acceleration sensor, for example, to sense the tilt and acceleration of the boarding module 120 while being positioned inside the main body 121. In this case, the gyro sensor may be basically configured to detect four slopes of the front, back, left, and right, respectively, and may additionally include one additional sensor for error correction. Accordingly, when the center of gravity of the occupant changes, the slope of the boarding module 120 changes, and the sensing unit can sense the inclination of the boarding module 120 at this time.

The driving unit is a member for driving the wheel module 110, and at least a part of the driving unit is located inside the main body 121 and can exchange electric signals directly with the sensing unit or can transmit and receive electrical signals through a separate control unit. In this case, if the sensing unit senses the inclination of the boarding module 120, the driving unit can be driven. For example, if the occupant tilts forward and the front side of the boarding module 120 is inclined downward, So that the board 111 can be rotated in the forward direction so that the boarding module 120 advances forward. If the occupant is tilted backward and the rear of the boarding module 120 is inclined downward, the sensing unit senses it and transmits it to the driving unit to stop the wheel 111 so that the boarding module 120 stops . In addition, if the occupant tilts the body further backward and the rear side of the boarding module 120 is tilted further downward, the sensing unit senses it and transmits it to the driving unit so that the boarding module 120 is moved in the reverse direction . At this time, the power source of the driving unit and the sensing unit may be a battery unit located inside the main body 121.

On the other hand, the boarding module 120 according to the present embodiment can also be turned right or left. For example, when there are two wheels 111, the driving unit may include a first driving unit for driving the left wheel 111 and a second driving unit for driving the right wheel 111. The first driving unit and the second driving unit The rotational speeds of the two wheels 111 can be made different from each other and the boarding apparatus 100 can be rotated (turned) in the direction of the wheel 111 having a slow rotational speed. At this time, the orientation of the boarding module 120 can be implemented by, for example, detecting the sensing unit when the passenger rotates or tilts the support unit 123 left and right.

On the other hand, the boarding vehicle 100 according to the present embodiment can move forward and backward by sufficiently driving force of the driving portion even when the inclined surface having a predetermined inclination angle is raised or lowered. However, if the boarding vehicle 100 is out of a predetermined angle of inclination, for example, if the inclined plane having an inclination angle of more than 15 degrees is raised, the driving unit may become unreachable. In this case, the power of the boarding module 120 may be turned off to protect the components in the boarding module 120, such as the driving unit. However, the boarding vehicle 100 uses a control system that basically measures the change of the center of gravity of the passenger or the gradient of the boarding module 120 in real time so that the boarding module 120 can maintain the balance without falling have. Accordingly, when the power of the boarding module 120 suddenly turns off, the wheel 111 suddenly stops and the boarding apparatus 100 may fall down. Specifically, if the power of the boarding module 120 is suddenly turned off when the inclined plane is tilted so that the wheel 111 of the wheel module 110 is stopped, the passenger is tilted toward the front of the boarding vehicle 100 due to inertia, 100) may fall backward due to a sharp decrease in the inclination. Accordingly, the passenger may be injured, and the boarding apparatus 100 may fall over and cause a trouble. In order to solve this problem, it is necessary to prevent the speed of the boarding vehicle 100 from being reduced so that the passenger does not move forward due to inertia, and the boarding device 100 should be prevented from slipping down the slope of the boarding vehicle 100 .

In order to solve this problem, the present invention utilizes the auxiliary wheel module 130 as a means for solving the slope slip and can use the auxiliary drive module 140 as means for solving the rapid decrease in speed.

2 and 3 are perspective views of the auxiliary wheel module 130 of the boarding vehicle 100 shown in FIG. Hereinafter, the auxiliary wheel module 130 of the boarding vehicle 100 according to the present embodiment will be described with reference to FIG. 2 and 3, the auxiliary wheel module 130 supports the boarding module 120 when the boarding module 120 is powered off and the wheels 111 are about to stop suddenly, In order to solve the slope of the slope.

Here, the auxiliary wheel module 130 may include the auxiliary wheel portion 131 and the electromagnet portion 132 as an exemplary embodiment. The electromagnetic portion 132 may receive magnetism by receiving power from the boarding module 120. When the power of the boarding module 120 is turned off, the magnetism of the electromagnetic portion 132 may be lost. 2, the auxiliary wheel part 131 may be magnetically coupled to the electromagnet part 132 by the magnetism of the electromagnet part 132 when the power of the boarding module 120 is turned on, At this time, the auxiliary wheel 131 may not support the boarding module 120. 3, when the boarding device 100 rises above a predetermined angle and the power of the boarding module 120 is turned off, the magnetism of the armature 132 disappears, and the auxiliary wheel 131 and the armature 132, (132) can also be released. In addition, as the magnetic coupling is released, the auxiliary wheel part 131 can be moved (including the rotation) in the ground direction (vertical direction) by its own weight after horizontally moving in the direction away from the electromagnetic part 132, So that the unit 131 can support the boarding module 120. At this time, since the auxiliary wheel 131a is attached to the auxiliary wheel 131, the auxiliary wheel 131 supports the boarding module 120 and the auxiliary wheel 131a rolls even when the boarding module 120 moves forward. And may not interfere with the progress of the module 120.

At this time, the elastic portion 133 may be further included in the auxiliary wheel module 130 so that the auxiliary wheel portion 131 moves more quickly and supports the boarding module 120. At this time, the elastic portion 133 can apply an elastic force to move the auxiliary wheel portion 131 in the direction adjacent to the ground. In a state where the power of the boarding module 120 is turned on, the elastic force of the elastic portion 133, The magnetic coupling between the weak electromagnetic part 132 and the auxiliary wheel part 131 can be maintained compared with the magnetic force of the auxiliary wheel part 132. When the power of the boarding module 120 is turned off, however, the magnetic coupling between the auxiliary wheel 131 and the electromagnet 132 is released, and the auxiliary wheel 131 is rotated faster by the elastic force of the elastic portion 133 So that the boarding module 120 can be supported. Accordingly, the boarding module 120 can be supported so as not to fall over, thereby preventing the breakage of the boarding vehicle 100 or the injury of the occupant.

Meanwhile, the auxiliary wheel module 130 according to the present embodiment may further include a pressing portion 134. The pressing portion 134 is a member for moving the second shaft portion 142a of the auxiliary driving module 140 by applying a pushing force toward the outer direction of the auxiliary wheel module 130. Referring to FIGS. Let's take a closer look.

4 and 5 are schematic side views of the auxiliary wheel module 130 and the auxiliary drive module 140 of the boarding vehicle 100 shown in FIG. Hereinafter, the pressing portion 134 and the auxiliary driving module 140 of the auxiliary wheel module 130 according to the present embodiment will be described with reference to the drawings.

The pressing portion 134 of the auxiliary wheel module 130 according to the present embodiment may be constituted by, for example, a string 134a and a pressing piece 134b. 4, when the power of the boarding module 120 is turned on, the magnetic coupling between the electromagnet part 132 and the auxiliary wheel part 131 is maintained so that the line 134a maintains a straight line, When the power of the boarding module 120 is turned off and the magnetic coupling between the electromagnet part 132 and the auxiliary wheel part 131 is released, the auxiliary wheel part 131 is moved to the auxiliary wheel part 131, A part of the pushing pieces 134a is pressed and the pushing piece 134a is pulled so that the pushing piece 134b can move (rotate) and further protrude toward the outside. The pressing portion 134b is moved so that the end portion presses the second shaft 142a of the auxiliary driving module 140 so that the second shaft 142a can be moved in the direction adjacent to the first shaft portion 141 have.

Meanwhile, the auxiliary drive module 140 may include a first shaft portion 141, and a clutch portion 142. At this time, the clutch portion 142 may include a second shaft 142a, a pulley 142b, and a one-way clutch 142a. When the power of the boarding module 120 is turned on And the pulley 142b can receive the rotational force from the wheel 111 through the belt 130. [ The rotational force of the wheel 111 transmitted to the pulley 142b may be transmitted to the first shaft portion 141 through the one-way clutch 142c and the second shaft 142a may be transmitted to the pulley 142c And can be rotated. At this time, the one-way clutch 142c is a member that transmits only the rotational force in one direction. For example, only the forward rotational force of the wheel 111 is transmitted to the first shaft portion 141 And the reverse rotational force of the wheel 111 may not be transmitted to the first shaft portion 141. [ Accordingly, only the auxiliary rotational force corresponding to the forward rotational force of the wheel 111 is stored in the first shaft portion 141, so that the stored rotational force (auxiliary rotational force) can be maintained without being lost even if the wheel 111 is rotated in the reverse direction. In addition, the one-way clutch 142c may not be capable of transmitting an auxiliary torque corresponding to the rotation of the first shaft portion 141 to the pulleys 142b and 142a. At this time, the flywheel 141b having a relatively large diameter may be included at the end of the first shaft 141a in order to obtain a large torque while maintaining the assist torque of the first shaft portion 141 as much as possible.

5, when the power of the boarding module 120 is turned off, the pressing portion 134 can push the second shaft 142a in the direction of the first shaft portion 141. As shown in FIG. At this time, the second gear 142d of the second shaft 142a and the first gear 141c of the first shaft 141a can be engaged with each other. When the gears are coupled to each other, the first shaft 141a and the second shaft 142b The shaft 142a can function as a substantially connected shaft. Therefore, in a situation where the power of the boarding module 120 is turned off and the wheel 111 is about to stop, the auxiliary torque stored in the first shaft portion 141 can be transmitted to the second shaft 142a connected to the shaft, 142b and belt 150 to the wheel module 110 again. When the auxiliary torque of the first shaft portion 141 is transmitted to the wheel 111, the wheel 111 is rotated in the forward direction of the wheel 111, And can be rotated in the forward direction. However, the wheel 111 may not be continuously rotated in the forward direction but may stop after rotating only the auxiliary torque stored in the first shaft portion 141. Therefore, even if the power of the boarding module 120 is turned off by raising the inclined face having a predetermined inclination angle, the wheel 111 is not stopped immediately, but stops after a predetermined progression. Thus, the speed reduction of the boarding vehicle 100 can be prevented The influence on the inertia of the occupant can be lowered, so that it is possible to prevent the occurrence of the injury such as the occupant suddenly protruding to the front of the boarding vehicle 100. [

While the present invention has been particularly shown and described with reference to exemplary embodiments thereof, it will be understood by those skilled in the art that various changes in form and details may be made therein without departing from the spirit and scope of the invention as defined by the appended claims. It will be apparent that modifications and improvements can be made by those skilled in the art.

100: boarding device
110: wheel module
111: Wheels
120: boarding module
130: Auxiliary wheel module
131:
132: electromagnet
133:
134:
140: Auxiliary drive module
141: first shaft portion
142:
142a: Second shaft
142b: pulley
142c: one-way clutch
150: Belt

Claims (12)

A wheel module including at least one wheel;
A boarding module for determining the turning direction and the direction of the wheel according to the tilt change;
The auxiliary wheel module supporting the boarding module so that the boarding module is not fallen when the wheel is about to stop; And
An auxiliary driving module for transmitting an auxiliary rotational force to the wheel and stopping the wheel after a predetermined rotation when the wheel is about to stop;
≪ / RTI >
The boarding module comprises:
A sensing unit sensing an inclination of the boarding module and an acceleration of the boarding module according to a change in the center of gravity of the occupant and outputting an electrical signal corresponding to the sensing result;
A driving unit for driving the wheel to correspond to the electrical signal; And
A battery unit for supplying power to the sensing unit and the driving unit and interrupting the power supply when the inclination is out of a predetermined inclination angle;
Lt; / RTI >
The auxiliary wheel module includes:
Auxiliary wheels;
An electromagnet portion magnetically coupled to the auxiliary wheel portion by receiving magnetic force from the battery portion; And
A pressing unit for applying a pressing force to the auxiliary driving module when power supply from the battery unit is interrupted;
/ RTI >
Wherein when the power supply is interrupted, the magnetic coupling between the electromagnet part and the auxiliary wheel part is released and the auxiliary wheel part is moved to support the boarding module.
delete delete The method according to claim 1,
The auxiliary wheel module includes:
An elastic part elastically coupled to the auxiliary wheel part;
Further comprising:
The elastic force of the elastic portion is weaker than the magnetic force of the electromagnetic portion,
Wherein the magnetic coupling between the electromagnet part and the auxiliary wheel part is released when the power of the boarding module is turned off and the auxiliary wheel part is moved by the elasticity of the elastic part to support the boarding module.
delete The method according to claim 1,
Wherein the pressing portion applies a pushing force to the auxiliary driving module in association with movement of the auxiliary wheel when the power of the boarding module is turned off.
A wheel module including at least one wheel;
A boarding module for determining the turning direction and the direction of the wheel according to the tilt change;
The auxiliary wheel module supporting the boarding module so that the boarding module is not fallen when the wheel is about to stop; And
An auxiliary driving module for transmitting an auxiliary rotational force to the wheel and stopping the wheel after a predetermined rotation when the wheel is about to stop;
≪ / RTI >
The boarding module comprises:
A sensing unit sensing an inclination of the boarding module and an acceleration of the boarding module according to a change in the center of gravity of the occupant and outputting an electrical signal corresponding to the sensing result;
A driving unit for driving the wheel to correspond to the electrical signal; And
A battery unit for supplying power to the sensing unit and the driving unit and interrupting the power supply when the inclination is out of a predetermined inclination angle;
Lt; / RTI >
The auxiliary wheel module includes:
Auxiliary wheels; And
An electromagnet portion magnetically coupled to the auxiliary wheel portion by receiving magnetic force from the battery portion;
/ RTI >
The magnetic coupling between the electromagnet part and the auxiliary wheel part is released and the auxiliary wheel part is moved to support the boarding module,
The auxiliary drive module includes:
A first shaft portion; And
A clutch unit that receives a rotational force from the wheel and transmits the rotational force to the first shaft unit;
Lt; / RTI >
The clutch unit transmits only one of the rotational force of the wheel in the first direction rotation and the second direction rotation to the first shaft unit while the power of the boarding module is turned on so that the auxiliary torque is stored in the first shaft unit , Boarding device.
8. The method of claim 7,
Wherein when the power of the boarding module is turned off, the clutch portion and the first shaft portion are axially coupled to transmit the auxiliary rotational force stored in the first shaft portion to the wheel through the clutch portion.
8. The method of claim 7,
The clutch unit includes:
A pulley for receiving rotational force from the wheel;
A one-way clutch that receives a rotational force from the pulley and transmits the rotational force to the first shaft portion; And
A second shaft that receives rotational force from the pulley and is rotated in the same direction as the pulley;
And a control unit for controlling the operation of the boarding device.
10. The method of claim 9,
Wherein when the power of the boarding module is turned off, the second shaft is moved to be axially coupled with the first shaft portion, and the auxiliary torque stored in the first shaft portion is transmitted to the wheel through the second shaft and the pulley, Wherein the first and second passageways are connected to each other.
11. The method of claim 10,
Wherein the auxiliary wheel module includes a pressing portion that pushes the second shaft when the power of the boarding module is turned off so that the second shaft is axially coupled with the first shaft portion.
8. The method of claim 7,
The first shaft portion
A first shaft rotated by receiving a rotational force from the clutch unit; And
A flywheel connected to the first shaft and rotated together with the first shaft portion, the flywheel having a diameter larger than that of the first shaft;
And a control unit for controlling the operation of the boarding device.

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