WO2020142055A1 - Planche à roulettes électrique à équilibrage automatique - Google Patents

Planche à roulettes électrique à équilibrage automatique Download PDF

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Publication number
WO2020142055A1
WO2020142055A1 PCT/UA2019/000143 UA2019000143W WO2020142055A1 WO 2020142055 A1 WO2020142055 A1 WO 2020142055A1 UA 2019000143 W UA2019000143 W UA 2019000143W WO 2020142055 A1 WO2020142055 A1 WO 2020142055A1
Authority
WO
WIPO (PCT)
Prior art keywords
platform
self
balancing
electric motor
electroskate
Prior art date
Application number
PCT/UA2019/000143
Other languages
English (en)
Russian (ru)
Inventor
Александр Владимирович ВЛАЩИНСКИЙ
Original Assignee
Александр Владимирович ВЛАЩИНСКИЙ
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 Александр Владимирович ВЛАЩИНСКИЙ filed Critical Александр Владимирович ВЛАЩИНСКИЙ
Publication of WO2020142055A1 publication Critical patent/WO2020142055A1/fr

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Classifications

    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
    • A63B22/00—Exercising apparatus specially adapted for conditioning the cardio-vascular system, for training agility or co-ordination of movements
    • A63B22/16—Platforms for rocking motion about a horizontal axis, e.g. axis through the middle of the platform; Balancing drums; Balancing boards or the like
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63C—SKATES; SKIS; ROLLER SKATES; DESIGN OR LAYOUT OF COURTS, RINKS OR THE LIKE
    • A63C17/00—Roller skates; Skate-boards
    • A63C17/01—Skateboards
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63C—SKATES; SKIS; ROLLER SKATES; DESIGN OR LAYOUT OF COURTS, RINKS OR THE LIKE
    • A63C17/00—Roller skates; Skate-boards
    • A63C17/02—Roller skates; Skate-boards with wheels arranged in two pairs
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63C—SKATES; SKIS; ROLLER SKATES; DESIGN OR LAYOUT OF COURTS, RINKS OR THE LIKE
    • A63C17/00—Roller skates; Skate-boards
    • A63C17/12—Roller skates; Skate-boards with driving mechanisms

Definitions

  • the invention relates to small individual electric vehicles mainly for entertainment or sports.
  • a self-balancing electric vehicle [6] containing an elongated platform with two supporting platforms for placing the user's feet between which there are two coaxial electric motor wheels, each of which is mounted on an independent suspension with a spring shock absorber, and the wheel axles oriented perpendicular to the longitudinal axis of the platform.
  • the vehicle also includes at least one orientation sensor module with the possibility of detecting the inclination of the platform relative to the axes of the electric motor wheels and at least one electric motor wheel controller configured to control them based on the output signal of the orientation sensor module .
  • the objective of the invention is the expansion of functional and operational capabilities, improving the cushioning properties. This is achieved by adding active suspension to the vehicle structure by introducing additional controllable electromagnetic shock absorbers, as well as by improving the suspension elements.
  • Figure 1 shows a axonometric view of the electroskate (first option); figure 2 is a side view of the electroskate of the first embodiment; on Fig.Z is a top view of the electroskate of the first embodiment; figure 4 is a section aa of fig.Z; Figures 5 and 6 show a detail of a section A-A (views B and C); Fig.7 is a perspective view of an electroskate when turning; on Fig is a rear view of the electric skate when turning; figure 9 is a perspective view of an electroskate (second option); figure 10 is a side view of the electric skateboard of the second embodiment; figure 1 1 is a top view of the electroskate of the second embodiment; in Fig.12 is a perspective view of an electric skateboard (third embodiment) with transport rollers; in Fig.13 is a side view of the electric skate of the third embodiment; on Fig is a top view of the electric skate of the third option; in FIG.
  • FIGS. 12 and 13 show a detail of FIGS. 12 and 13 (views G, D, E); in Fig.18 is a perspective view of an electroskate during its transportation; on Fig - stages of operation of the electroskate; in Fig.20 is a structural diagram of an electric skate.
  • the self-balancing electro-skate (hereinafter electro-skate) consists of an oblong-shaped platform 1 with two supporting platforms 2 for placing the user's feet.
  • electro-skate In the central part of the platform 1, between the supporting platforms 2, there are two coaxial electric motor wheels 3, each of which is mounted on an independent suspension 4 with spring 5 and electromagnetic 6 shock absorbers, and the axles of the wheels Yi and Yi are oriented perpendicular to the longitudinal axis X of the platform 1.
  • the electric skate includes at least one controller 7 of the electric motor-wheels 3, one controller 8 of electromagnetic shock absorbers 6 and two module-orientation sensors of the platform: the first module is the orientation sensor 9 with the possibility of determining the inclination of the platform relative to the axes Yi and Y2 electric motor-wheels 3, the second module is an orientation sensor 10 with the ability to determine the inclination of the platform relative to its longitudinal axis X.
  • the electric motor-wheel 3 is a wheel 11 with a pneumatic tire 12 and a brushless electric motor 13 built into the hub.
  • the axis 14 of the electric motor-wheel 3 has two points of support and is fixed in the vertical brackets 15 of the suspension 4.
  • a power transmission for example, a planetary gearbox
  • a controller can be placed in the joint housing with the engine.
  • the controller 7 is moved outside the motor 13 and connected to it by a flexible electric wire 16.
  • the outer diameter D of the electric motor-wheel 3 can be in the range of 9 " ⁇ D ⁇ 16" (228.6 mm ⁇ D ⁇ 406.4 mm).
  • the platform 1 is a rectangular frame 17 with rounded corners 18.
  • the frame 17 can be made of high-quality hollow or special metal profile. In this case, the design of the frame of a rectangular pipe is described.
  • the extreme parts 19 of the frame 17 are bent upwards by about 1/4 in relation to its length.
  • the bending angle a relative to the plane of the frame 17 may be in the range from 165 ° to 180 °.
  • Each independent suspension 4 of the electric motor-wheel 3 is a U-shaped elongated bracket 23, each of the ends of the straight sections (inner — 24, outer — 25) of which is connected to the platform 1 by means of a cylindrical hinge 26.
  • the bracket 23 is connected to the opposite side from the hinge 26 with platform 1 by means of spring 5 and electromagnetic 6 shock absorbers.
  • the lower radius part 27 of the bracket 23 is based on elastic buffers (chippers) 28 shock absorbers 5, 6.
  • bracket 15 From the bottom of the bracket 23, on each of its rectilinear sections 24, 25 (approximately in the middle), there is one vertical bracket 15, opposite each other, having through grooves 29 that are directed perpendicularly downward relative to the plane of the bracket 23.
  • axis 14 electric motor-wheels 3, which can move freely along them.
  • the axis 14 is fixed in the position required by the length of the grooves 29 by the fixing elements 30. In this way, the protrusion of the electric motor-wheel 3 relative to the lower surface of the platform 1 is regulated.
  • the stops 31 prevent the axis 14 from falling out of the brackets 15 in case of its unreliable fixation.
  • each bracket 23 On top of each bracket 23, above the electric motor-wheel 3, is a protective shield 32 (on some sketches one of the shields is not shown).
  • the spring shock absorber 5 is a cylindrical rod 33 with a thread extending perpendicular to the plane of the bracket 23 through one of its two straight sections — the inner 24 or the outer 25, and is connected to the platform 1 using a double hinge 34 on which the buffer 28 is fixed.
  • a threaded elasticity regulator 35 On the opposite (from the hinge 34) to the side of the rod 33 is a threaded elasticity regulator 35, between which and a straight section of the bracket 23, wrapping the rod 33, there is a twisted compression spring 36.
  • the electromagnetic shock absorber 6 is a linear tubular electromagnetic motor 6a, in which the primary element is the stator 37, containing a series of ring-shaped electromagnetic coils, creating an electromagnetic field with its linear movement along the axis of the tubular body of the stator 37.
  • the electromagnetic field forces the secondary motor element to move - the armature 38 , coaxially located inside the stator 37.
  • Anchor 38 is made in the form of a cylindrical tube, inside of which there are permanent magnets based on rare-earth elements.
  • the electromagnetic shock absorber 6 is located similarly to the spring shock absorber 5 on the inner 24 or outer 25 straight portion of the bracket 23.
  • the spring shock absorber 5 is located on the inner rectilinear section 24 of the bracket 23, and the electromagnetic shock absorber 6 on the outer 25.
  • the stator 37 is rigidly mounted on top of the bracket 23, perpendicular to its plane, on one of its two rectilinear sections - 24 or 25, and the anchor 38, like the rod 33 of the spring shock absorber 5 passes through a straight section of the bracket 23 and is connected to the platform 1 by means of a double hinge 34, on which a buffer 28 is fixed.
  • the second variant of the electric skate (Fig. 9 - 1 1) provides for the placement of the spring shock absorber 5 on the inner rectilinear section 24 of the bracket 23, while the electromagnetic shock absorber 6 is located on the outer rectilinear section 25 of the bracket 23 at an acute angle relative to its plane.
  • the stator 37 is pivotally connected to the bracket 23 by means of a low bracket 39 located near the upper radius portion 40 of the bracket 23, and the armature 38 is pivotally connected to the platform 1 by means of a high bracket 41 fixed to the frame 17 of the platform 1 next to the cylindrical hinge 26.
  • the third variant of the electroskate (Figs. 12-14) provides for the combination of spring 5 and electromagnetic 6 shock absorbers in one common unit 42 with their parallel functioning. That is, the compression spring 36, entwining the stator 37 of the linear motor 6a, relies at one end on the elasticity regulator 35 located on the stator 37, and at the other end the spring 36 rests on the thrust washer 43, mounted on the end of the armature 38.
  • Such an assembly 42 is located on the external rectilinear section 25 of the bracket 23 at an acute angle relative to its plane.
  • the stator 37 is pivotally connected to the bracket 23 by means of a low bracket 39 located near the upper radius portion 40 of the bracket 23, and the armature 38 is pivotally connected to the platform 1 by means of a high bracket 41 fixed to the frame 17 of the platform 1 next to the cylindrical hinge 26.
  • the orientation sensor module 9 or 10 is a combination of two types of inertial sensors (motion sensors) in one housing - a gyroscope and an accelerometer based on microelectromechanical systems (MEMS). Gyroscope - a sensor measuring angular velocity, an accelerometer - a sensor measuring linear acceleration. Also, both sensors are inclinometers, i.e. measure tilt angles.
  • the orientation sensor module has the ability to measure the change in position of an object in three spatial dimensions simultaneously. Therefore, for complete measurements in similar vehicles with an automatic balancing system, it is the orientation sensor module that is used.
  • Automatic balancing of the electric skate relative to the axes Yi and Ug of the electric motor-wheels 3 is based on a feedback system. That is, the feedback creates a closed loop: the controller 7 supplies a control signal to the electric motor-wheels 3 proportional to the sum / difference between the current value of the position of the electric skate (generated by the first orientation sensor module 9) and the set value so that this amount / difference decreases.
  • the movement of the electroskate is controlled by the transfer of the center of gravity of the user relative to the conditional center of the electroskate.
  • the electro-skate By deflecting the center of gravity of the body, for example, to the left, the electro-skate is gaining speed, to the right - it slows down or changes the direction of movement.
  • the electric skate control provides two modes: passive and active (or mixed).
  • passive control the user, moving his own center of gravity forward or backward, tilts the platform 1 relative to its longitudinal axis X, respectively, tilts to the sides of the electric motor-wheel 3 and turns the electroskate. In this case, the rotation speed of the electric motor-wheels 3 is the same, and the turning arc is smooth.
  • active control differential control of the electric motor-wheels 3 is added. That is, in the case of the inclination of the platform 1 relative to its longitudinal axis X, the second orientation sensor module 10 senses such position changes and corrects the output signal of the electric motor-wheel controller 7 so that the angular velocity COi one electric motor-wheel differs from angular speed
  • the user can change the control modes of turns with a switch (not shown) located directly on the electric skateboard or remotely from the remote control, or a smartphone (as an option).
  • a switch not shown located directly on the electric skateboard or remotely from the remote control, or a smartphone (as an option).
  • the independent suspension 4 of the electric motor-wheels 3 gives an additional degree of freedom to the platform 1 - tilts relative to its longitudinal axis X. It is advisable to balance such mobility before starting the movement of the electroskate.
  • the automatic stabilization of platform 1 relative to its longitudinal axis X is also based on a feedback system and is similar to the scheme of automatic balancing of an electric skate relative to the Yi and Y2 axes of the electric motor wheels 3. Namely, the feedback creates a closed loop: the controller 8 supplies the electromagnetic shock absorbers 6 with a proportional control signal the sum / difference between the flow value of the position of the platform 1 (generated by the second module-orientation sensor 10) and the set value so that this amount / difference is reduced.
  • Another option is also possible to stabilize the platform 1 relative to its longitudinal axis X before the start of the movement of the electroskate.
  • the electromagnetic shock absorbers 6 After turning on the power of the electroskate, the electromagnetic shock absorbers 6 immediately acquire maximum rigidity, respectively, practically immobilize the platform 1 relative to its longitudinal axis X. Small mobility will remain within the elasticity of the tires 12 of the electric motor-wheels 3.
  • the user stands on the electroskate and, as soon as it initiates its forward movement or backward, electromagnetic shock absorbers 6 go into automatic control mode and begin to fulfill their main function - shock absorption.
  • the controller 8 of the electromagnetic shock absorbers 6 may be guided by the output signals of the first sensor module 9, the second sensor module 10 or both at the same time. Sensitive to vibration accelerometers, which are part of the module-sensors 9 and 10, automatically adjust the signal to change the stiffness of the electromagnetic shock absorbers 6.
  • electromagnetic shock absorbers 6 in the process of lateral inclinations of the platform 1 can reinforce such inclinations.
  • the controller 8 of the electromagnetic shock absorbers 6 uses the output signal of the second sensor module 10. That is, the user initiates only a change in the direction of the lateral inclination of the platform 1, and the electromagnetic shock absorbers 6 are used as levers for tilting the platform 1.
  • platform 1 at one of its ends 1a, at rounded corners 18, contains a pair of transport rollers 44.
  • Each roller 44 is located on a rotary support 45, the axis of rotation 02 which is directed along the platform 1 and is intersecting with an angle of 90 ° relative to the axis Oi of the roller 44.
  • the pivot bearing 45 together with the roller 44 rotates around its axis 02 by 360 ° and has four fixed positions every 90 °.
  • transport rollers 44 may be removable. When there is no need to use rollers 44, they can be easily removed and placed inside the bent parts of the frame 19.

Landscapes

  • Health & Medical Sciences (AREA)
  • Cardiology (AREA)
  • Vascular Medicine (AREA)
  • General Health & Medical Sciences (AREA)
  • Physical Education & Sports Medicine (AREA)
  • Motorcycle And Bicycle Frame (AREA)

Abstract

La planche à roulettes électrique se compose d'une plate-forme allongée (1) avec deux plates-formes de support (2) pour accueillir les pieds de l'utilisateur. Dans la partie centrale de la plate-forme, entre les plates-formes de support, on a prévu deux roues de moteur électrique coaxial (3), chacune étant montée sur une suspension indépendante (4) avec un ressort (5) pour amortisseurs électromagnétiques (6), et les essieux des roues sont orientés perpendiculairement à l'axe longitudinal de la plate-forme. La planche à roulettes électrique comprend au moins un contrôleur de roue à moteur électrique (7), un contrôleur d'amortisseur électromagnétique (8) et deux modules de capteur d'orientation de plate-forme - un module de capteur d'orientation avec possibilité de déterminer l'inclinaison de la plate-forme par rapport à l'axe des roues de moteur électrique (9) et module de capteur d'orientation avec la possibilité de déterminer l'inclinaison de la plate-forme par rapport à son axe longitudinal (10).
PCT/UA2019/000143 2019-01-02 2019-11-14 Planche à roulettes électrique à équilibrage automatique WO2020142055A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
UAA201900035 2019-01-02
UAA201900035 2019-01-02

Publications (1)

Publication Number Publication Date
WO2020142055A1 true WO2020142055A1 (fr) 2020-07-09

Family

ID=71407323

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/UA2019/000143 WO2020142055A1 (fr) 2019-01-02 2019-11-14 Planche à roulettes électrique à équilibrage automatique

Country Status (1)

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Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20220323824A1 (en) * 2021-04-09 2022-10-13 David Alvarez Training Device for Motorized Board

Citations (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20030034697A1 (en) * 2001-05-07 2003-02-20 Goldner Ronald B. Electromagnetic linear generator and shock absorber
US20060012141A1 (en) * 2002-10-01 2006-01-19 Alain Bouvet Self-propelled wheel board
EP1878598A1 (fr) * 2006-07-13 2008-01-16 Fondazione Torino Wireless Suspension régénératrice pour un véhicule
US20080242515A1 (en) * 2006-04-28 2008-10-02 Larry Richard Odien Motorized apparatus and method for dynamic balancing exercise
US9101817B2 (en) * 2013-05-06 2015-08-11 Future Motion, Inc. Self-stabilizing skateboard
US20170361205A1 (en) * 2013-10-21 2017-12-21 Equalia LLC Pitch-propelled vehicle
US20180111039A1 (en) * 2016-10-25 2018-04-26 Future Motion, Inc. Self-balancing skateboard with strain-based controls and suspensions
US9962597B2 (en) * 2016-10-11 2018-05-08 Future Motion, Inc. Suspension system for one-wheeled vehicle
US10010784B1 (en) * 2017-12-05 2018-07-03 Future Motion, Inc. Suspension systems for one-wheeled vehicles
US10058765B2 (en) * 2015-11-15 2018-08-28 Koofy Innovation Limited Self-balancing board with primary wheel and distal auxiliary wheel

Patent Citations (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20030034697A1 (en) * 2001-05-07 2003-02-20 Goldner Ronald B. Electromagnetic linear generator and shock absorber
US20060012141A1 (en) * 2002-10-01 2006-01-19 Alain Bouvet Self-propelled wheel board
US20080242515A1 (en) * 2006-04-28 2008-10-02 Larry Richard Odien Motorized apparatus and method for dynamic balancing exercise
EP1878598A1 (fr) * 2006-07-13 2008-01-16 Fondazione Torino Wireless Suspension régénératrice pour un véhicule
US9101817B2 (en) * 2013-05-06 2015-08-11 Future Motion, Inc. Self-stabilizing skateboard
US20170361205A1 (en) * 2013-10-21 2017-12-21 Equalia LLC Pitch-propelled vehicle
US10058765B2 (en) * 2015-11-15 2018-08-28 Koofy Innovation Limited Self-balancing board with primary wheel and distal auxiliary wheel
US9962597B2 (en) * 2016-10-11 2018-05-08 Future Motion, Inc. Suspension system for one-wheeled vehicle
US20180111039A1 (en) * 2016-10-25 2018-04-26 Future Motion, Inc. Self-balancing skateboard with strain-based controls and suspensions
US10010784B1 (en) * 2017-12-05 2018-07-03 Future Motion, Inc. Suspension systems for one-wheeled vehicles

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20220323824A1 (en) * 2021-04-09 2022-10-13 David Alvarez Training Device for Motorized Board

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