TW201438953A - Personal transport vehicle - Google Patents
Personal transport vehicle Download PDFInfo
- Publication number
- TW201438953A TW201438953A TW102111854A TW102111854A TW201438953A TW 201438953 A TW201438953 A TW 201438953A TW 102111854 A TW102111854 A TW 102111854A TW 102111854 A TW102111854 A TW 102111854A TW 201438953 A TW201438953 A TW 201438953A
- Authority
- TW
- Taiwan
- Prior art keywords
- auxiliary wheel
- actuator
- link
- support arm
- disposed
- Prior art date
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62K—CYCLES; CYCLE FRAMES; CYCLE STEERING DEVICES; RIDER-OPERATED TERMINAL CONTROLS SPECIALLY ADAPTED FOR CYCLES; CYCLE AXLE SUSPENSIONS; CYCLE SIDE-CARS, FORECARS, OR THE LIKE
- B62K11/00—Motorcycles, engine-assisted cycles or motor scooters with one or two wheels
- B62K11/007—Automatic balancing machines with single main ground engaging wheel or coaxial wheels supporting a rider
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62H—CYCLE STANDS; SUPPORTS OR HOLDERS FOR PARKING OR STORING CYCLES; APPLIANCES PREVENTING OR INDICATING UNAUTHORIZED USE OR THEFT OF CYCLES; LOCKS INTEGRAL WITH CYCLES; DEVICES FOR LEARNING TO RIDE CYCLES
- B62H7/00—Devices for learning to ride cycles, not otherwise provided for, e.g. assisting balance
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Motorcycle And Bicycle Frame (AREA)
Abstract
Description
本發明關於一種運輸載具，尤指一種兩輪式之個人運輸載具。 The present invention relates to a transport vehicle, and more particularly to a two-wheeled personal transport vehicle.
除了一般的機車、自行車之外，就目前市場上的個人運輸載具而言，通常為了達到靜態穩定，都會以至少三個地面接觸支撐點的方式來做為運輸載具的基本架構，即使駕駛者所乘坐的範圍體積並不大，但為了達到一定程度的穩定性與安全性，其軸距還是必須有一定的長度存在，也因此造就這種運輸載具體積通常較長、較大以及較重的問題，導致這種運輸載具在如今人潮稠密的都市區內作為代步工具是相當不便的，在持續快速都市化的趨勢下，此問題也會日益嚴重的顯現出來。 In addition to general locomotives and bicycles, in terms of personal transport vehicles currently on the market, in order to achieve static stability, at least three ground contact points are used as the basic structure of the transport vehicle, even if driving The range in which the rider is riding is not large, but in order to achieve a certain degree of stability and safety, the wheelbase must still have a certain length, and thus the specific product of the transport load is usually longer, larger and more The problem is that it is quite inconvenient for such transport vehicles to be used as a means of transportation in today's densely populated urban areas. This problem will become increasingly apparent in the trend of sustained rapid urbanization.
近年來，在市場上出現了一種同軸兩輪車，請參閱美國發明專利US6561294所揭露的一種車體架構，由兩個輪子支撐平台及控制桿所組合而成，兩組輪子以沿同一軸線且平行安置的方法安裝於一本體上，支撐平台上連接了一組連桿機構，該機構能夠改變座椅型態來提供駕駛者站姿或坐姿兩種操作型態。該同軸兩輪車將個人用運輸載具的體積縮小到只有約一個成人站立空間的大小，也因其同軸架構的特性使其具有零迴轉半徑的特點，解決了前 述載具的空間過大問題並提高了車輛的靈活度。 In recent years, a coaxial two-wheeled vehicle has appeared on the market. Please refer to a vehicle body structure disclosed in US Pat. No. 6,561,294, which is composed of two wheel support platforms and control rods, and the two sets of wheels are along the same axis. The method of parallel placement is mounted on a body, and a set of link mechanisms is connected to the support platform, and the mechanism can change the seat type to provide two modes of operation: the driver standing or sitting. The coaxial two-wheeler reduces the size of the personal transport vehicle to a size of only about one adult standing space, and also has the characteristics of a zero radius of gyration due to the characteristics of its coaxial structure, which solves the former The space problem of the vehicle is too large and the flexibility of the vehicle is improved.
然而，上述同軸兩輪車的車體架構由於兩車輪分別配置於左右兩側，因此必須要由電子裝置及電控系統控制其車體重心位置，使其達到動態平衡狀態，由此可見此類載具相當依靠電子的控制特性，但在現今的生活中，電子控制的技術仍未達到零故障的可能性，一旦電控系統發生問題，即無法維持其動態穩定狀態，則無法確保駕駛者的人車安全，當其行駛於顛簸路面時，亦無法穩定的位於動態穩定狀態。再者，該同軸兩輪車停車時，如將電源關閉，車體即無法維持平衡狀態，必須倚靠在牆面或其支架上，造成使用上的不便。 However, since the body structure of the above-mentioned coaxial two-wheeled vehicle is disposed on the left and right sides respectively, it is necessary to control the position of the center of gravity of the vehicle by the electronic device and the electronic control system to achieve a dynamic balance state. Vehicles rely heavily on electronic control features, but in today's life, electronic control technology has not yet reached the possibility of zero failure. Once the electronic control system has problems, it can not maintain its dynamic stability, it can not ensure the driver's People and vehicles are safe, and when they are driving on bumpy roads, they are not stable and stable. Moreover, when the coaxial two-wheeled vehicle is parked, if the power is turned off, the vehicle body cannot maintain the balance state, and must lean against the wall surface or its bracket, causing inconvenience in use.
有鑒於上述缺點的存在，台灣發明專利公開號201231033係揭露一種可調式輪具之載具，主要包括一平台，平台左右兩邊各透過一組具有依自由度的連桿件連結至少一個輪子旋轉裝置與輪胎，並搭配至少一對避震器，該左右輪子旋轉裝置之間由一組線性伸縮裝置連接，能調整左右輪子旋轉裝置之距離；平台前端透過樞鈕設置前踏板，平台後端透過至少一組具有一自由度的連桿件連結一後導向輪，前踏板與後導向輪之間由一組線性伸縮裝置連接，能前後調整前踏板與後導向輪之間的距離。然而，由其內容可以發現，該載具改變重心的方法主要是透過兩組線性伸縮裝置的搭配使用，缺一不可，且變換過程具有固定的先後順序條件。另外，在變換的過程中因其主動輪將會先離地再觸地，由此可見，該變化過程僅能存在於定位靜止的狀態下，否則車輛將會變得不受控制，功能性因此 而受到限制。 In view of the above disadvantages, Taiwan Patent Publication No. 201231033 discloses a carrier for an adjustable wheel, which mainly comprises a platform, and the left and right sides of the platform are connected to at least one wheel rotating device through a set of link members having a degree of freedom. And the tire, together with at least one pair of shock absorbers, the left and right wheel rotating device is connected by a set of linear telescopic devices, which can adjust the distance between the left and right wheel rotating devices; the front end of the platform is provided with a front pedal through the hinge, and the rear end of the platform transmits at least one The set of link members having one degree of freedom is coupled to a rear guide wheel, and the front pedal and the rear guide wheel are connected by a set of linear telescopic devices, and the distance between the front pedal and the rear guide wheel can be adjusted back and forth. However, it can be found from the content that the method of changing the center of gravity of the vehicle is mainly through the use of two sets of linear stretching devices, and the transformation process has a fixed sequence condition. In addition, in the process of the transformation, since the driving wheel will first touch the ground and then touch the ground, it can be seen that the change process can only exist in the state of stationary positioning, otherwise the vehicle will become uncontrolled and the function is therefore And is limited.
上述可調式輪具之載具結構上其主要地面接觸元件至少都保持三個車輪以上，為了達到穩定且安全的狀態，其重心必須永遠保持在三輪所構成的支撐多邊形以內，因此產生了前後體積較長的問題，一般個人運輸工具如輪椅，除了在開闊的室外空間使用外，也常在空間有限的室內環境下被使用，一旦體積過大、過長，在空間中的靈活性與機動性就會受到阻礙，因此上述可調式輪具之載具結構即失去了占用體積小的優勢，故現有技術中存在的此種個人運輸載具仍有待進一步改良。 The above-mentioned adjustable wheel carrier has a structure in which at least three of the main ground contact elements are maintained. In order to achieve a stable and safe state, the center of gravity must always remain within the support polygon formed by the three wheels, thus creating a front and rear volume. Longer problems, in general, personal transportation vehicles such as wheelchairs, in addition to being used in open outdoor spaces, are often used in indoor environments where space is limited. Once the volume is too large and too long, flexibility and mobility in space are It will be hindered, so the carrier structure of the above-mentioned adjustable wheel has lost the advantage of occupying small volume, so the personal transportation carrier existing in the prior art still needs further improvement.
有鑒於現有技術之兩輪式個人運輸載具具有不穩定性的問題，本發明設計一種個人運輸載具，其可達到在不穩定時以輔助輪穩定車身之發明目的。 In view of the problem of instability of the prior art two-wheeled personal transport vehicle, the present invention contemplates a personal transport vehicle that achieves the object of stabilizing the vehicle body with an auxiliary wheel when it is unstable.
為達到上述的發明目的，本發明之個人運輸載具所運用的技術手段包含有：設置一底盤、一支撐架構、一輔助輪支撐臂、一支撐架構致動器及一輔助輪支撐臂致動器：該底盤兩側處分別設有一車輪；該支撐架構包含有一第一連桿、一第二連桿及一第三連桿，該第一連桿、第二連桿及第三連桿依序相互樞接，該第一連桿及第三連桿之自由端樞接於底盤上形成平行四連桿機構；該輔助輪支撐臂頂端樞設於該第三連桿，其底端設置有輔助輪；該支撐架構致動器設置於底盤上且連接支撐架構；該輔助輪支撐臂致動器設置於支撐架構上並連接該輔助輪支撐架。 In order to achieve the above object, the technical means for the personal transport vehicle of the present invention comprises: providing a chassis, a support structure, an auxiliary wheel support arm, a support frame actuator and an auxiliary wheel support arm actuating a wheel is disposed on each side of the chassis; the support structure includes a first link, a second link and a third link, and the first link, the second link and the third link are respectively The first ends of the first link and the third link are pivotally connected to the chassis to form a parallel four-bar linkage mechanism; the top end of the auxiliary wheel support arm is pivotally disposed on the third link, and the bottom end is provided with An auxiliary wheel; the support frame actuator is disposed on the chassis and connected to the support structure; the auxiliary wheel support arm actuator is disposed on the support structure and connected to the auxiliary wheel support frame.
所述之個人運輸載具，其中該第二連桿上設有 坐椅。 The personal transport vehicle, wherein the second link is provided Seat.
所述之個人運輸載具，其中該輔助輪支撐臂及輔助輪支撐臂致動器之間連接設有一避震器。 In the personal transportation vehicle, a shock absorber is disposed between the auxiliary wheel support arm and the auxiliary wheel support arm actuator.
所述之個人運輸載具，其中該輔助輪支撐臂中段處形成一第一避震連接部；該輔助輪支撐臂的頂端一側處樞設有一連接架，該連接架上形成有一第二避震連接部，該避震器兩端分別樞接於第一避震連接部及該第二避震連接部。 In the personal transport vehicle, a first shock-absorbing connection portion is formed at a middle portion of the auxiliary wheel support arm; a connecting frame is pivotally disposed at a top end side of the auxiliary wheel support arm, and a second avoidance is formed on the connecting frame The two ends of the shock absorber are pivotally connected to the first suspension connection portion and the second suspension connection portion.
所述之個人運輸載具，其中該第三連桿分為一主桿段及一延伸自主桿段的分桿段，該主桿段之底端與該底盤相互樞接，該主桿段之頂端與該第二連桿之另一端相互樞接，該分桿段朝向底盤的後側方向延伸，該輔助輪支撐臂樞設於該分桿段的自由端。 The personal transport vehicle, wherein the third link is divided into a main rod segment and a split rod segment extending the autonomous rod segment, the bottom end of the main rod segment being pivotally connected to the chassis, the main rod segment being The top end and the other end of the second link are pivotally connected to each other. The split rod segment extends toward the rear side of the chassis, and the auxiliary wheel support arm is pivotally disposed at a free end of the split rod segment.
所述之個人運輸載具，其中該底盤上設置有一前安裝座；該支撐架構致動器具有一缸體及一穿設於缸體中的致動桿，該缸體一端樞設於該前安裝座上，該致動桿之自由端樞接於該支撐架構的第三連桿上。 The personal transport vehicle, wherein the chassis is provided with a front mount; the support mechanism actuator has a cylinder and an actuating rod disposed in the cylinder, the cylinder being pivoted at the front end The free end of the actuating lever is pivotally connected to the third link of the support structure.
所述之個人運輸載具，其中該輔助輪支撐臂致動器為一電動缸，其具有一缸體及一穿設於該缸體中的致動桿，該輔助輪支撐臂致動器之缸體一端樞設於該第三連桿上，該輔助輪支撐臂致動器之致動桿之自由端樞接於該連接架上。 The personal transport vehicle, wherein the auxiliary wheel support arm actuator is an electric cylinder having a cylinder and an actuating rod disposed in the cylinder, the auxiliary wheel supporting the arm actuator One end of the cylinder is pivotally mounted on the third link, and the free end of the actuating lever of the auxiliary wheel support arm actuator is pivotally connected to the connecting frame.
所述之個人運輸載具，其中該底盤內部設置有陀螺儀、加速度計、電子羅盤、編碼器、主控制器、左輪轂馬達致動器及右輪轂馬達致動器等，該兩車輪之軸心分 別連接該左輪轂馬達致動器及右輪轂馬達致動器，該兩車輪之軸心假想延伸線為同一直線。 The personal transport vehicle, wherein the chassis is provided with a gyroscope, an accelerometer, an electronic compass, an encoder, a main controller, a left hub motor actuator, and a right hub motor actuator, etc., the axes of the two wheels Heart The left hub motor actuator and the right hub motor actuator are not connected, and the imaginary extension lines of the two wheels are in the same straight line.
所述之個人運輸載具，其中於該底盤前側處設置有一立柱，於該立柱的頂端兩側分別配置有一握把，於該握把上設有按鈕及切換開關，該按鈕及切換開關連接該主控制器。 In the personal transport vehicle, a column is disposed at a front side of the chassis, and a handle is disposed on each side of the top end of the column, and a button and a switch are disposed on the handle, and the button and the switch are connected main controller.
所述之個人運輸載具，其中該立柱可分為一上段立柱及一下段立柱，上段立柱及下段立柱相互樞接，該兩握把設置於上段立柱上，該下段立柱底端連接該底盤。 In the personal transportation vehicle, the column can be divided into an upper column and a lower column, and the upper column and the lower column are pivotally connected to each other. The two grips are disposed on the upper column, and the bottom end of the lower column is connected to the chassis.
藉由上述技術手段的運用，本發明的個人運輸載具可具有兩輪平衡模式及多輪穩定模式，該兩輪平衡模式可在車輛行駛狀況穩定時使用，可依較靈活的兩輪狀態行駛；當車輛行駛狀況不穩定時，例如：路面狀況不佳、電力不足、省電模式或速度變化率較大時)，可具有與地面間三點以上的支撐點，達到穩定車身的作用，提升整體使用上的安全性，此外，該多輪穩定模式亦可在車輛不行駛時使用，可直接關閉電源停止駐車，車輛仍可穩定位於直立狀態。 Through the use of the above technical means, the personal transport vehicle of the present invention can have a two-wheel balance mode and a multi-wheel stable mode, which can be used when the driving condition of the vehicle is stable, and can be driven in a flexible two-wheel state. When the driving condition of the vehicle is unstable, for example, when the road condition is not good, the power is insufficient, the power saving mode or the speed change rate is large, the support point with more than three points between the ground and the ground can be used to stabilize the vehicle body and improve The safety of the overall use, in addition, the multi-wheel stable mode can also be used when the vehicle is not running, can directly turn off the power to stop parking, the vehicle can still be stably in an upright state.
10‧‧‧底盤 10‧‧‧Chassis
11‧‧‧車輪 11‧‧‧ Wheels
12‧‧‧第一樞接座 12‧‧‧First pivoting seat
13‧‧‧第二樞接座 13‧‧‧Second pivoting seat
14‧‧‧立柱 14‧‧‧ Column
140‧‧‧上段立柱 140‧‧‧Upper column
141‧‧‧下段立柱 141‧‧‧Lower column
15‧‧‧握把 15‧‧‧ grip
20‧‧‧支撐架構 20‧‧‧Support structure
21‧‧‧第一連桿 21‧‧‧ first link
22‧‧‧第二連桿 22‧‧‧second connecting rod
220‧‧‧坐椅 220‧‧‧ Chair
23‧‧‧第三連桿 23‧‧‧ Third Link
230‧‧‧主桿段 230‧‧‧ main section
231‧‧‧分桿段 231‧‧‧ Segment
30‧‧‧輔助輪支撐臂 30‧‧‧Auxiliary wheel support arm
31‧‧‧輔助輪 31‧‧‧Assistance wheel
32‧‧‧第一避震連接部 32‧‧‧First suspension connection
33‧‧‧連接架 33‧‧‧Connecting frame
330‧‧‧第二避震連接部 330‧‧‧Second suspension connection
34‧‧‧避震器 34‧‧‧ Shock absorbers
40‧‧‧支撐架構致動器 40‧‧‧Support Architecture Actuator
41‧‧‧缸體 41‧‧‧Cylinder block
42‧‧‧致動桿 42‧‧‧Acoustic rod
50‧‧‧輔助輪支撐臂致動器 50‧‧‧Auxiliary wheel support arm actuator
51‧‧‧缸體 51‧‧‧Cylinder block
52‧‧‧致動桿 52‧‧‧Acoustic rod
圖1為本發明的立體外觀圖。 Figure 1 is a perspective view of the present invention.
圖2為本發明的側視示意圖。 Figure 2 is a side elevational view of the present invention.
圖3為本發明的電子裝置及驅動裝置的示意圖。 3 is a schematic view of an electronic device and a driving device of the present invention.
圖4為動作示意圖。 Figure 4 is a schematic diagram of the action.
圖5為本發明的使用狀態示意圖(一)。 Fig. 5 is a schematic view (1) of the state of use of the present invention.
圖6為本發明的使用狀態示意圖(二)。 Figure 6 is a schematic view of the use state of the present invention (2).
圖7為本發明的使用狀態示意圖(三)。 Figure 7 is a schematic view (3) of the use state of the present invention.
圖8為本發明的使用狀態示意圖(四)。 Fig. 8 is a schematic view showing the state of use of the present invention (4).
本發明為一種個人運輸載具，請參閱圖1及圖2所示，其包含有一底盤10、一支撐架構20、一輔助輪支撐臂30、一支撐架構致動器40及一輔助輪支撐臂致動器50。 The present invention is a personal transport vehicle, as shown in FIGS. 1 and 2, which includes a chassis 10, a support structure 20, an auxiliary wheel support arm 30, a support frame actuator 40, and an auxiliary wheel support arm. Actuator 50.
該底盤10為一立方箱體，其內部設置有陀螺儀、加速度計、電子羅盤、編碼器、主控制器、左輪轂馬達致動器及右輪轂馬達致動器等電子裝置及驅動裝置，請配合參閱圖3所示，該陀螺儀、加速度計、電子羅盤、編碼器係可輸出訊號至主控制器，主控制器處理後，再將訊號輸出至支撐架構致動器40、輔助輪支撐臂致動器50、左輪轂馬達致動器及右輪轂馬達致動器等。請配合參閱圖1及圖2所示，於該底盤10之兩側處分別可轉動地設有兩車輪11，該兩車輪11之軸心分別連接該左輪轂馬達致動器及右輪轂馬達致動器，該兩車輪11之軸心假想延伸線為同一直線，該底盤10之頂面上的中央處間隔設置有至少一第一樞接座12及至少一第二樞接座13，該第一樞接座12位於第二樞接座13的前側處，在本發明的具體實施例中，該底盤10的頂面上係配置有兩第一樞接座12及兩第二樞接座13，該兩第一樞接座12左右間隔配置，該兩第二樞接座13左右間隔配置。於該底盤10之前側壁面上設置有一前安裝 座13，該前安裝座13為一直立架體且朝向上方延伸。於該底盤10前側處設置有一立柱14，於該立柱14的頂端兩側分別配置有一握把15，在本發明的具體實施例中，該立柱14可分為一上段立柱140及一下段立柱141，上段立柱140及下段立柱141相互樞接，該兩握把15設置於上段立柱140上，該下段立柱141底端固定於該前安裝座13處。於握把15上配置有數位按鈕及切換開關，數位按鈕及切換開關連接至該主控制器。於該握把15上可進一步配置有LCD螢幕及揚聲器。 The chassis 10 is a cubic case, and is provided with an electronic device and a driving device such as a gyroscope, an accelerometer, an electronic compass, an encoder, a main controller, a left hub motor actuator, and a right hub motor actuator. Referring to FIG. 3, the gyroscope, the accelerometer, the electronic compass, and the encoder can output signals to the main controller, and after the main controller processes, the signals are output to the support structure actuator 40 and the auxiliary wheel support arm. Actuator 50, left hub motor actuator, right hub motor actuator, and the like. Referring to FIG. 1 and FIG. 2, two wheels 11 are rotatably disposed on two sides of the chassis 10, and the axes of the two wheels 11 are respectively connected to the left hub motor actuator and the right hub motor. The imaginary extension lines of the two wheels 11 are the same straight line, and at least one first pivoting seat 12 and at least one second pivoting seat 13 are spaced apart from the center of the top surface of the chassis 10, the first A pivoting seat 12 is located at a front side of the second pivoting seat 13. In a specific embodiment of the present invention, the top surface of the chassis 10 is provided with two first pivoting seats 12 and two second pivoting seats 13 The two first pivoting seats 12 are spaced apart from each other, and the two second pivoting seats 13 are disposed at right and left intervals. a front mounting is provided on the side wall surface of the chassis 10 The seat 13, the front mount 13 is an upright frame body and extends upward. A column 14 is disposed on the front side of the chassis 10, and a handle 15 is disposed on each side of the top end of the column 14. In the specific embodiment of the present invention, the column 14 can be divided into an upper column 140 and a lower column 141. The upper column 140 and the lower column 141 are pivotally connected to each other. The two grips 15 are disposed on the upper column 140, and the bottom end of the lower column 141 is fixed to the front mounting seat 13. A digital button and a switch are disposed on the grip 15, and the digital button and the switch are connected to the main controller. An LCD screen and a speaker can be further disposed on the grip 15.
請配合參閱圖1及圖2所示，該支撐架構20包含有一第一連桿21、一第二連桿22及一第三連桿23，該第一連桿21之底端樞設於該第一樞接座12上，該第一連桿21之頂端與該第二連桿22之一端相互樞接，該第二連桿22之另一端與該第三連桿23之頂端相互樞接，該第三連桿23之底端與該第二樞接座13相互樞接，藉此令第一連桿21、第二連桿22、一第三連桿23及底盤10頂面共同形成為一平行四連桿機構，由於底盤10位置為固定，因此當第一連桿21移動時，可帶動該第二連桿22及第三連桿23移動。在本發明的具體實施例中，該第三連桿23可分為一主桿段230及一延伸自主桿段230的分桿段231，該分桿段231及主桿段230呈倒y字形，該主桿段230之底端與該第二樞接座13相互樞接，該主桿段230之頂端與該第二連桿22之另一端相互樞接，該分桿段231朝向底盤10的後側方向延伸。進一步而言，該第二連桿22為一長板體，其頂面上設置有一坐椅220；該第一連桿21具有兩間 隔對稱之桿體，且分別樞設於該第二連桿22之一端兩側處；該第三連桿23具有兩間隔對稱之桿體，且分別樞設於該第二連桿22之另一端的兩側處。 As shown in FIG. 1 and FIG. 2 , the support structure 20 includes a first link 21 , a second link 22 , and a third link 23 . The bottom end of the first link 21 is pivoted thereon. On the first pivoting seat 12, the top end of the first connecting rod 21 and the one end of the second connecting rod 22 are pivotally connected to each other, and the other end of the second connecting rod 22 is pivotally connected to the top end of the third connecting rod 23. The bottom end of the third connecting rod 23 and the second pivoting seat 13 are pivotally connected to each other, thereby forming the first connecting rod 21, the second connecting rod 22, the third connecting rod 23 and the top surface of the chassis 10 together. For a parallel four-bar linkage mechanism, since the position of the chassis 10 is fixed, when the first link 21 moves, the second link 22 and the third link 23 can be moved. In a specific embodiment of the present invention, the third link 23 can be divided into a main pole segment 230 and a split rod segment 231 extending the autonomous rod segment 230. The split rod segment 231 and the main rod segment 230 are inverted y-shaped. The bottom end of the main pole section 230 and the second pivot joint 13 are pivotally connected to each other. The top end of the main pole section 230 is pivotally connected to the other end of the second link 22, and the splitter section 231 faces the chassis 10 The rear side extends. Further, the second link 22 is a long plate body, and a seat 220 is disposed on a top surface thereof; the first link 21 has two seats The symmetrical rods are respectively pivotally disposed at two sides of one end of the second link 22; the third link 23 has two symmetrical rods and is respectively pivotally disposed on the second link 22 On both sides of one end.
該輔助輪支撐臂30之頂端樞接於該第三連桿23上，該輔助輪支撐臂30之底端可轉動地設置有一輔助輪31，該輔助輪支撐臂30可轉動至以輔助輪31抵靠於地面上，在本發明的具體實施例中，該輔助輪支撐臂30為兩間隔對稱配置之桿體，兩桿體之頂端分別樞設在該第三連桿23之分桿段231上，該兩桿體中段處彎折形成有一小於180度之角度，該桿體之彎折處形成一第一避震連接部32。進一步於該輔助輪支撐臂30的頂端一側處樞設有一連接架33，該連接架33具體為兩間隔之板體，該連接架33上形成有一第二避震連接部330，於該第二避震連接部330及該第一避震連接部32之間連接設置有一避震器34，該避震器34可提供該連接架33及輔助輪支撐臂30具有可相對擺動的自由度。 The top end of the auxiliary wheel support arm 30 is pivotally connected to the third link 23. The bottom end of the auxiliary wheel support arm 30 is rotatably disposed with an auxiliary wheel 31. The auxiliary wheel support arm 30 is rotatable to the auxiliary wheel 31. In the embodiment of the present invention, the auxiliary wheel support arm 30 is a two-disc symmetrically arranged rod body, and the top ends of the two rod bodies are respectively pivotally disposed on the split rod section 231 of the third link 23 The upper portion of the two rods is bent to form an angle of less than 180 degrees, and the bent portion of the rod body forms a first suspension connecting portion 32. Further, a connecting frame 33 is further disposed on a side of the top end of the auxiliary wheel support arm 30. The connecting frame 33 is specifically a two-part plate body. The connecting frame 33 is formed with a second shock-absorbing connecting portion 330. A shock absorber 34 is provided between the second suspension connecting portion 330 and the first suspension connecting portion 32. The shock absorber 34 can provide the connecting bracket 33 and the auxiliary wheel supporting arm 30 with a degree of freedom of relative swinging.
該支撐架構致動器40設置於該底盤10上，且可驅動該支撐架構20移動，為達到驅動支撐架構20移動的目的，該支撐架構致動器40可為現有技術中之電動缸、油壓缸、氣壓缸或馬達搭配減速齒輪機構等，該支撐架構致動器40可提供該底盤10及支撐架構20之間具有可相對移動的自由度。在本發明的具體實施例中，該支撐架構致動器40為一電動缸，其具有一缸體41及一穿設於缸體41中的致動桿42，該缸體41一端樞設於該前安裝座13上，該致動桿42之自由端樞接於該支撐架構20的第三連桿23 上，請配合參閱圖4所示，當該致動桿42突伸或縮回時，即可帶動該支撐架構20移動。 The support structure actuator 40 is disposed on the chassis 10 and can drive the support structure 20 to move. For the purpose of driving the support structure 20, the support structure actuator 40 can be an electric cylinder and oil in the prior art. The pressure cylinder, the pneumatic cylinder or the motor is coupled to a reduction gear mechanism or the like, and the support structure actuator 40 can provide a degree of freedom of relative movement between the chassis 10 and the support structure 20. In an embodiment of the present invention, the support structure actuator 40 is an electric cylinder having a cylinder 41 and an actuating rod 42 disposed in the cylinder 41. The cylinder 41 is pivoted at one end. The free end of the actuating lever 42 is pivotally connected to the third link 23 of the support structure 20 on the front mounting seat 13 In addition, please refer to FIG. 4, when the actuating lever 42 is protruded or retracted, the support frame 20 can be moved.
請參閱圖1及圖2所示，該輔助輪支撐臂致動器50設置於該支撐架構20上，且可驅動該輔助輪支撐臂30移動，為達到驅動輔助輪支撐臂30移動的目的，該輔助輪支撐臂致動器50可為現有技術中之電動缸、油壓缸、氣壓缸、電動缸或馬達搭配減速齒輪機構等，該輔助輪支撐臂致動器50可提供該支撐架構20與輔助輪支撐臂30之間具有可相對移動的自由度。該輔助輪支撐臂致動器50設置於該支撐架構20上且連接該輔助輪支撐臂30，該輔助輪支撐臂致動器50可帶動該輔助輪支撐臂30移動，進而調整輔助輪31之位置。在本發明的具體實施例中，該輔助輪支撐臂致動器50為一電動缸，其具有一缸體51及一穿設於缸體51中的致動桿52，該缸體51一端樞設於該第三連桿23上，該致動桿52之自由端樞接於該連接架330上，請配合參閱圖4所示，透過致動桿52之突伸及縮回，即可帶動該輔助輪支撐臂30移動位置。 Referring to FIG. 1 and FIG. 2 , the auxiliary wheel support arm actuator 50 is disposed on the support structure 20 and can drive the auxiliary wheel support arm 30 to move for the purpose of driving the auxiliary wheel support arm 30 to move. The auxiliary wheel support arm actuator 50 can be an electric cylinder, a hydraulic cylinder, a pneumatic cylinder, an electric cylinder or a motor with a reduction gear mechanism or the like in the prior art, and the auxiliary wheel support arm actuator 50 can provide the support structure 20 There is a degree of freedom of relative movement between the auxiliary wheel support arm 30 and the auxiliary wheel support arm 30. The auxiliary wheel support arm actuator 50 is disposed on the support structure 20 and connected to the auxiliary wheel support arm 30. The auxiliary wheel support arm actuator 50 can drive the auxiliary wheel support arm 30 to move, thereby adjusting the auxiliary wheel 31. position. In an embodiment of the present invention, the auxiliary wheel support arm actuator 50 is an electric cylinder having a cylinder 51 and an actuating lever 52 disposed in the cylinder 51. The cylinder 51 is pivoted at one end. The free end of the actuating lever 52 is pivotally connected to the connecting frame 330. Referring to FIG. 4, the protruding and retracting of the actuating lever 52 can be used to drive the third connecting rod 52. The auxiliary wheel support arm 30 moves in position.
在實際使用時，當使用者在實際操作該個人運輸載具時，可調整其為兩輪平衡模式或多輪穩定模式。 In actual use, when the user actually operates the personal transport vehicle, it can be adjusted to a two-wheel balance mode or a multi-wheel stable mode.
請配合參閱圖4所示，圖中所示之個人運輸載具位於兩輪平衡模式，該支撐架構致動器40縮回其致動桿42，令支撐架構朝向前側移動呈直立狀，同時帶動輔助輪支撐臂30朝向上方移動，並帶動該輔助輪31離開於地面。該輔助輪支撐臂致動器50突伸其致動桿52，令該輔助輪支撐臂30朝向下方轉動，進而縮減其占用的橫向空間，提供 操作時進行迴轉等的空間。請配合參閱圖5所示，使用者可站立在該底盤10頂面上且握持該握把15，以站姿操作個人運輸載具進行移動，透過陀螺儀感測使用者身體之傾斜狀態，經由主控制器控制該左輪轂馬達致動器及右輪轂馬達致動器，分別控制兩車輪11之轉動方向及速度。請配合參閱圖6所示，使用者亦可乘坐在該坐椅220上，以坐姿操作個人運輸載具。 Referring to FIG. 4, the personal transport vehicle shown in the figure is in a two-wheel balancing mode, and the support structure actuator 40 retracts its actuating lever 42 to move the support structure to the front side in an upright position. The auxiliary wheel support arm 30 moves upward and drives the auxiliary wheel 31 away from the ground. The auxiliary wheel support arm actuator 50 protrudes from the actuating lever 52 to rotate the auxiliary wheel support arm 30 downward, thereby reducing the lateral space occupied by the auxiliary wheel Space for turning, etc. during operation. Referring to FIG. 5, the user can stand on the top surface of the chassis 10 and hold the grip 15 to operate the personal transport vehicle in a standing position to move, and sense the tilt state of the user's body through the gyroscope. The left hub motor actuator and the right hub motor actuator are controlled via a main controller to control the rotational direction and speed of the two wheels 11, respectively. Referring to FIG. 6, the user can also ride on the seat 220 to operate the personal transport vehicle in a sitting position.
請配合參閱圖7所示，在本發明的較佳實施例中，該輔助輪支撐臂30及輔助輪支撐臂致動器50係可拆卸地樞設於支撐架構20上，因此使用者可由支撐架構20上卸下該輔助輪支撐臂30及輔助輪支撐臂致動器50，如此則可僅占據更小的空間，便於在狹窄空間中進行迴轉動作。 Referring to FIG. 7 , in the preferred embodiment of the present invention, the auxiliary wheel support arm 30 and the auxiliary wheel support arm actuator 50 are detachably pivoted on the support structure 20, so that the user can be supported. The auxiliary wheel support arm 30 and the auxiliary wheel support arm actuator 50 are detached from the structure 20, so that it can occupy only a smaller space and facilitate the turning operation in a narrow space.
請配合參閱圖2及圖8所示，使用者欲調整個人運輸載具由兩輪平衡模式至多輪穩定模式時，由於該各人運輸載具與地面之間的支撐關係及重心位置會改變，因此必須先恢復至站立姿態，該輔助輪支撐臂致動器50控制其致動桿52縮回，帶動該輔助輪支撐臂30朝向上方移動，該支撐架構致動器40控制其致動桿42突伸，帶動該支撐架構20朝向後側方向移動，令輔助輪31接觸於地面，令個人運輸載具與地面之間具有三點支撐點，可達到靜態平衡，多輪穩定模式可提供個人運輸載具原地停止且關閉電源時仍可穩定直立駐車，亦可在行駛狀況不穩定時(例如：路面狀況不佳、電力不足、省電模式或速度變化率較大時)達到穩定車身的作用，提升整體使用上的安全性。 Please refer to FIG. 2 and FIG. 8 , when the user wants to adjust the personal transportation vehicle from the two-wheel balancing mode to the multi-wheel stable mode, the support relationship between the transportation vehicles and the ground and the position of the center of gravity will change. Therefore, it is necessary to first return to the standing posture, the auxiliary wheel support arm actuator 50 controls the actuation lever 52 to retract, and the auxiliary wheel support arm 30 is moved upward, and the support frame actuator 40 controls the actuation lever 42 thereof. The protruding movement drives the support structure 20 to move toward the rear side, so that the auxiliary wheel 31 is in contact with the ground, and the personal transportation carrier has three support points between the vehicle and the ground, which can achieve static balance, and the multi-wheel stable mode can provide personal transportation. The vehicle can be stably parked upright when the vehicle is stopped in place and the power is turned off. It can also stabilize the body when the driving condition is unstable (for example, when the road condition is poor, the power is insufficient, the power saving mode or the speed change rate is large). To improve the safety of the overall use.
以上所述僅是本發明的較佳實施例，並非對本 發明做任何形式上的限制，雖然本發明以較佳實施例揭露如上，然而並非用以限定本發明，任何熟悉本專業的技術人員，在不脫離本發明技術方案的範圍內，當可利用上述揭示的技術內容作出些許更動或修飾為等同變化的等效實施例，但凡是未脫離本發明技術方案的內容，依據本發明的技術實質對以上實施例所作的任何簡單修改、等同變化與修飾，均仍屬於本發明技術方案的範圍內。 The above is only a preferred embodiment of the present invention, not the present The invention is not limited to the above-described embodiments, but is not intended to limit the present invention. Any one skilled in the art can use the above without departing from the scope of the present invention. The invention is not limited to the equivalent embodiment, but any simple modifications, equivalent changes and modifications made to the above embodiments in accordance with the technical spirit of the present invention, without departing from the technical scope of the present invention, All still fall within the scope of the technical solution of the present invention.
10‧‧‧底盤 10‧‧‧Chassis
11‧‧‧車輪 11‧‧‧ Wheels
12‧‧‧第一樞接座 12‧‧‧First pivoting seat
13‧‧‧第二樞接座 13‧‧‧Second pivoting seat
14‧‧‧立柱 14‧‧‧ Column
140‧‧‧上段立柱 140‧‧‧Upper column
141‧‧‧下段立柱 141‧‧‧Lower column
15‧‧‧握把 15‧‧‧ grip
20‧‧‧支撐架構 20‧‧‧Support structure
21‧‧‧第一連桿 21‧‧‧ first link
22‧‧‧第二連桿 22‧‧‧second connecting rod
220‧‧‧坐椅 220‧‧‧ Chair
23‧‧‧第三連桿 23‧‧‧ Third Link
230‧‧‧主桿段 230‧‧‧ main section
231‧‧‧分桿段 231‧‧‧ Segment
30‧‧‧輔助輪支撐臂 30‧‧‧Auxiliary wheel support arm
31‧‧‧輔助輪 31‧‧‧Assistance wheel
32‧‧‧第一避震連接部 32‧‧‧First suspension connection
33‧‧‧連接架 33‧‧‧Connecting frame
330‧‧‧第二避震連接部 330‧‧‧Second suspension connection
34‧‧‧避震器 34‧‧‧ Shock absorbers
40‧‧‧支撐架構致動器 40‧‧‧Support Architecture Actuator
41‧‧‧缸體 41‧‧‧Cylinder block
42‧‧‧致動桿 42‧‧‧Acoustic rod
50‧‧‧輔助輪支撐臂致動器 50‧‧‧Auxiliary wheel support arm actuator
51‧‧‧缸體 51‧‧‧Cylinder block
52‧‧‧致動桿 52‧‧‧Acoustic rod
Claims (10)
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| TW102111854A TWI501897B (en) | 2013-04-02 | 2013-04-02 | Personal transport vehicle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| TW102111854A TWI501897B (en) | 2013-04-02 | 2013-04-02 | Personal transport vehicle |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| TW201438953A true TW201438953A (en) | 2014-10-16 |
| TWI501897B TWI501897B (en) | 2015-10-01 |
Family
ID=52113666
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| TW102111854A TWI501897B (en) | 2013-04-02 | 2013-04-02 | Personal transport vehicle |
Country Status (1)
| Country | Link |
|---|---|
| TW (1) | TWI501897B (en) |
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104828189A (en) * | 2015-05-20 | 2015-08-12 | 常州爱尔威智能科技有限公司 | Electric balance vehicle |
| CN106428344A (en) * | 2016-11-02 | 2017-02-22 | 李长隆 | Intelligent multipurpose balance car |
| CN106515910A (en) * | 2016-11-09 | 2017-03-22 | 衢州市中安建筑工程设备有限公司 | Electric car tilting prevention auxiliary device |
| WO2017107838A1 (en) * | 2015-12-24 | 2017-06-29 | 鲍炜 | Safe two-wheeled self-balancing vehicle |
| CN113306662A (en) * | 2021-06-25 | 2021-08-27 | 浙江普瑞圣工贸有限公司 | Sitting type balance car |
| CN113679543A (en) * | 2021-08-24 | 2021-11-23 | 上海海尔医疗科技有限公司 | Wheelchair and wheelchair system |
| GB2598760A (en) * | 2020-09-11 | 2022-03-16 | Gabriel Birligea Danut | A vehicle |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105691532B (en) * | 2016-04-14 | 2018-04-24 | 四川大学 | A kind of Double-wheel self-balancing electric car with hand brake system |
Family Cites Families (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6561294B1 (en) * | 1995-02-03 | 2003-05-13 | Deka Products Limited Partnership | Balancing vehicle with passive pivotable support |
| CN2693604Y (en) * | 2003-12-26 | 2005-04-20 | 林明正 | Two-wheel mini car |
| CN100445159C (en) * | 2006-06-30 | 2008-12-24 | 宁波Gqy视讯股份有限公司 | Standing and seating two-way type balanced car with two wheels |
| CN201228037Y (en) * | 2008-06-16 | 2009-04-29 | 周惠兴 | Two-wheel self balancing electric motor vehicle |
| TWI392616B (en) * | 2010-05-14 | 2013-04-11 | Cycling & Health Tech Ind R&D | Light-duty vehicle with adjustable wheelbase |
-
2013
- 2013-04-02 TW TW102111854A patent/TWI501897B/en not_active IP Right Cessation
Cited By (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104828189A (en) * | 2015-05-20 | 2015-08-12 | 常州爱尔威智能科技有限公司 | Electric balance vehicle |
| WO2017107838A1 (en) * | 2015-12-24 | 2017-06-29 | 鲍炜 | Safe two-wheeled self-balancing vehicle |
| US10988199B2 (en) | 2015-12-24 | 2021-04-27 | Jiangsu Tallpic Intelligence Technology Ltd. | Safe two-wheeled self-balancing vehicle |
| CN106428344A (en) * | 2016-11-02 | 2017-02-22 | 李长隆 | Intelligent multipurpose balance car |
| CN106515910A (en) * | 2016-11-09 | 2017-03-22 | 衢州市中安建筑工程设备有限公司 | Electric car tilting prevention auxiliary device |
| CN106515910B (en) * | 2016-11-09 | 2022-01-28 | 吴仁渭 | Anti-falling auxiliary device of electric vehicle |
| GB2598760A (en) * | 2020-09-11 | 2022-03-16 | Gabriel Birligea Danut | A vehicle |
| GB2598760B (en) * | 2020-09-11 | 2024-04-10 | Gabriel Birligea Danut | A vehicle |
| CN113306662A (en) * | 2021-06-25 | 2021-08-27 | 浙江普瑞圣工贸有限公司 | Sitting type balance car |
| CN113306662B (en) * | 2021-06-25 | 2022-06-03 | 浙江普瑞圣工贸有限公司 | Sitting type balance car |
| CN113679543A (en) * | 2021-08-24 | 2021-11-23 | 上海海尔医疗科技有限公司 | Wheelchair and wheelchair system |
| CN113679543B (en) * | 2021-08-24 | 2024-06-07 | 上海海尔医疗科技有限公司 | Wheelchair and wheelchair system |
Also Published As
| Publication number | Publication date |
|---|---|
| TWI501897B (en) | 2015-10-01 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| TWI501897B (en) | Personal transport vehicle | |
| US8991542B2 (en) | Motorized reverse trike with tiltable body | |
| US7909340B2 (en) | Vehicle with improved integrated steering and suspension system | |
| CN104108445B (en) | Individual's transport carrier | |
| CN101780816A (en) | Non-coaxial left-right wheeled driving vehicle structure | |
| GB2490526A (en) | A steerable wheel assembly for a vehicle, and a vehicle including such an assembly | |
| CN103318255A (en) | Turn stability systems and methods for lift trucks | |
| USRE44854E1 (en) | Vehicle with improved integrated steering and suspension system | |
| CN107031769A (en) | The front-wheel rocker structure and front-wheel of two front wheels motorcycle wave incline structure | |
| CN206797565U (en) | Tilting positive three-wheeled motor vehicle can brake type leaning device | |
| CN203818974U (en) | Novel vehicle suspension mechanism and vehicle | |
| CN102180210B (en) | Laterally-leaning positive tricycle | |
| CN102874358A (en) | Tricycle capable of achieving tilting swing | |
| JP6565831B2 (en) | Traveling device | |
| TWI428252B (en) | Tricliner tilting device | |
| CN103253332A (en) | Sitting type electric motorcycle | |
| CN207141268U (en) | The front-wheel rocker structure and front-wheel of two front wheels motorcycle wave incline structure | |
| JP2001063645A (en) | Wheel type moving body | |
| JP6669002B2 (en) | Traveling device | |
| CN102975808A (en) | Front suspension tilting mechanism for front two-wheeled car | |
| CN109383673B (en) | Steering and tilting system for vehicle | |
| CN106965888B (en) | Motor vehicle special for disabled people | |
| TWM549738U (en) | Steering and tilting systems for vehicle | |
| CN2431921Y (en) | Front wheel steering device for scooter | |
| CN107953957A (en) | The narrow body car of single row of seats |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| MM4A | Annulment or lapse of patent due to non-payment of fees |