WO2015118309A1 - Dispositif monocycle à moteur et système d'entraînement associé - Google Patents

Dispositif monocycle à moteur et système d'entraînement associé Download PDF

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Publication number
WO2015118309A1
WO2015118309A1 PCT/GB2015/050266 GB2015050266W WO2015118309A1 WO 2015118309 A1 WO2015118309 A1 WO 2015118309A1 GB 2015050266 W GB2015050266 W GB 2015050266W WO 2015118309 A1 WO2015118309 A1 WO 2015118309A1
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WO
WIPO (PCT)
Prior art keywords
wheel
drive arrangement
configuration
drive
unicycle
Prior art date
Application number
PCT/GB2015/050266
Other languages
English (en)
Inventor
Timur Artemev
Original Assignee
Timur Artemev
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 Timur Artemev filed Critical Timur Artemev
Publication of WO2015118309A1 publication Critical patent/WO2015118309A1/fr

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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
    • B62K1/00—Unicycles
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L15/00—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles
    • B60L15/20—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L3/00—Electric devices on electrically-propelled vehicles for safety purposes; Monitoring operating variables, e.g. speed, deceleration or energy consumption
    • B60L3/10—Indicating wheel slip ; Correction of wheel slip
    • B60L3/106—Indicating wheel slip ; Correction of wheel slip for maintaining or recovering the adhesion of the drive wheels
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L50/00—Electric propulsion with power supplied within the vehicle
    • B60L50/30—Electric propulsion with power supplied within the vehicle using propulsion power stored mechanically, e.g. in fly-wheels
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L50/00—Electric propulsion with power supplied within the vehicle
    • B60L50/40—Electric propulsion with power supplied within the vehicle using propulsion power supplied by capacitors
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L50/00—Electric propulsion with power supplied within the vehicle
    • B60L50/50—Electric propulsion with power supplied within the vehicle using propulsion power supplied by batteries or fuel cells
    • B60L50/60—Electric propulsion with power supplied within the vehicle using propulsion power supplied by batteries or fuel cells using power supplied by batteries
    • B60L50/64—Constructional details of batteries specially adapted for electric vehicles
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L50/00—Electric propulsion with power supplied within the vehicle
    • B60L50/50—Electric propulsion with power supplied within the vehicle using propulsion power supplied by batteries or fuel cells
    • B60L50/60—Electric propulsion with power supplied within the vehicle using propulsion power supplied by batteries or fuel cells using power supplied by batteries
    • B60L50/66—Arrangements of batteries
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L58/00—Methods or circuit arrangements for monitoring or controlling batteries or fuel cells, specially adapted for electric vehicles
    • B60L58/10—Methods or circuit arrangements for monitoring or controlling batteries or fuel cells, specially adapted for electric vehicles for monitoring or controlling batteries
    • B60L58/18—Methods or circuit arrangements for monitoring or controlling batteries or fuel cells, specially adapted for electric vehicles for monitoring or controlling batteries of two or more battery modules
    • B60L58/21—Methods or circuit arrangements for monitoring or controlling batteries or fuel cells, specially adapted for electric vehicles for monitoring or controlling batteries of two or more battery modules having the same nominal voltage
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D51/00—Motor vehicles characterised by the driver not being seated
    • B62D51/004—Motor vehicles characterised by the driver not being seated characterised by the transmission
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D51/00—Motor vehicles characterised by the driver not being seated
    • B62D51/02—Motor vehicles characterised by the driver not being seated the driver standing in the vehicle
    • 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
    • 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
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L2200/00—Type of vehicles
    • B60L2200/16—Single-axle vehicles
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L2220/00—Electrical machine types; Structures or applications thereof
    • B60L2220/40—Electrical machine applications
    • B60L2220/44—Wheel Hub motors, i.e. integrated in the wheel hub
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L2220/00—Electrical machine types; Structures or applications thereof
    • B60L2220/50—Structural details of electrical machines
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L2240/00—Control parameters of input or output; Target parameters
    • B60L2240/40—Drive Train control parameters
    • B60L2240/42—Drive Train control parameters related to electric machines
    • B60L2240/421—Speed
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L2240/00—Control parameters of input or output; Target parameters
    • B60L2240/40—Drive Train control parameters
    • B60L2240/42—Drive Train control parameters related to electric machines
    • B60L2240/423—Torque
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L2260/00—Operating Modes
    • B60L2260/20—Drive modes; Transition between modes
    • B60L2260/34—Stabilising upright position of vehicles, e.g. of single axle vehicles
    • 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
    • B62K2204/00—Adaptations for driving cycles by electric motor
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/64—Electric machine technologies in electromobility
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/70—Energy storage systems for electromobility, e.g. batteries
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/72—Electric energy management in electromobility

Definitions

  • the present invention relates to powered single-wheeled devices and more particularly to powered unicycles with self-balancing functionality.
  • Powered self-balancing vehicles for use while standing are known.
  • Such vehicles include two-wheeled vehicles and single-wheeled vehicles (i.e. unicycles).
  • a powered self-balancing unicycle an electronic or mechanical system that controls the wheel in the appropriate direction is typically used to achieve fore-and-aft balance.
  • This type of automatic fore-and-aft balance technology is well known and described, for example, in United States Patent number 6,302,230.
  • a sensor and electronic equipment are typically provided. Information detected by the sensor and the electronics is relayed to a motor. The motor drives the wheel in the appropriate direction and at sufficient speed to maintain fore-and-aft balance.
  • Known embodiments of a powered self-balancing unicycle do not include a handle bar supported by a shaft.
  • United States Patent Application Serial Number 12/281 , 101 presents a single wheel, coupled to a frame to which two platforms (one on each side of the wheel) are attached. Summary of the invention
  • a drive arrangement for a self-balancing powered unicycle having a single hubless wheel comprising: a motor adapted to drive the wheel by applying a force to the rim of the wheel, wherein at least part of the drive arrangement is adapted to be fitted inside the wheel, and wherein the drive arrangement is adapted to be adjustable between a locked configuration, in which when at least partially fitted inside the wheel the drive arrangement cooperates with the rim of the wheel to prevent its removal from the wheel, and an unlocked configuration, in which removal of the drive arrangement from the wheel is permitted.
  • a drive arrangement for a self-balancing powered unicycle that can be quickly and easily connected or removed to/from the unicycle wheel for repair or replacement, for example. Also, by being fitted inside the wheel, embodiments may help to reduce the overall size or profile of the unicycle, thereby improving its portability.
  • Embodiments may allow for easy maintenance by being movable from a locked configuration, wherein the drive arrangement is engaged with the wheel to enable driving of the wheel, to an unlocked configuration, wherein the drive arrangement disengages from the wheel so that it may be removed from the wheel (for servicing, repair, fault diagnosis or replacement, for example).
  • a drive arrangement according to an embodiment may be adjustable between a locked configuration, in which when fitted inside the wheel the drive arrangement engages with the wheel to prevent its removal from the wheel, and an unlocked configuration, in which when fitted inside the wheel the drive arrangement disengages from the wheel to permit its removal from the wheel.
  • Embodiments may further comprise a balance control system adapted to maintain fore-aft balance of the unicycle device by controlling the motor.
  • a single wheel should be taken to mean the generally circular unit that is positioned between the legs of a user and adapted to rotate about an axis to propel the unicycle in a direction during use.
  • the single wheel may therefore be formed from one or more tyres and/or hubs that are coupled together (via a differential, for example).
  • an embodiment may comprise a single hubless wheel having a single hubless rim with a plurality of separate tyres fitted thereon.
  • an embodiment may comprise a single hubless wheel formed from a plurality of hubless rims (each having a respective tyre fitted thereon), wherein the plurality of hubless rims are coupled together via a differential bearing arrangement.
  • the drive arrangement may further comprise a locking system to move the drive arrangement from the unlocked configuration to the locked configuration when activated.
  • a locking system may comprise a mechanical linkage, such as a reverse motion linkage, a parallel motion linkage, a crank and slider linkage, a bell crank linkage, or any combination thereof, for example.
  • a locking system may be provided which disengages the drive arrangement from the wheel upon occurrence of one or more predetermined conditions indicating the user desires to remove the drive arrangement from the wheel.
  • Such an indication may be provided from: an input interface for receiving a user input; movement of a part of the locking system; actuation of a switch, or any combination thereof.
  • Embodiments may therefore enable quick and easy removal of the drive arrangement with little or minimal input from the user.
  • Embodiments may further comprise an energy storage device, such as one or more battery cells, flywheel or capacitors for example. Further, such embodiments may comprise a locking system which is adapted to form at least part of an electrical connection between the electrical energy storage and the motor.
  • an energy storage device such as one or more battery cells, flywheel or capacitors for example.
  • a locking system which is adapted to form at least part of an electrical connection between the electrical energy storage and the motor.
  • the drive arrangement may comprise a drive wheel adapted to be driven by the motor and to contact the rim of the wheel.
  • a self- balancing powered unicycle comprising: a single hubless wheel; and a drive arrangement according to an embodiment.
  • Embodiments may therefore provide a self-balancing powered unicycle that is modular in nature.
  • the drive arrangement may be easily engaged and disengaged to/from the wheel to facilitate rapid and simple repair or replacement.
  • FIG. 1 is an isometric view of an embodiment of a powered unicycle device in a closed configuration
  • FIG. 2 is an exploded diagram of components internal to the casing of
  • FIG. 1
  • FIGS. 3A & 3B are side and front elevations, respectively, of the embodiment of FIG. 1 , wherein the casing is moving between a closed and open configuration;
  • FIGS. 4A & 4B are side and front elevations, respectively, of the embodiment of FIG. 1 , wherein the casing is in an open configuration and the foot platforms are in a stowed configuration;
  • FIG. 5 is an isometric view of the embodiment of FIG. 1 , wherein the casing is in an open configuration and the foot platforms are in a stowed configuration;
  • FIGS. 6A & 6B are side and front elevations, respectively, of the embodiment of FIG. 1 , wherein the casing is in an open configuration and the foot platforms are in an active configuration;
  • FIG. 7 is an isometric view of the embodiment of FIG. 1 , wherein the casing is in an open configuration and the foot platforms are in an active configuration;
  • FIGS. 8A & 8B are side and front elevations, respectively, of a drive arrangement according to an embodiment
  • FIG. 9 is a cross sectional view of the drive arrangement of FIG. 8 taken along the line C-C;
  • FIG. 10 is a side elevation of the drive arrangement of FIG. 8 wherein internal components are depicted by dashed lines. Detailed description
  • FIGS. 1 -5 shows one embodiment of a powered unicycle device 100.
  • FIG. 1 shows the powered unicycle device 100 with a casing 1 10 in a closed configuration so that it encases a single wheel 120.
  • the casing 1 10 is formed from a first, upper portion 1 10A that covers the top (uppermost) half of the wheel 120, and a second, lower portion 1 10B that covers the bottom (lowermost) half of the wheel 120.
  • FIG 2 illustrates an exploded view of components internal to the casing 1 10, namely a wheel 120 and drive arrangement 135.
  • the wheel 120 spins about a central axis 125.
  • the first, upper portion 1 1 OA of the casing is retained in a fixed position relative to the central axis 125, whereas the second, lower portion 1 10B of the casing is adapted to rotate about the central axis 125.
  • Rotation of the second lower portion 1 10B about the central axis 125 moves the casing between closed and open configurations (as illustrated by FIGS. 3-4).
  • the casing 1 10 In the closed configuration (shown in FIG.1 ), the casing 1 10 encloses the wheel 120 so that the outer rim 130 of the wheel 120 is not exposed.
  • the open configuration shown in FIG. 5
  • the outer rim 130 of the wheel 120 is exposed so that it can contact a ground surface.
  • the drive arrangement 135 includes guide wheels 140 attached to an outwardly facing side of respective batteries 145.
  • there are two pairs of guide wheels 140 wherein the two guide wheels in each pair share the same axis of rotation (e.g. by sharing the same axle) and are positioned spaced apart to provide a gap between the two guide wheels.
  • a rib 150 is provided around the inner rim of the wheel 120 and fits into the gap between the two guide wheels 140 in each pair.
  • the guide wheels 140 are therefore adapted to contact with the inner rim of wheel 120 where they spin along with wheel 120 and hold wheel 120 in place by way of the rib 1 50.
  • other arrangements including those with only one guide wheel per battery 145, are possible.
  • the batteries 145 are mounted on a motor 155 which drives a drive wheel 160 positioned at the lowermost point along the inner rim of the wheel 120.
  • the batteries 145 supply power to motor 155 and, this embodiment, there are two batteries in order to create a balanced distribution of volume and weight. However, it is not necessary to employ two batteries 145. Also, alternative energy storage arrangements may be used, such as a flywheel, capacitors, and other known power storage devices, for example.
  • the drive arrangement 135 is adapted to be fitted inside the wheel.
  • the drive arrangement is sized and shaped so that it can be positioned in the void define by the inner rim of the wheel 120. Further, the drive arrangement 135 is movable between a locked configuration and an unlocked configuration.
  • the drive arrangement 135 engages with the rim of the wheel 120 to prevent its removal from the wheel.
  • the guide wheels 140 contact the inner rim of wheel 120 and hold wheel 120 in place by way of the rib 150 when the drive arrangement is in the locked configuration.
  • the drive arrangement 135 In the unlocked configuration, when fitted inside the wheel 120, the drive arrangement 135 disengages with the rim of the wheel 120 to permit its removal from the wheel.
  • the drive arrangement contracts in size when moved from the locked configuration to the unlocked configuration so that the guide wheels 140 no longer contact the inner rim of wheel 120 and no longer hold the wheel 120 in place by way of the rib 150.
  • Such reduced size (e.g. diameter) of the drive arrangement 135 when in the unlocked configuration thus enables the drive arrangement 135 to be removed from the wheel 120. It will therefore be understood that the drive arrangement 135 of the illustrated embodiment can be quickly and easily connected or removed to/from the wheel 120 for repair or replacement, for example.
  • Arranging the drive arrangement 135 in the unlocked configuration permits its removal or fitting from/to the wheel 120 (because, for example, its dimensions when in the unlocked configuration permit its fitting inside the wheel).
  • the drive arrangement can be arranged in the locked configuration so that it engages with the rim of the wheel 120 to prevent its removal (because, for example, its dimensions when in the locked configuration prevent the drive arrangement from being removed from the wheel).
  • the drive wheel 160 When the drive arrangement 135 is fitted inside the wheel and in the locked configuration, the drive wheel 160 is adapted to contact the inner rim of the wheel 120.
  • the drive wheel 160 comprises a wide roller with a groove in the center into which the rib 150 fits.
  • the drive wheel 160 transmits torque from the motor 155 to the wheel 120.
  • this drive system operates by friction and it may be preferable to avoid slippage between the drive wheel 160 and the inner rim of wheel 120.
  • Positioning the drive wheel 160 at the lowermost point enables the weight of a user to provide a force which presses the drive wheel 160 against the inner rim of the wheel 120, thereby helping to reduce or avoid slippage. Referring to FIGS.
  • two foot platforms 165 are coupled to the second, lower portion 1 10B of the casing 1 10, with one on each side of wheel 120.
  • the foot platforms 165 are movable between a stowed configuration, wherein the foot platforms are substantially parallel with the plane of the wheel (as shown in FIG. 5), and an active configuration, wherein the foot platforms are substantially perpendicular to the plane of the wheel (as shown in FIGS. 6-7) so as to support a user's weight.
  • the foot platforms 165 are movable between: (i) a stowed configuration wherein they are flat against the side of the wheel and can be rotated (with the second, lower portion 1 10B of the casing) about the central axis 125 so as to be positioned inside (and covered by) the first, upper portion 1 1 OA of the casing; and (ii) an active configuration, wherein they project outwardly from the side of the wheel to provide a support surface for the feet of a user.
  • the foot platforms 165 are upwardly foldable into a stowed configuration that narrows the profile of the unicycle 100 to aid in storage and carrying. In use, the foot platforms are moved to the active configuration, and the user stands with one foot on each platform 165.
  • the drive arrangement 135 includes a gyroscope or accelerometer system 170 which senses forward and backward tilt of the device in relation to the ground surface and regulates the motor 155 accordingly to keep the device upright.
  • a gyroscope or accelerometer system 170 which senses forward and backward tilt of the device in relation to the ground surface and regulates the motor 155 accordingly to keep the device upright.
  • the user is provided a way of controlling the acceleration and deceleration of the unicycle by varying the pressure applied to various areas of the foot platforms 165. It also enables the unicycle to self-regulate its balance in the fore-and-aft plane.
  • the foot platforms 165 When not in use, the foot platforms 165 are moved to the stowed configuration and then rotated (with the second, lower portion 1 10B of the casing) about the central axis 125 so as to move the casing to the closed configuration.
  • the foot platforms 165 are stored inside the casing (covered by the first, upper portion 1 1 OA of the casing).
  • FIGS. 1 -7 also comprises a lifting handle 180 coupled to the drive arrangement 135 via a plurality of rods 185.
  • the lifting handle 180 is positioned at the top of the casing 1 10, above the wheel 120, and may be used to hold the unicycle 100 above the ground, for example to enable a user to lift, carry, convey or place the unicycle 100.
  • a retractable carrying strap 190 is also provided and attached to the top of the casing 100.
  • the carrying strap 190 may be used to carry the unicycle 100, for example over the shoulder of user.
  • a hook may be provided on the bottom of the case to create rucksack-like belts from the carrying strap 90.
  • the handle 180 is also adapted to trigger an activating system which moves the casing between the closed and open configurations.
  • the lifting handle 180 may be used to initiate the activating system and move the casing from the closed configuration to the open configuration.
  • the force of the unicycle pulling downwards under the influence of gravity causes upward movement of the lifting handle 180 relative to the casing 1 10 (as depicted by an arrow labeled "A") which triggers the activating system.
  • the activating system moves the casing to the open configuration (depicted in FIGS. 4 & 5) so that the lowermost portion of the wheel is exposed and can be brought into contact with a ground surface.
  • the unicycle may be arranged in an open configuration ready for deployment (e.g. placement on a ground surface).
  • the depression of the handle in a downward/inward direction moves the rods 185 and cause the foot platforms to move from the stowed configuration (shown in FIGS. 4 & 5) to the active configuration (shown in FIGS. 6 & 7).
  • downward movement of the rods causes the foot platforms 165 to rotate about an axis and the rods then hold the foot platforms 165 in place to support the feet of user.
  • FIGS. 8-10 there is depicted a drive arrangement 200 according to an embodiment of the invention.
  • a drive arrangement 200 is adapted to fit inside the wheel of a hubless unicycle so that it may be used to drive (e.g. rotate) the wheel.
  • the drive arrangement 200 is adapted to be movable between a locked (or expanded) configuration, in which when fitted inside a hubless wheel the drive arrangement engages with the rim of the wheel to prevent its removal from the wheel, and an unlocked (or contracted) configuration, in which when fitted inside the hubless wheel the drive arrangement 200 disengages the rim of the wheel to permit its removal from the wheel.
  • the drive arrangement 200 may therefore be quickly and easily connected to (or removed from) the hubless wheel for repair or replacement.
  • the drive arrangement 200 comprises a motor 210 adapted to drive a hubless wheel by applying a force to the inner rim of the hubless wheel.
  • the drive arrangement 200 comprises a drive wheel 220 which is driven by the motor 210 and adapted to contact the inner rim of the wheel (when the drive arrangement is fitted inside the wheel and in a locked configuration).
  • the drive arrangement 200 also comprises guide wheels 230 attached to an outwardly facing side of respective batteries 240.
  • guide wheels 230 there are two pairs of guide wheels 230, wherein the two guide wheels in each pair share the same axis of rotation (e.g. by sharing the same axle) and are positioned spaced apart to provide a gap between the two guide wheels.
  • a rib provided around the inner rim of the wheel fits into the gap between the two guide wheels 140 in each pair.
  • the guide wheels 140 are therefore adapted to contact with the inner rim of wheel where they spin along with wheel and prevent its removal in the locked configuration.
  • the batteries 240 are mounted on the motor 210.
  • the batteries 240 supply power to motor 210.
  • Alternative energy storage arrangements may of course be used, such as a flywheel, capacitors, and other known power storage devices, for example.
  • the balance control system 250 is adapted to maintain fore-aft balance of the unicycle device by controlling the motor.
  • the locking system comprises a rotatably mounted locking bar 270 (visible in FIG. 10) that can be rotated (using an exposed portion 280) between a locked and unlocked position.
  • the locking bar 270 In the locked position (depicted in FIG. 10), the locking bar 270 extends into the batteries 240 to exert an outwardly extending pressing force on the batteries which tends to move the batteries in an outward direction (i.e. a direction extending radially outward from the center of the drive arrangement 200). This pushes the batteries outwardly so as to increase the diametrical extent of the drive arrangement 200.
  • moving e.g.
  • the locking bar 270 to the locked position expands the size of the drive arrangement 200 by moving the batteries outwards (from the centre of the drive arrangement 200).
  • the locking bar 270 is moved to the unlocked position, the pressing force is removed from the batteries 240 and they move in an inward direction (i.e. a direction extending radially inward towards the center of the drive arrangement 200), due to a biasing force from a spring for example. This moves the batteries inwardly so as to decrease the diametrical extent of the drive arrangement 200.
  • moving (e.g. rotating) the locking bar 270 to the unlocked position contracts the size of the drive arrangement 200 by moving the batteries inwards (towards the centre of the drive arrangement 200).
  • the locking bar 270 of this embodiment is adapted to be turned manually by a user.
  • the locking bar 270 may be turned using a motor arrangement which is activated in response to a signal provided by the user for example.
  • the locking system may comprise an electrical or mechanical locking arrangement (or a combination thereof) which moves the drive arrangement 200 between the locked and unlocked configuration.
  • the locking bar 270 is formed from an electrically conductive material (such as metal) so that it forms an electrical connection between the batteries 240 and the balance control system 250 and the motor 210 when in the locked position.
  • the balance control system 250, the motor 210 and the batteries 240 may be electrically isolated from each other, thereby preventing operation of the drive arrangement 200.
  • This may therefore provide a safety feature which prevents the motor 210 or control system 250 from operating, for example, when the drive arrangement 200 is placed into the unlocked configuration (for removal, replacement or repair, for example).
  • the drive arrangement 200 also comprises a charging interface 290 for connecting to a power supply and charging the batteries 240.
  • the charging interface 290 comprises a universal plug 295 attached to a retractable cable 300.
  • the universal plug 295 can be fitted in an electrical socket so as to supply electrical energy to the batteries via the cable 300.
  • Other arrangements for charging the batteries may be used, such as an inductive (or “wireless”) charging arrangement for example.
  • Embodiments may therefore provide a self-balancing powered unicycle that is modular in nature.
  • the drive arrangement may be easily engaged and disengaged to/from the wheel to facilitate rapid and simple repair or replacement.
  • the locking system may comprise a mechanical linkage, such as a reverse motion linkage, a parallel motion linkage, a crank and slider linkage, a bell crank linkage, or any combination thereof, for example.
  • mechanical linkages are well known in the art, and any such suitable mechanical linkage may be used to translate movement of a trigger, switch or lever to movement of a locking element so as to move the drive arrangement between the locked and unlocked configuration.
  • An alternative arrangement for the locking system may be adapted to allow the components of the drive arrangement 200 to be removed in a sequential order (rather than enabling removal of the entire drive arrangement from the wheel in one go).
  • the locking system may be adapted such that unlocking of a locking element enables removal of the balance control system 250 from the drive arrangement 200, which then subsequently permits movement of the batteries 240 relative to the motor 210 (so that the batteries 240 can be removed from the drive arrangement 200).
  • a locking system need not be limited to permitting removal of components from the drive arrangement in this specific order. Nonetheless, embodiments may be adapted to only permit removal of components in a predetermined order, for safety reasons for example.
  • an electronic locking system may be used which is responsive to one or more signals indicating that the user wishes to repair, inspect, replace, or simply remove the drive arrangement from the wheel.
  • signals may be provided from a user input interface (such as a button, switch, wirelessly connected device, or a touchscreen for example) and/or a movement detection system (employing accelerometers for example).
  • a mechanical arrangement may be used which moves the drive arrangement between the locked and unlocked configurations when a mechanical trigger, lock or release is moved.
  • a combination of both mechanical and electronic systems may also be employed for moving the drive arrangement between the locked and unlocked configurations.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Transportation (AREA)
  • Power Engineering (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Sustainable Development (AREA)
  • Sustainable Energy (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Motorcycle And Bicycle Frame (AREA)

Abstract

L'invention concerne un monocycle à moteur à auto-équilibrage présentant une seule roue sans moyeu ainsi qu'un système d'entraînement associé. Le système d'entraînement comprend un moteur conçu pour entraîner la roue en appliquant une force à la jante de la roue. Au moins une partie du système d'entraînement est conçue pour être montée à l'intérieur de la roue. Le système d'entraînement est conçu pour être réglable entre une configuration verrouillée, dans laquelle, lorsqu'il est au moins partiellement monté à l'intérieur de la roue, le système d'entraînement coopère avec la jante de la roue pour empêcher d'être retiré de la roue, et une configuration déverrouillée, dans laquelle il est possible de retirer le système d'entraînement de la roue.
PCT/GB2015/050266 2014-02-04 2015-02-02 Dispositif monocycle à moteur et système d'entraînement associé WO2015118309A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
GB1401914.5A GB2522720B (en) 2014-02-04 2014-02-04 Powered unicycle device and drive arrangement for the same
GB1401914.5 2014-02-04

Publications (1)

Publication Number Publication Date
WO2015118309A1 true WO2015118309A1 (fr) 2015-08-13

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WO2017088691A1 (fr) * 2015-11-25 2017-06-01 纳恩博（北京）科技有限公司 Procédé de commande de moteur de véhicule électrique, dispositif de commande de moteur, véhicule électrique et support de stockage informatique
US11091023B2 (en) 2016-07-29 2021-08-17 Ford Global Technologies, Llc Wheel assembly

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CN109955998B (zh) * 2017-12-25 2021-02-23 深圳乐行天下科技有限公司 空心轮装置及代步工具

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US20120217072A1 (en) * 2009-09-01 2012-08-30 Hoffmann Christopher J Electric-Powered Self-Balancing Unicycle With Steering Linkage Between Handlebars And Wheel Forks
WO2012171821A1 (fr) * 2011-06-17 2012-12-20 Universite Paris-Sud 11 Gyropode "hubless" de structure simplifiee

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US8353378B2 (en) * 2009-09-18 2013-01-15 Honda Motor Co., Ltd. Frictional drive device and inverted pendulum type vehicle using the same
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US20120217072A1 (en) * 2009-09-01 2012-08-30 Hoffmann Christopher J Electric-Powered Self-Balancing Unicycle With Steering Linkage Between Handlebars And Wheel Forks
US20110220427A1 (en) * 2010-03-09 2011-09-15 Shane Chen Powered single-wheeled self-balancing vehicle for standing user
WO2012171821A1 (fr) * 2011-06-17 2012-12-20 Universite Paris-Sud 11 Gyropode "hubless" de structure simplifiee

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2017088691A1 (fr) * 2015-11-25 2017-06-01 纳恩博（北京）科技有限公司 Procédé de commande de moteur de véhicule électrique, dispositif de commande de moteur, véhicule électrique et support de stockage informatique
US11091023B2 (en) 2016-07-29 2021-08-17 Ford Global Technologies, Llc Wheel assembly

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GB201401914D0 (en) 2014-03-19
GB2522720B (en) 2016-02-10
GB2522720A (en) 2015-08-05

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