RU2782011C2 - Wheeled vehicle with electrical control system - Google Patents

Abstract

FIELD: mechanical engineering.

SUBSTANCE: invention relates to the field of mechanical engineering, in particular to wheeled vehicles. The vehicle with an electric control system contains a spatial symmetrical structure, including a frame, hand levers, two carriages, two wheels. The frame contains paired longitudinal guides. The hand levers are connected to the pedals and wheels. The axle of each wheel is connected to the crankshaft by means of a crankshaft link and a chain drive. The axis of rotation of the crankshaft is located perpendicular to the longitudinal axes of the translational movement of the carriages. The crankshaft has sprockets on the connecting rods. Wheel axles are equipped with overrunning sprockets. Hand levers swing on the hinges fixed on a frame. At the lower end of each hand lever, a pedal rod connected to the crankshaft rod is fixed on a hinge. The electronic control system contains a switching device, charging ports, a signal lamp, a joystick, a control controller and a power controller for each motor-wheel.

EFFECT: simplification of management is achieved.

4 cl, 5 dwg

Description

The invention relates to the field of vehicles, to wheeled vehicles (hereinafter referred to as CVs) driven by human muscle power and/or an additional source of energy. At the same time, the invention also relates to sports equipment, simulators and can be used in the field of sports, physical culture, entertainment, rehabilitation medicine, and also in robotics - as a type of exoskeleton.

Two-wheeled bicycles are widely known from the prior art, the design of which provides for the arrangement of two wheels one after the other in the same plane. During normal cycling, the upper arm and back muscle groups are not used. Blocking of body parts and uneven muscle loading are suboptimal. Auxiliary electric motors (with a battery and a ride control system) are added to modern schemes of these bicycles, usually in the form of one driving motor-wheel, while the bicycle is controlled mechanically - by turning the steering wheel.

Also known gyroscooters (segways), in which two wheels are located in parallel planes and have one common axis. The hoverboard does not activate the muscular strength of the body, since the natural movements of a person are completely replaced by electric motors installed in the hoverboard in the form of motor wheels. In addition, the scheme of the specified segway, when the wheels are fixed on the same axis, is unnatural and difficult to maintain balance (balancing) of the user during movement. Accordingly, the electrical circuit for controlling the movement (forward-backward and turning) turns out to be complex, requiring long getting used to, and in the manufacture, adjustment and repair - fine tuning and minor work, which significantly increases the cost of the device and its operation.

Also known is a wheeled vehicle - KTS (see RF patent for invention No. 2715100, priority dated October 28, 2019 - technical solution adopted as a prototype), containing a spatial symmetrical structure: a frame having paired longitudinal guides, hand levers, as well as containing two carriages translationally moving back and forth along the longitudinal guides, two wheels fixed with their axles on the carriages, hand levers connected to the pedals and wheels, while the axle of each wheel, equipped with sprockets with a ratchet overrunning mechanism, is connected to the crankshaft (hereinafter - crankshaft) by means of a crankshaft rod and a chain drive, the axis of rotation of the crankshaft is located perpendicular to the lines of translational movement of the carriages; the crankshaft has sprockets on the connecting rods, the hand levers swing on hinges fixed on the frame, while the lower end of each hand lever is fixed through the hinge on the pedal rod, this pedal rod is connected to the crankshaft rod, which, when the crankshaft rotates, moves the carriage with the wheels back and forth relative to frames; the said sprocket fixed on the crankshaft connecting rod, when the connecting rod rotates around the crankshaft axis, rotates the chain, which in turn rotates the sprocket attached to the wheel hub, the rotation of the crankshaft connecting rod leads to alternate movement of the wheels back and forth along the guides and to their simultaneous rotation forward due to ratchet mechanism and the corresponding movement on the road.

Motor-wheels with electric motors can be used as wheels of the KTS, while the specified KTS contains a battery and an electronic control system.

The disadvantage of this prototype is the complexity of the overall control of the movement of the vehicle (its muscular acceleration is not convenient enough, requiring the initial high voltage of the user to gain speed and the inconvenience of turning the vehicle by adjusting the phases and the effort of moving the legs with braking of the vehicle), as a result, the control of the rotation of the vehicle as on the go, and in stop mode, it requires a sufficiently long training to develop habitual actions, since, although the prototype circuit contains elements of an electrical circuit with a battery, it did not provide full-fledged control of the CTS using electronic means. As a result, the audience of device users is significantly reduced.

The objective of the present invention is to create and use in the scheme of a two-wheeled vehicle (TWT) with parallel wheels, driven by human muscle power, such an electric motion control system that makes it possible to facilitate or replace muscular efforts for moving the TWT forward and to make it easier to turn the TWT in sides - right or left.

The technical result of the claimed invention is to expand the arsenal of technical means, that is, to create a device whose design makes it possible to combine various types of activities, including for people who want to strengthen, develop and increase the activity of the body. The device can be used as a vehicle with enhanced capabilities, not only due to its overall design (compactness, stability, the CTS scheme with overtaking wheels is used for physiologically convenient movement and natural balance maintenance), but also due to simpler and more convenient control of its movement by electronic and power tools. At the same time, KTS can also be used as a sports, home and rehabilitation simulator.

As a sports, physical education and rehabilitation simulator, as well as on a tourist route or at competitions (such as trekking, urban and ring races, martial arts, in military games using CTC), the device allows you to simply adjust the total load on the user's body with one electronic control joystick, calculate the amount of energy expended in digital form and / or provide the appropriate: light or enhanced driving modes. At the same time, due to the mechanical scheme of connecting pedals with moving wheels through chain drives with a crankshaft and moving wheels, with the additional help of hand levers, KTS combines the functionality of training human muscular efforts: running or walking with sticks, cycling and exercising on elliptical trainer. In fact, the device is a prototype of an exoskeleton, with extended functionality due to electronic and electric power control circuits, and can be used in all areas related to it.

At the same time, the claimed design of the CTC due to the features of the electronic adjustment determined by the zone circuit for supplying a power signal (the displacement of the joystick for controlling the movement “right-left” and / or “forward” corresponds to the same displacement of the end of the vector along the coordinate area of the control controller, while if the coordinates ends of the vector are located on this site in the hatching zone of the corresponding motor-wheel, then the level of impact on the wheel is proportional to the length of the specified vector), gently, smoothly reduces or increases the load on the legs, arms and back, does not give a shock load on the joints, which is important for people with weak work of muscles, joints and spine, and also trains the heart, which makes it possible to use the device for people of critical age or the disabled.

An auxiliary third wheel is easily installed on the rear of the vehicle frame, which facilitates parking and starting, maneuvering at low speeds. This simple device takes up little space (the third wheel is 5-7 times smaller in diameter than the main drive wheels). During normal driving, when according to the KTS scheme, the point of support of the legs is below the axles of the driving wheels, the third wheel rises by itself, does not touch the roadway and does not interfere with traffic, and when stopped it becomes the third support of the vehicle. Therefore, the claimed invention has a high static stability of a three-wheeled structure, which ensures an increase in the effectiveness of the training effect on the human body due to the freedom of movement of the user, increasing the freedom of the trained muscles and joints when using the device and the variability of the nature of the load, while eliminating the risk of dangerous injury inherent in two-wheeled structures .

The use of a zone digital coordinator for transmitting force to the motor-wheels and a common circuit with one control and two power controllers greatly simplifies the electronic circuit for controlling the movement of the vehicle, increases functionality (in terms of smoothness of the force on the engines and rotation of the vehicle), the reliability of the electrical part of the vehicle structure, and reduces costs for its manufacture and operation.

At the same time, it is possible to carry out movement with the help of only muscular effort, using an electric drive for turning or as an auxiliary one on slopes or over rough terrain.

The basic setting and technical characteristics of the vehicle and its electronic motion control circuit are made once before the start of operation in accordance with the purpose of the vehicle (as a simulator, tourist facility or to take into account the category of user: athlete, child, age user, disabled person), with the possibility of additional settings according to customer requirements.

The solution of the problem and the technical result are achieved due to the fact that a wheeled vehicle - KTS with an electric control system, containing a spatial symmetrical structure, which includes:

frame with paired longitudinal guides, hand levers, two carriages moving forward and backward along the longitudinal guides, two wheels fixed with their axes on the carriages, and the hand levers are connected to the pedals and wheels, while the axis of each wheel is connected to the crankshaft by means of crankshaft thrust and chain transmission, and the axis of rotation of the crankshaft is perpendicular to the longitudinal axes of the translational movement of the carriages;

the crankshaft, which has sprockets on the connecting rods, the axles of the wheels are equipped with sprockets with an overrunning (ratchet) mechanism, the hand levers swing on hinges fixed on the frame, while at the lower end of each hand lever, a pedal rod connected to the crankshaft rod is fixed on the hinge, which by means of the rod crankshaft-carriage moves the wheels back and forth relative to the frame;

the specified sprocket mounted on the crankshaft connecting rod, when the connecting rod rotates around the crankshaft axis, rotates the chain, which in turn rotates the sprocket attached to the wheel hub, the rotation of the crankshaft connecting rod leads to the alternate movement of the wheels back and forth along the guides and to their simultaneous rotation forward behind calculation of the overrunning mechanism and the corresponding movement on the road;

moreover, the traction force in the CTS can be formed by the muscular efforts of pressing the user's legs on the pedals, with the movement of the right and left hand levers back and forth, or by the electric motors of the wheels, like motor-wheels, with an energy source - electric batteries and an electronic control system;

characterized in that the electronic control system of the KTS contains, a switching device, charging ports, a signal lamp, a joystick installed in the upper or top part of one of the hand levers, a control controller and a power controller for each motor-wheel, while a signal for the thrust of the engines motor-wheels is formed by the specified joystick in the control controller with transmission to the power controllers, and the electric traction of the motors is formed at the output of the power controllers of the motor-wheels;

at the same time, said motor-wheels can be driven into rotation both by means of the muscular efforts of pressing the legs and by moving the hand levers, and by using the said electronic control system.

In particular, the joystick is mounted at the top of the handle of the right or left hand lever (see figure 5).

In particular, the hinge of the lower end of both the left and right hand levers and the corresponding crankshaft link hinges are located at opposite ends of the corresponding left or right pedal link.

In particular, the control controller includes a digital coordinator for the formation of signals applied to power controllers.

The essence of the claimed invention is explained using the following figures:

Fig. 1. Photo of the design of the KTS prototype (a - side view, b - axonometry, general view, c - enlarged rear-side view).

Fig. 2. Schematic view of the claimed vehicle from behind (the view shows a variant of the spatial arrangement of elements of the electronic traffic control system of the vehicle.

Fig. 3. Block diagram of the electronic traffic control system of the KTS.

Fig. 4. The field of intersection of the zones and the vector of the formation of the signal that regulates the traction force of the motor-wheels are shown in the digital coordinator circuit.

Fig. 5. Photo of the joystick version mounted on the handle of the right hand lever.

The figures indicate:

1 - symmetrical frame of the CCC, the plane of symmetry of which is the longitudinal median vertical plane of the CCC,

2.1, 2.2 - left and right hand lever,

3.1, 3.2 - left and right motor-wheel, 4 - crankshaft (crankshaft),

4.1, 4.2 - left and right crankshaft connecting rod 4,

5.1, 5.2 - left and right joint of levers 2.1, 2.2 mounted on frame 1

6.1, 6.2 - left and right electric accumulator,

7 - joystick of the KTS traffic control system,

8 - control controller,

9.1, 9.2 - left and right power controller.

Presented CTS consists of a spatially symmetrical design (figure 1, 2): frame 1 (having paired longitudinal guides), manual levers 2.1, 2.2, two carriages with the ability to move back and forth along the longitudinal guides, two wheels, which in this design are motor-wheels 3.1, 3.2, fixed with their axes on the carriages, hand levers 2.1, 2.2, associated with the pedals and wheels 3.1, 3.2, while the axis of each specified wheel is connected to the crankshaft 4 by means of a crankshaft rod and a chain drive, and the axis of rotation of the crankshaft 4 located perpendicular to the longitudinal axes of the translational movement of the carriages; crankshaft 4 has sprockets on connecting rods 4.1, 4.2, wheel axles are equipped with sprockets with an overrunning (ratchet) mechanism. When swinging the hand levers 2.1, 2.2 on the hinges 5.1, 5.2, fixed on the frame 1, at the lower end of each hand lever begins to move on the lower hinge, connected to the lever at one end, the pedal rod, which at its other end, also through the hinge, is connected with crank pull. The crankshaft 4 moves the wheels 3.1, 3.2 back and forth relative to the frame 1 by means of the crankshaft-carriage rod. corresponding wheel hub 3.1, 3.2, moving the wheel back and forth and, at the same time, thanks to overrunning bushings, wheel 3.1 or 3.2 only travels forward on the roadway. At the same time, the movement of the vehicle is possible with the simultaneous operation of the wheels - as a motor-wheels 3.1, 3.2, with an installed energy source - two electric batteries 6.1, 6.2 and an electronic control system (figure 2).

In this case, the electronic control system of the KTS contains a switching device, charging ports, a signal lamp, a joystick 7 (see the general location in figure 2 and photo of figure 5) installed in the upper part of the handle of the right hand lever 2.2. Also, this system contains a control controller 8 and a power controller 9.1, 9.2 to each motor-wheel 3.1, 3.2, while the signal for the thrust of the engines of these motor-wheels is generated by the specified joystick 7 in the control controller 8 with signal transmission to the power controllers 9.1, 9.2 , and the electric thrust of the engines is formed at the output of the power controllers of the motor-wheels.

A block diagram of the electronic control system is shown in figure 3, here, in addition to the elements shown in figure 2, the connections of the system and the control controller 8 are shown. It controls two power controllers 9.1, 9.2, providing traction electric power of the corresponding drive motor wheels 3.1, 3.2. In this case, the control controller includes a zone digital coordinator for the formation of a signal applied to each power controller 9.1, 9.2.

Movement control of the device using an electronic control system and electric traction is carried out by means of an analog joystick 7 (grove - thumb joystick, photo Fig.5), installed in the upper part of the handle of one of the levers of the KTS. The set of positions of the joystick 7 can be conventionally represented as a circle centered at the point M, corresponding to its initial position (figure 4). When the joystick is deflected from the central position forward, when its coordinate (x, y) is in the zone of double hatching, both motor-wheels begin to rotate forward. When the joystick is deflected to the left (in Fig. 4 - the zone with the left hatching), only the right motor-wheel is set in motion, and when the joystick is deflected to the right (in Fig. 4 - the zone with the right hatching) - the left motor-wheel. The design of the joystick 7 can be provided with a return mechanism that sets the joystick lever to a stable central position in the absence of external influence on it. The speed of rotation of the corresponding motor-wheel 3.1, 3.2 is proportional to the deviation of the joystick from the initial (central) position in the shaded area and is expressed by the formula:

where x is the offset of the joystick along the abscissa axis, y is the offset of the joystick along the ordinate axis, x _m and y _m are the coordinates of the central position of the joystick. In this case, at the coordinates (x, y) of the end of the joystick position vector in the area of double hatching, both wheels rotate at the same speed and the vehicle moves forward. When the end of the joystick vector is in the unshaded area, the motor-wheels 3.1, 3.2 are not set in motion.

In addition, in this case, the user can rotate these motor-wheels 3.1, 3.2 by his own muscular efforts of pressing the legs on the pedals and moving the right and left hand levers 2.1, 2.2 back and forth, additionally using the specified electronic control system.

Claims (10)

1. Wheeled vehicle - KTS with an electric control system, containing a spatial symmetrical structure, which includes: frame with paired longitudinal guides, hand levers, two carriages moving forward and backward along the longitudinal guides, two wheels fixed with their axes on the carriages, and the hand levers are connected to the pedals and wheels, while the axis of each wheel is connected to the crankshaft by means of crankshaft thrust and chain transmission, and the axis of rotation of the crankshaft is perpendicular to the longitudinal axes of the translational movement of the carriages; the crankshaft has sprockets on the connecting rods, the wheel axles are equipped with sprockets with an overrunning mechanism, the hand levers swing on hinges mounted on the frame, while at the lower end of each hand lever, a pedal link is fixed on the hinge, connected with the crankshaft link, which, by means of the crankshaft-carriage link, moves wheels back and forth relative to the frame; the specified sprocket attached to the crankshaft connecting rod, when the connecting rod rotates around the crankshaft axis, rotates the chain, which, in turn, rotates the sprocket attached to the wheel hub, the rotation of the crankshaft connecting rod leads to the alternate movement of the wheels back and forth along the guides and to their simultaneous rotation forward due to the overrunning mechanism and the corresponding movement on the road; moreover, the traction force in the CTS can be formed by the muscular efforts of pressing the user's legs on the pedals, with the movement of the right and left hand levers back and forth, or by the electric motors of the wheels, like motor-wheels, with an energy source - electric batteries and an electronic control system; characterized in that the electronic control system of the KTS contains: a switching device, charging ports, a signal lamp, a joystick installed in the upper or top part of one of the hand levers, a control controller and a power controller for each motor-wheel, while a signal for the thrust of the engines motor-wheels is formed by the specified joystick in the control controller with transmission to the power controllers, and the electric traction of the motors is formed at the output of the power controllers of the motor-wheels; at the same time, said motor-wheels can be driven into rotation both by means of the muscular efforts of pressing the legs and by moving the hand levers, and by using the said electronic control system. 2. KTS according to claim 1, characterized in that the joystick is installed in the upper part on the handle of the right or left hand lever. 3. KTS according to claim 1, characterized in that the hinge of the lower end of both the left and right hand levers and the corresponding crankshaft link hinges are located at opposite ends of the corresponding left or right pedal link. 4. KTS according to claim 1, characterized in that the control controller includes a digital coordinator for the formation of a signal applied to each power controller.

Images