KR20140078363A - electric scooter - Google Patents

electric scooter Download PDF

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Publication number
KR20140078363A
KR20140078363A KR1020120147643A KR20120147643A KR20140078363A KR 20140078363 A KR20140078363 A KR 20140078363A KR 1020120147643 A KR1020120147643 A KR 1020120147643A KR 20120147643 A KR20120147643 A KR 20120147643A KR 20140078363 A KR20140078363 A KR 20140078363A
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KR
South Korea
Prior art keywords
wheel
steering
wheels
unit
mode
Prior art date
Application number
KR1020120147643A
Other languages
Korean (ko)
Inventor
차현록
임대영
권용기
Original Assignee
한국생산기술연구원
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 한국생산기술연구원 filed Critical 한국생산기술연구원
Priority to KR1020120147643A priority Critical patent/KR20140078363A/en
Publication of KR20140078363A publication Critical patent/KR20140078363A/en

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    • BPERFORMING OPERATIONS; TRANSPORTING
    • B62LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62DMOTOR VEHICLES; TRAILERS
    • B62D5/00Power-assisted or power-driven steering
    • B62D5/04Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B62LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62KCYCLES; CYCLE FRAMES; CYCLE STEERING DEVICES; RIDER-OPERATED TERMINAL CONTROLS SPECIALLY ADAPTED FOR CYCLES; CYCLE AXLE SUSPENSIONS; CYCLE SIDE-CARS, FORECARS, OR THE LIKE
    • B62K5/00Cycles with handlebars, equipped with three or more main road wheels
    • B62K5/02Tricycles
    • B62K5/023Tricycles specially adapted for disabled riders, e.g. personal mobility type vehicles with three wheels
    • B62K5/025Tricycles specially adapted for disabled riders, e.g. personal mobility type vehicles with three wheels power-driven
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B62LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62KCYCLES; CYCLE FRAMES; CYCLE STEERING DEVICES; RIDER-OPERATED TERMINAL CONTROLS SPECIALLY ADAPTED FOR CYCLES; CYCLE AXLE SUSPENSIONS; CYCLE SIDE-CARS, FORECARS, OR THE LIKE
    • B62K5/00Cycles with handlebars, equipped with three or more main road wheels
    • B62K5/08Cycles with handlebars, equipped with three or more main road wheels with steering devices acting on two or more wheels

Abstract

The present invention relates to an electric scooter. The invention comprises a driving unit formed to perform a rolling motion for each of a front wheel, which is mounted on a base frame to be steered by a handle and first and second rear wheels, which are mounted to be spaced apart from each other in a direction crossing the longitudinal direction of the base frame while being separated from the rear side of the front wheel in the longitudinal direction of the base frame; a steering unit rotating the first and second rear wheels to be steered around the base frame; a mode selecting unit enabling a driver to select a driving support mode while the steering angles of the first and second rear wheels are adjusted; and a control unit controlling a rear wheel steering unit to steer the first and second rear wheels corresponding to the modes selected by the mode selecting unit and, when driving signals are received, controlling the driving unit so that the front wheel and the first and second rear wheels perform the rolling motion corresponding to the driving signals. The electric scooter runs in a narrow space, such as an elevator or a vertically curved narrow path, in a desired direction while the driver is on the scooter and does not need to get off the scooter as the scooter rotates in place and horizontally and diagonally runs with a three-wheel structure.

Description

Electric scooter {electric scooter}
BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an electric scooter, and more particularly, to an electric scooter capable of supporting horizontal movement and in-situ rotation.
In general, an electric scooter drives a motor by a battery, and can be easily operated as a moving means for moving, so that anyone can learn easily, so that a person with a disability and an elderly person often use it.
On the other hand, the electric scooter is mostly a two-wheel system, and a three-wheel system is disclosed in Korean Patent Publication No. 10-2011-0093171.
In the case of the three-wheel electric scooter, two front wheels and one rear wheel are used, and the front wheel rotating frame is tilted at an angle when cornering, so that cornering is improved. However, There is a disadvantage in that it is not possible to provide a function of moving in a horizontal direction orthogonal to the straight running direction of the electric scooter body body or rotating in place when the motorcycle enters and exits in a boarding state inside and outside a narrow corridor or elbow bent at a right angle.
SUMMARY OF THE INVENTION It is an object of the present invention to provide an electric scooter which is capable of supporting in-situ rotation or horizontal movement.
According to an aspect of the present invention, there is provided an electric scooter including: a front wheel mounted on a base frame so as to be steerable through a steering wheel; a rear wheel which is spaced rearward from the front wheel along a longitudinal direction of the base frame, And a first and a second rear wheel mounted so as to be spaced apart from each other in a direction intersecting the first and second rear wheels, the electric scooter comprising: Wow; A rear wheel steering portion capable of steerably rotating the first and second rear wheels with respect to the base frame; A mode selection unit adapted to select a mode for supporting driving in a state in which the steering angles of the first and second rear wheels are adjusted; Wherein the control unit controls the rear wheel steering unit such that the first and second rear wheels are steered in correspondence with the selected mode according to the mode selected by the mode selection unit, and when the driving signal is received, And a control unit for controlling the traveling unit such that the second rear wheel rotates.
According to an aspect of the present invention, there is further provided a front wheel steering angle detecting section for detecting a steering angle of the front wheel, wherein the control unit controls the front wheel steering angle detecting section The control unit controls the rear wheel steering unit such that the first and second rear wheels are steered in accordance with the steering direction detected from the front wheel and the second rear wheel in accordance with the selected steering mode, And controls the traveling portion so that the rear wheels roll.
The mode selection unit may support at least one of an in-ground rotation mode in which the base frame rotates in a spiral or circular track shape in a predetermined place, and a horizontal movement mode that moves in a direction perpendicular to the longitudinal direction of the base frame .
When the control unit is selected as the horizontal movement mode by the operation of the mode selection unit, the control unit controls the first and second rear wheels in accordance with the steering direction detected by the front wheel steering angle detection unit, The control unit controls the rear wheel steering unit to rotate in the direction perpendicular to the longitudinal direction of the base frame, and when the traveling signal is received, controls the traveling unit so that the front wheel and the first and second rear wheels roll in correspondence with the received traveling signal do.
In addition, when the control unit selects the in-situ rotation mode, the first and second rear wheels, along with the steering direction detected by the front wheel steering angle detecting unit, corresponding to the steering direction manipulation, The control unit controls the rear wheel steering unit so as to rotate in the respective directions at an angle at which the vehicle can perform the circular orbital motion and then controls the traveling unit so that the front wheel and the first and second rear wheels roll in correspondence with the received traveling signal, do.
Preferably, the mode selection unit may further select a diagonal movement mode for instructing movement in a diagonal direction, and when the control unit is selected in the diagonal movement mode, Wherein the control unit controls the rear wheel steering unit in such a manner that the first and second rear wheels are in parallel with the front wheel along the steering direction and when the front wheel and the first and second rear wheels are rotated And controls the traveling section to move.
According to the electric scooter of the present invention, it is possible to support in-situ rotation, horizontal movement, and diagonal movement while having a three-wheel structure, so that it can be mounted in a narrow space such as an orthogonally curved narrow passage or an elevator, To provide the advantage of being able to move in any desired direction.
1 is a side view showing an electric scooter according to the present invention,
Fig. 2 is a plan view of the electric scooter of Fig. 1,
Fig. 3 is a rear view showing an example of a rear wheel steering portion for steering the first rear wheel of Fig. 2,
Fig. 4 is a plan view of Fig. 3,
Fig. 5 is a block diagram of the control system of the electric scooter of Fig. 1,
Fig. 6 is a plan view showing a state in which the front wheel and the first and second rear wheels are steered by selecting the horizontal movement mode for the electric scooter of Fig. 2,
Fig. 7 is a plan view showing a state in which the front wheel and the first and second rear wheels are steered by selecting the in-situ rotation mode with respect to the electric scooter of Fig. 2,
FIG. 8 is a plan view showing a state in which the front wheel and the first and second rear wheels are steered by selecting the diagonal movement mode for the electric scooter of FIG. 2. FIG.
Hereinafter, an electric scooter according to a preferred embodiment of the present invention will be described in detail with reference to the accompanying drawings.
FIG. 1 is a side view showing an electric scooter according to the present invention, FIG. 2 is a plan view of the electric scooter of FIG. 1, and FIG. 3 is a rear view showing an example of a rear wheel steering portion for steering the first rear wheel of FIG. Fig. 4 is a plan view of Fig. 3, and Fig. 5 is a block diagram of a control system of the electric scooter of Fig.
1 to 5, an electric scooter 100 according to the present invention includes a base frame 110, a handle 130, a front wheel 140, a first rear wheel 150, a second rear wheel 160, A rear wheel steering unit 180, a mode selecting unit 190, a front wheel steering angle detecting unit 197, and a control unit 200. [
The base frame 110 forms a vehicle body and is provided with a passenger chair 118.
The handle 130 is steerably coupled to the base frame 110 via a base frame 110 so as to be rotatable in the direction of the ground.
An operation panel 190a of a mode selection unit 190, which will be described later, is mounted on a central upper surface of the handle 130.
The front wheel 140 is steered through the handle 130 and is rollingly coupled to the bottom of the handle 130 against the ground.
The first rear wheel 150 and the second rear wheel 160 are spaced rearward from the front wheel 140 along the longitudinal direction of the base frame 110 to form support points in a triangular shape with respect to the front wheel 140, 110 along the direction intersecting with the longitudinal direction of the main body 110.
The driving unit 170 is capable of performing independent rolling motion with respect to the front wheel 140 and the first and second rear wheels 150 and 160 and is capable of rolling the front wheel 140 against the ground A first rear wheel drive motor 172 and a second rear wheel 160 that are capable of rolling the first rear wheel 150 against the ground so that the first rear wheel 150 and the second rear wheel 160 can roll on the ground, And a second rear-wheel drive motor 173.
The rim motor is preferably applied to the all-wheel drive motor 171 and the first rear-wheel drive motor 172 and the second rear-wheel drive motor 173, respectively.
The rim motor applied to the all-wheel drive motor 171 and the first rear-wheel drive motor 172 and the second rear-wheel drive motor 173 includes a front wheel 140, a first rear wheel 150, a second rear wheel 160, And the rotors corresponding to the stator are applied to the front wheel 140, the first rear wheel 150, and the second rotatable member 160, so that detailed The description is omitted.
The rear wheel steering unit 180 is capable of steering the first and second rear wheels 150 and 160 in a steering direction similar to that of the steering wheel 130 in a desired steering direction with respect to the base frame 110.
The rear wheel steering portion 180 can be constructed in such a structure that the support frame that supports the first rear wheel 150 and the second rear wheel 160 can be steered through the worm and the worm gear, 150 will be described with reference to Figs. 3 and 4. Fig.
The first rear wheel steering portion that steers the first rear wheel 150 of the rear wheel steering portion 180 extends upward from the support frame 152 that supports the first rear wheel 150 to penetrate the base frame 110 up and down And a first rear wheel steering motor 181 for rotationally driving the worm gears 156 and the worm gears 156 meshed with the worms 155. The worm gear 155 is rotatably mounted on the rotary shaft 154,
Therefore, when the first wheel 150 is rotated in the first direction of the first rear wheel steering motor 181 by the interlocking rotation of the worm gear 156 and the worm 155, the first wheel 150 rotates in the second direction opposite to the first direction .
The second rear wheel steering portion that steers the second rear wheel 160 also rotates the worm gear and the worm in conjunction with the rotation of the second rear wheel steering motor 182 in the same manner as the structure that steers the first rear wheel 150, And the second rear wheel is also rotated by the rotation of the support frame coupled through the rotation shaft integrally coupled to the first support frame.
The mode selection unit 190 may be configured to select any one of a linear mode, a reverse mode, an in-wheel mode, a horizontal mode, and a support mode including a diagonal mode.
In this case, the straight running mode refers to a mode in which the front wheel 140 and the first and second rear wheels 150 and 160 roll in the forward direction while the steering wheel 130 is operated by the user. In this case, And the second rear wheel (150) (160) maintain the straight direction.
The backward travel mode refers to a mode in which the front wheel 140 and the first and second rear wheels 150 and 160 roll in the backward direction while the steering wheel 130 is operated by the user. And the second rear wheel 150 (160) maintains the straight direction.
In this case, the first and second rear wheels 150 and 160 are steered in mutually offset directions. In this case, the first and second rear wheels 150 and 160 rotate in opposite directions.
The horizontal movement mode is a mode of moving in a direction perpendicular to the longitudinal direction of the base frame 110. In this case, the first and second rear wheels 150 and 160 are steered in mutually parallel directions.
The diagonal movement mode refers to a mode in which the first and second rear wheels 150 and 160 move in an oblique direction with respect to the longitudinal direction of the base frame 110. In this case, the first and second rear wheels 150 and 160 are steered in a diagonal direction.
The mode selection unit 190 may be operated through an operation panel 190a provided at the center of the handle 130 and may be formed as a touch screen.
Reference numeral 191 denotes a traveling mode selection key 192, 192 denotes a reverse mode selection key, 193 denotes a horizontal movement mode selection key, 194 denotes an in-rotation mode selection key, and 195 denotes a diagonal movement mode selection key.
Although not shown, the mode selection unit 190 can be constructed so as to operate a driving signal or a braking signal in a mode other than the traveling mode and the reverse mode by operating a key supported through the operation panel 190a to be.
The front wheel steering angle detection unit 197 detects the steering angle information of the steering wheel 130 of the front wheel 140 and provides it to the control unit 202.
The first rear wheel steering angle detecting section 198 detects and provides the steering angle information of the first rear wheel 150 to the control section 202 and the second rear wheel steering angle detecting section 199 detects the steering angle information of the second rear wheel 160 And provides it to the control unit 202.
The front wheel steering angle detecting unit 197, the first rear wheel steering angle detecting unit 198, and the second rear wheel steering angle detecting unit 199 may be various sensors that detect rotational angle information.
The display unit 190b is controlled by the control unit 202 to display the display information.
The acceleration operation portion 231 corresponds to a normal accelerator provided in the form of a rotary lever on the handle 130 and outputs a signal corresponding to the acceleration operation level of the user to the control portion 202. [
The braking operation portion 233 corresponds to a normal brake operation device provided in the form of a lever on the handle 130 and outputs a signal corresponding to the braking operation level of the user to the control portion 233. [
The braking unit 240 may be controlled by the control unit 202 so as to be braked, and a normal braking structure may be applied.
The control unit 200 includes a control unit 202, a driving unit 204, and a speed detection unit 206.
The speed detecting section 206 detects the traveling speed and outputs it to the control section 202.
The driving unit 204 is controlled by the control unit 204 to drive the driving elements of the traveling unit 170 and the rear wheel steering unit 180.
The control unit 202 controls the rear wheel steering unit 180 so that the first and second rear wheels 150 and 160 are steered in accordance with the selected mode according to the mode selected by the mode selecting unit 190, The driving unit 170 is controlled so that the front wheel 140 and the first and second rear wheels 150 and 160 roll in response to the received driving signal.
When the mode selection unit 190 is operated to select the horizontal movement mode, the control unit 202 controls the steering angle of the steering wheel 130 in accordance with the steering direction detected by the front wheel steering angle detection unit 197, The rear wheel steering unit 180 is controlled so that the rear wheels 150 and 160 are rotated in a direction orthogonal to the longitudinal direction of the base frame 110.
6, when the user rotates the handle 130 by 90 degrees in the clockwise direction, the control unit controls the first and second rear wheels 150 and 160 in the same direction as the front wheel 140, When the driving signal is received from the acceleration operating portion 231, the front wheel 140 and the first and second rear wheels 150 and 160 are controlled in response to the received driving signal, The driving unit 170 is controlled via the driving unit 204 so as to perform the rolling motion.
The control unit 202 during the horizontal movement drives both the all-wheel drive motor 171 and the first and second rear wheel drive motors 172 and 173 of the drive unit 170 or drives only the all-wheel drive motor 171 , Or only the first and second rear wheel drive motors 172 and 173 can be driven.
If the mode selection key of the mode selection unit 190 is selected so that the user can simultaneously select the horizontal movement direction in the horizontal movement mode, the control unit 202 controls the steering angle of the steering wheel 130 (Not shown) to drive the steering wheel 130 of the user.
In response to the steering operation of the steering wheel 130 by the user, the control unit 202 controls the steering angle of the first and second rear wheels 181 and 182 along the steering direction detected by the front wheel steering angle detecting unit 197, The rear wheel steering unit 180 is controlled so as to be rotated in an angle that allows the first and second wheels 150 and 160 to perform a circular orbit motion around the base frame 110 together with the front wheels 140.
7, when the steering wheel 130 is rotated in the clockwise direction while the in-wheel rotation mode is selected, the center of the front wheel 140 and the center of the first and second rear wheels 150 and 160 are The control unit 202 controls the rear wheel steering unit 180 so that the first and second rear wheels 150 and 160 are positioned at the tangent of the circular orbit.
When the driving signal is received from the acceleration operation unit 231, the control unit 202 controls the driving unit 170 to rotate the front wheel 140 and the first and second rear wheels 150 and 160 in accordance with the received driving signal, ) Through the driving unit 204. [ In this case also, the control unit 202 drives both the all-wheel drive motor 171 and the first and second rear wheel drive motors 172 and 173 of the drive unit 170, or only the all-wheel drive motor 171 is driven Alternatively, only the first and second rear wheel drive motors 172 and 173 can be driven.
In the case of the in-situ rotation mode, when the user selects the mode selection key of the mode selection unit 190 that allows the direction of the in-place rotation direction to be selected together, the control unit 202 controls the steering angle of the steering wheel 130 The steering unit 130 may be constructed so as to drive the steering wheel 130 by the control unit 130 so as not to perform the steering operation of the steering wheel 130 of the user.
When the diagonal movement mode selection key signal for instructing the base frame 110 to move in the diagonal direction, that is, in the diagonal direction, is received, the control unit 202 controls the operation of the handle 130 in accordance with the directional operation of the handle 130 The rear wheel steering unit 180 is controlled such that the first and second rear wheels 150 and 160 are aligned with the front wheel 140 along the steering direction detected by the front wheel steering angle detecting unit 197, The driving unit 170 is controlled so that the front wheel 140 and the first and second rear wheels 150 and 160 roll in response to the received driving signal.
In the electric scooter 100 described above, when entering the elevator, after entering the straight traveling mode, if it is in the direction of looking out of the elevator by the in-place rotation mode, it is easy to watch forward when coming out of the elevator, have.
In addition, it is possible to move within a narrow radius by a horizontal movement mode or a diagonal movement mode when running a curved narrow passage, thereby providing an advantage of alleviating restrictions on the driving environment.
110: base frame 130: handle
140: front wheel 150: first rear wheel
160: second rear wheel 170:
180: rear wheel steering section 190: mode selection section
197: front wheel steering angle detection unit 200: control unit
202:

Claims (6)

  1. A front wheel mounted on a base frame so as to be able to be steered through a handle; a first and a second rear wheel mounted on the base frame, the rear wheel being spaced rearward from the front wheel along a longitudinal direction of the base frame, In the electric scooter having the second rear wheel,
    A running portion capable of performing independent rolling motion on the front wheel and the first and second rear wheels, respectively;
    A rear wheel steering portion capable of steerably rotating the first and second rear wheels with respect to the base frame;
    A mode selection unit adapted to select a mode for supporting driving in a state in which the steering angles of the first and second rear wheels are adjusted;
    Wherein the control unit controls the rear wheel steering unit such that the first and second rear wheels are steered in correspondence with the selected mode according to the mode selected by the mode selection unit, and when the driving signal is received, And a control unit for controlling the traveling unit such that the second rear wheel rotates.
  2. The method according to claim 1,
    And a front wheel steering angle detecting unit for detecting a steering angle of the front wheel,
    Wherein the control unit controls the steering wheel so that the first and second rear wheels are steered in accordance with the steering direction detected by the front wheel steering angle detecting unit in correspondence with the steering direction operation in accordance with the mode selected by the mode selecting unit, And controls the traveling portion so that the front wheel and the first and second rear wheels roll in correspondence with the received traveling signal when the traveling signal is received.
  3. 3. The apparatus of claim 2, wherein the mode selector
    Wherein the support frame supports at least one of an in-situ rotation mode in which the base frame is rotated in the form of a spiral or a circular track from its base and a horizontal movement mode in which the base frame moves in a direction perpendicular to the longitudinal direction of the base frame. .
  4. The control unit according to claim 3, wherein when the mode selection unit is selected as the horizontal movement mode, the control unit controls the steering angle of the first and second rear wheels in accordance with the steering direction detected by the front wheel steering angle detection unit, Wherein the control unit controls the rear wheel steering unit to rotate in a direction orthogonal to the longitudinal direction of the base frame, and when the driving signal is received, the front wheel and the first and second rear wheels are caused to roll And a control unit for controlling the electric motor.
  5. 4. The control unit according to claim 3, wherein, when the control unit is selected in the in-situ rotation mode, the first and second rear wheels, along with the steering direction detected from the front wheel steering angle detecting unit, The rear wheel steering unit is controlled so as to be rotated in an angle at which spiral or circular orbital motion can be performed with respect to the frame, and when the driving signal is received, the front wheel and the first and second rear wheels are rotated Wherein the control unit controls the traveling unit to move the vehicle.
  6. 4. The apparatus of claim 3, wherein the mode selector supports further selecting a diagonal movement mode for instructing movement in a diagonal direction,
    Wherein the control unit controls the rear wheel steering unit so that the first and second rear wheels are in a direction parallel to the front wheel in accordance with the steering direction detected by the front wheel steering angle detecting unit in response to the steering direction operation, And controls the traveling section so that the front wheel and the first and second rear wheels roll in correspondence with the received traveling signal when the traveling signal is received.
KR1020120147643A 2012-12-17 2012-12-17 electric scooter KR20140078363A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
KR1020120147643A KR20140078363A (en) 2012-12-17 2012-12-17 electric scooter

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
KR1020120147643A KR20140078363A (en) 2012-12-17 2012-12-17 electric scooter

Publications (1)

Publication Number Publication Date
KR20140078363A true KR20140078363A (en) 2014-06-25

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Application Number Title Priority Date Filing Date
KR1020120147643A KR20140078363A (en) 2012-12-17 2012-12-17 electric scooter

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Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR20160087674A (en) 2015-01-14 2016-07-22 김재근 Steering wheel electric scooter steering assembly for ease of layout structure
KR101964671B1 (en) * 2017-09-29 2019-04-02 주식회사 마루이엔지 Personal mobility vehicle

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR20160087674A (en) 2015-01-14 2016-07-22 김재근 Steering wheel electric scooter steering assembly for ease of layout structure
KR101964671B1 (en) * 2017-09-29 2019-04-02 주식회사 마루이엔지 Personal mobility vehicle

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