WO2022229488A1 - Sistema de dirección para carros mediante manillar basculante - Google Patents
Sistema de dirección para carros mediante manillar basculante Download PDFInfo
- Publication number
- WO2022229488A1 WO2022229488A1 PCT/ES2022/070261 ES2022070261W WO2022229488A1 WO 2022229488 A1 WO2022229488 A1 WO 2022229488A1 ES 2022070261 W ES2022070261 W ES 2022070261W WO 2022229488 A1 WO2022229488 A1 WO 2022229488A1
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- tilting
- handlebar
- carriage
- driver
- cart
- Prior art date
Links
- 238000005096 rolling process Methods 0.000 claims description 14
- 238000010348 incorporation Methods 0.000 claims description 3
- 230000032258 transport Effects 0.000 abstract description 14
- 230000000694 effects Effects 0.000 abstract description 4
- 238000006073 displacement reaction Methods 0.000 description 6
- 230000008901 benefit Effects 0.000 description 3
- 238000004140 cleaning Methods 0.000 description 3
- 210000002414 leg Anatomy 0.000 description 3
- 230000001419 dependent effect Effects 0.000 description 2
- 230000002787 reinforcement Effects 0.000 description 2
- SPLKSRDVCTUAGF-UHFFFAOYSA-N 3-(1-adamantyl)-4-methyl-5-phenyl-1,2,4-triazole Chemical compound N=1N=C(C23CC4CC(CC(C4)C2)C3)N(C)C=1C1=CC=CC=C1 SPLKSRDVCTUAGF-UHFFFAOYSA-N 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 230000007423 decrease Effects 0.000 description 1
- 230000005484 gravity Effects 0.000 description 1
- 210000003127 knee Anatomy 0.000 description 1
- 238000007726 management method Methods 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 230000007246 mechanism Effects 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 239000003209 petroleum derivative Substances 0.000 description 1
- 230000003014 reinforcing effect Effects 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D11/00—Steering non-deflectable wheels; Steering endless tracks or the like
- B62D11/02—Steering non-deflectable wheels; Steering endless tracks or the like by differentially driving ground-engaging elements on opposite vehicle sides
- B62D11/04—Steering non-deflectable wheels; Steering endless tracks or the like by differentially driving ground-engaging elements on opposite vehicle sides by means of separate power sources
-
- 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
- B62B—HAND-PROPELLED VEHICLES, e.g. HAND CARTS OR PERAMBULATORS; SLEDGES
- B62B3/00—Hand carts having more than one axis carrying transport wheels; Steering devices therefor; Equipment therefor
- B62B3/001—Steering devices
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62B—HAND-PROPELLED VEHICLES, e.g. HAND CARTS OR PERAMBULATORS; SLEDGES
- B62B5/00—Accessories or details specially adapted for hand carts
- B62B5/0026—Propulsion aids
- B62B5/0033—Electric motors
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62B—HAND-PROPELLED VEHICLES, e.g. HAND CARTS OR PERAMBULATORS; SLEDGES
- B62B5/00—Accessories or details specially adapted for hand carts
- B62B5/06—Hand moving equipment, e.g. handle bars
- B62B5/066—Handle bars rotatable about their longitudinal axis
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D1/00—Steering controls, i.e. means for initiating a change of direction of the vehicle
- B62D1/02—Steering controls, i.e. means for initiating a change of direction of the vehicle vehicle-mounted
- B62D1/12—Hand levers
-
- 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
- B62D51/04—Motor vehicles characterised by the driver not being seated the driver walking
Definitions
- the present invention applies to those carts whose driver is not mounted on it, but located behind the cart, and specifically affects carts whose frame has some of its wheels always turning around a fixed geometric axis, so that they have a single forward direction, and a single center of rotation at standstill.
- This invention proposes a steering system that has, at the rear of the car and behind said center of rotation when stationary, a tilting handlebar, which can freely move to both sides, which prevents the driver, being distanced from the center of rotation at a standstill, you have to move sideways to turn the carriage.
- the present invention also reveals an articulated vehicle that benefits from said steering system, and comprises a combination of two main elements: a carriage equipped with a tilting handlebar, and a driven element that is also rolling, which, coupled to the first from behind, transports to the driver; where, like the carriage, said driven element has at least one wheel always turning around a fixed geometric axis; and where both main elements are connected by means of an articulated structure around the stationary center of rotation of the carriage.
- the driver steers the vehicle from the driven element by controlling the yaw of the car using the tilting handlebar.
- Some carts have idler wheels —without fixed geometric axes and therefore not directional—, such as those generally used for shopping in the supermarket, which, as soon as they are moderately loaded, require the user who drives them to move laterally, in order to direct them by pushing towards the inside of the curves, thus avoiding significant efforts in the arms, hips and knees, which would be necessary to make it pivot around the user.
- the present invention applies to a rolling chassis in general, which we will call a car, which meets the following three conditions:
- At least one of its wheels always rotates around a fixed geometric axis, so it has a single forward direction and a single center of rotation when stationary —projection on the ground of its instantaneous axis of rotation when the speed advance is zero. In the case of a single fixed geometric axis, it is located in the projection on the ground of the midpoint of said axis. • Said stationary center of rotation of the carriage is advanced —in the direction of advancement of the carriage— with respect to said manual gripping members.
- the present invention reveals a tilting handlebar as a steering system for this type of cart.
- Said tilting handlebar comprises some manual gripping members and mechanical means of tilting connection for incorporation into the structure or frame of a car, so that, on the one hand, they allow the manual gripping members to move freely on both sides and on the other. substantially perpendicular to the forward direction of the car, and, on the other hand, they biunivocally restrict its yaw so that a driver controls the forward direction of the car by grasping said members from behind, thus being the yaw of the car independent of the lateral displacement of the tilting handlebar and in fact dependent solely on the yaw that the hand gripping members take.
- the present invention therefore proposes a cart that incorporates said steering system for carts by tilting handlebars.
- said manual gripping members are also restricted in any other degrees of freedom with respect to the carriage, such as its ability to pitch, allowing the driver to push or pull the carriage, or lean back and forth, by means of the gripping members. Handbook.
- said mechanical pivoting connection means comprise a steering column that is attached to the structure of a car by means of a pivot axis substantially parallel to the direction of travel of the car.
- Said steering column incorporates the manual gripping members at its upper end, and said pivot is located at a sufficient distance below so that, being its only degree of freedom with respect to the carriage the rocking by rotation around said pivot axis, they can move freely and substantially laterally, preferably from side to side of the carriage. In this way, its yaw and pitch are the same as those of the car.
- Said trolley can have one or more motors, preferably electric.
- the present invention also reveals an articulated vehicle based on said steering system, being a combination of two main elements: said carriage provided with tilting handlebars, and a driven element, which, coupled to the first from behind, transports the driver; where, like the carriage, said driven element has at least one wheel always turning around a fixed geometric axis and therefore also has its own unique forward direction; and where both main elements are connected by means of an articulated structure around the carriage, so that said driven element can rotate with respect to the vertical, through a center of articulation of the vehicle.
- said articulated structure adopts between both main elements —carriage and driven element—
- there may well be a real vehicle articulation center fixed to the trolley — materialized, for example, by means of a ball joint or a joint by pivot—, or virtual, that is, when the instantaneous center of rotation of the driven element with respect to the carriage is only geometric and not material, and even if it moves according to the relative yaw between both main elements —as occurs, for example in a structure of trapezoid arms—, whose position will vary around a middle center.
- said center of articulation of the vehicle whether real or virtual—, is established slightly in front of the center of rotation when the car is stationary, in order to thereby achieve greater stability in the driving dynamics of the vehicle.
- the driver from the driven element, controls the direction of the vehicle through the tilting handlebar arranged on the trolley. Thanks to the freedom of lateral movement of the manual gripping members, two important improvements are achieved:
- the driver will stand on a driven element in the form of a platform and with both feet sufficiently separated in the direction perpendicular to the forward direction of the driven element, to provide sufficient lateral stability.
- a driven element in the form of a platform and with both feet sufficiently separated in the direction perpendicular to the forward direction of the driven element, to provide sufficient lateral stability.
- motors preferably electric.
- the driven element that has motorization.
- said driven element will have two motors and two wheels, each connected to one of said motors, and the electronic management of said motors will respond differentially when the vehicle turns or corners, applying less torque or power to the wheel that goes inside and more torque or power to the one that corresponds in that case to the outside of the turn.
- the driven element can be passively dragged behind the trolley, since having a single direction of advance, it will fulfill the function of supporting the lateral inertia of the driver in the curves.
- FIG-1 shows a perspective view of a loading cart (1), equipped with a tilting handlebar (12) according to a preferred embodiment of the present invention, where you can see: a frame (10) that gives support for two wheels (131, 132) on the same fixed geometric axis (13); the mechanical tilting connection means (1200); and, schematically, the stationary center of rotation (RCV0) and the forward direction (FWD), as well as the degree of freedom of the tilting handlebar (12) that allows the manual gripping members (122) to move to both sides, left (L) and right (R).
- FIG-2 shows a perspective view of a cleaning services trolley (1) equipped with a tilting handlebar (12) according to another preferred embodiment of the present invention, which is motorized in its two wheels (131, 132) on the same fixed geometric axis (13), being equipped with respective hub motors (1310, 1320).
- FIG-3 shows a perspective view of a preferred embodiment of the articulated vehicle (0) according to the present invention, as a combination of the cart (1) equipped with a tilting handlebar (12) corresponding to FIG-
- FIG-4 corresponds to a view from behind of the articulated vehicle (0) of FIG-3, and it shows an arrangement that the different elements of the vehicle would adopt during a right turn.
- Fig-5 shows a perspective view of another preferred embodiment of the articulated vehicle (0) according to the present invention, as a combination of a motorized cleaning services cart (1), equipped with a tilting handlebar (12), and a driven element (20), in the form of a rolling platform, attached to the carriage (1) by means of an articulated structure (21).
- Fig-6 shows a perspective view of another preferred embodiment of the articulated vehicle (0) according to the present invention, resulting in a tricycle as a combination of a motorized cargo cart (1) equipped with a tilting handlebar (12), and an element driven (20) in the form of the rear of a bicycle.
- the present invention reveals, in a first preferred embodiment, a cart (1), in this case, a loading cart, provided with a tilting handlebar (12).
- Said carriage (1) has a frame (10) that supports two wheels (131, 132) that rotate around the same fixed geometric axis (13), one wheel being on each side of the carriage (1).
- Said fixed geometric axis (13) is positioned longitudinally centered on the frame (10) so that the center of gravity of the carriage (1), even with a load, does not move excessively away from the stationary center of rotation (RCVO) of the carriage ( 1).
- Said tilting handlebar (12) It comprises some manual gripping members (122) that are structurally incorporated and fixed to the upper end of a steering column (120) that at its lower end is connected to the frame (10) of the car (1) by means of a pivot joint ( 121) along an axis substantially parallel to the forward direction (FWD) of the carriage (1).
- Said pivot joint (121) which is positioned in the transverse plane of symmetry of the carriage (1), restricts the tilting handlebar (12) from any other degree of freedom with respect to the carriage, being exclusively the rotation around said pivot (121) which allows the manual gripping members (122) to move freely to both sides, left (L) and right (R).
- a cart (1) is revealed, in this case for cleaning services, also equipped with a tilting handlebar (12), and which is motorized on its two wheels (131, 132) that rotate in around the same fixed geometric axis (13), which are equipped with respective hub motors (1310, 1320).
- it has an idler wheel (15) in its rear part, to keep it balanced regardless of the weight distribution as it is being loaded.
- Both motors (1310, 1320) can respond to a single throttle which will preferably work in both directions, forward and reverse, accelerating or braking.
- the present invention also reveals a preferred embodiment of the articulated vehicle (0), as a combination of the already described cargo cart (1) equipped with tilting handlebars (12), and a driven element (20) coupled to the first behind to transport the driver; where, like the carriage (1), said driven element (20) has at least one wheel always turning around a fixed geometric axis (23) and therefore also has its own unique forward direction; and where both main elements are connected by means of an articulated structure (21), which is articulated around the carriage, so that said driven element (20) can substantially pivot with respect to the vertical, through a center of articulation of the vehicle (210) located in front of the stationary center of rotation (RCV0) of the carriage (1).
- said articulated vehicle (0) there is a motorized driven element (20).
- This may take the form of rolling platform with two wheels that rotate around the same fixed geometric axis (23).
- said driven element (20) be of the hoverboard type, with a motor coupled to each of its two wheels, which allows it to have a differential thrust in curves.
- Its electronic control allows it to push and brake forwards and backwards, and, although it can be based on its own pitch inclination as is typical of hoverboards, in another preferred embodiment it can be carried out through other sensors, such as For example, a fist throttle —like on motorcycles— or a trigger throttle —like on quads—.
- the wheels (131, 132) of the carriage (1) are moved by respective corresponding motors (1310, 1320).
- said cart (1) equipped with tilting handlebars (12) can have a frame (10) with a structure so simplified that it only consists of the physical axis that provides support to the fixed geometric axis (13).
- the main mission of said driven element (20) is to be able to transport the driver of the articulated vehicle (0), and, depending on the case, to provide traction to the car, and, although we have gone deeper describing it as a rolling platform on which the driver stands up, presenting a substantially flat shape, it is rather a rolling chassis that can take any other convenient shape, which allows it to accommodate one or several wheels with or without motors.
- Such is the case of the rear part of a bicycle chassis, so that, together with the car in front, the resulting articulated vehicle is a cargo tricycle.
- the driver can be located on the articulated structure (21) that joins the driven element (20) to the carriage (1).
Landscapes
- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Handcart (AREA)
- Steering-Linkage Mechanisms And Four-Wheel Steering (AREA)
Abstract
Description
Claims
Priority Applications (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
US18/284,546 US20240166259A1 (en) | 2021-04-28 | 2022-04-27 | System for steering carts by means of a pivoting handlebar |
EP22795071.4A EP4331958A1 (en) | 2021-04-28 | 2022-04-27 | System for steering carts by means of a pivoting handlebar |
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
ESP202130371 | 2021-04-28 | ||
ES202130371A ES2926972B2 (es) | 2021-04-28 | 2021-04-28 | Sistema de direccion para carros mediante manillar basculante |
Publications (1)
Publication Number | Publication Date |
---|---|
WO2022229488A1 true WO2022229488A1 (es) | 2022-11-03 |
Family
ID=83804230
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
PCT/ES2022/070261 WO2022229488A1 (es) | 2021-04-28 | 2022-04-27 | Sistema de dirección para carros mediante manillar basculante |
Country Status (4)
Country | Link |
---|---|
US (1) | US20240166259A1 (es) |
EP (1) | EP4331958A1 (es) |
ES (1) | ES2926972B2 (es) |
WO (1) | WO2022229488A1 (es) |
Citations (10)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US6276471B1 (en) * | 1997-06-06 | 2001-08-21 | EXPRESSO DEUTSCHLAND TRANSPOTGERäTE GMBH | Delivery cart |
US20040011573A1 (en) | 1993-02-24 | 2004-01-22 | Kamen Dean L. | Guided control of a transporter |
US6827163B2 (en) | 1994-05-27 | 2004-12-07 | Deka Products Limited Partnership | Non-linear control of a balancing vehicle |
US20080196951A1 (en) * | 2005-07-28 | 2008-08-21 | Shai Gal | Self-Powered Vehicle With Selectable Operational Modes |
US20120160577A1 (en) * | 2010-12-22 | 2012-06-28 | Anasiewicz Stephen A | Motorized beach cart |
US8738278B2 (en) | 2012-02-12 | 2014-05-27 | Shane Chen | Two-wheel, self-balancing vehicle with independently movable foot placement sections |
US20150083506A1 (en) * | 2013-09-25 | 2015-03-26 | Kubota Corporation | Vehicle |
CN105595575A (zh) * | 2015-11-09 | 2016-05-25 | 浙江烷屹机电有限公司 | 一种电动行李箱 |
WO2020008018A1 (en) | 2018-07-05 | 2020-01-09 | Aidwheels S.L. | Propulsion system for carts type vehicles by using a self-balancing scooter coupled by means of an articulated structure |
EP3705101A1 (en) | 2019-03-08 | 2020-09-09 | Twizzler B.V. | Wheeled transporter |
-
2021
- 2021-04-28 ES ES202130371A patent/ES2926972B2/es active Active
-
2022
- 2022-04-27 WO PCT/ES2022/070261 patent/WO2022229488A1/es active Application Filing
- 2022-04-27 US US18/284,546 patent/US20240166259A1/en active Pending
- 2022-04-27 EP EP22795071.4A patent/EP4331958A1/en active Pending
Patent Citations (10)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US20040011573A1 (en) | 1993-02-24 | 2004-01-22 | Kamen Dean L. | Guided control of a transporter |
US6827163B2 (en) | 1994-05-27 | 2004-12-07 | Deka Products Limited Partnership | Non-linear control of a balancing vehicle |
US6276471B1 (en) * | 1997-06-06 | 2001-08-21 | EXPRESSO DEUTSCHLAND TRANSPOTGERäTE GMBH | Delivery cart |
US20080196951A1 (en) * | 2005-07-28 | 2008-08-21 | Shai Gal | Self-Powered Vehicle With Selectable Operational Modes |
US20120160577A1 (en) * | 2010-12-22 | 2012-06-28 | Anasiewicz Stephen A | Motorized beach cart |
US8738278B2 (en) | 2012-02-12 | 2014-05-27 | Shane Chen | Two-wheel, self-balancing vehicle with independently movable foot placement sections |
US20150083506A1 (en) * | 2013-09-25 | 2015-03-26 | Kubota Corporation | Vehicle |
CN105595575A (zh) * | 2015-11-09 | 2016-05-25 | 浙江烷屹机电有限公司 | 一种电动行李箱 |
WO2020008018A1 (en) | 2018-07-05 | 2020-01-09 | Aidwheels S.L. | Propulsion system for carts type vehicles by using a self-balancing scooter coupled by means of an articulated structure |
EP3705101A1 (en) | 2019-03-08 | 2020-09-09 | Twizzler B.V. | Wheeled transporter |
Also Published As
Publication number | Publication date |
---|---|
US20240166259A1 (en) | 2024-05-23 |
ES2926972B2 (es) | 2023-03-21 |
EP4331958A1 (en) | 2024-03-06 |
ES2926972A1 (es) | 2022-10-31 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
JP5265581B2 (ja) | 後輪操舵三輪スクータ | |
ES2867525T3 (es) | Un vehículo conducible por una persona al caminar o correr mientras está sentada y el uso de dicho vehículo | |
US6302421B1 (en) | Vehicle with swivel control of casters for enabling rider or external steering | |
ES2737728B2 (es) | Sistema de propulsion para carros mediante patinete electrico de tipo hoverboard acoplado a traves de una estructura articulada | |
ES2396145T3 (es) | Vehículo autopropulsado con modos de funcionamiento selecccionables | |
US9937974B2 (en) | Three-wheeled rear-steering scooter | |
ES2370231T3 (es) | Patinete. | |
AU2001261603A1 (en) | Vehicle with swivel control of casters for enabling rider or external steering | |
WO2003057549A1 (en) | Lean-induced steerable wheel assembly | |
US8827296B2 (en) | Three-wheeled rear-steering scooter | |
ES2926972B2 (es) | Sistema de direccion para carros mediante manillar basculante | |
WO2011139059A2 (ko) | 후륜 조향식 자전거 | |
CN108883808B (zh) | 双轮车 | |
KR101856249B1 (ko) | 1인승 4륜 컴팩트카 | |
JP7001291B1 (ja) | 前輪懸架機構および三輪車両 | |
WO2022079339A1 (es) | Vehículo que combina un carro de un solo eje con una plataforma motorizada de un solo eje que le propulsa | |
ES2906498A1 (es) | Sistema de propulsion para carros por empuje mediante plataforma motorizada de un solo eje |
Legal Events
Date | Code | Title | Description |
---|---|---|---|
121 | Ep: the epo has been informed by wipo that ep was designated in this application |
Ref document number: 22795071 Country of ref document: EP Kind code of ref document: A1 |
|
WWE | Wipo information: entry into national phase |
Ref document number: 18284546 Country of ref document: US |
|
WWE | Wipo information: entry into national phase |
Ref document number: 2022795071 Country of ref document: EP |
|
NENP | Non-entry into the national phase |
Ref country code: DE |
|
ENP | Entry into the national phase |
Ref document number: 2022795071 Country of ref document: EP Effective date: 20231128 |