CN106163909B - Electric unicycle with auxiliary wheel and its running method - Google Patents

Abstract

This invention relates to the field of electric unicycles, and particularly to an electric unicycle with auxiliary wheels. It also discloses a method of driving using the auxiliary wheels. The structural components include: a wheel frame with a support module for supporting the driver; a wheel rotatably connected to the wheel frame and driven by an electric motor; and two or more auxiliary wheels symmetrically arranged on a bracket in front of the wheel. The auxiliary wheels may have an outward tilt angle or be vertically aligned. The bracket is vertically mounted on the wheel frame or support module. The auxiliary wheels are driven by a first power source. The purpose of this invention is to provide an electric unicycle with auxiliary wheels that ensures driver safety during emergency stops.

Description

Electric unicycle with auxiliary wheels and driving method thereof

technical field

The invention relates to the field of electric unicycles, in particular to an electric unicycle with auxiliary wheels, and also discloses a driving method using the auxiliary wheels.

Background technique

An electric unicycle is an electric-driven, self-balancing personal transport vehicle. It is a kind of urban transportation tool and a brand-new transportation tool that has never been seen before. It is also called a somatosensory vehicle and a thinking vehicle. Used in personal transportation, work inspections, indoor venues, golf carts, police patrols, exhibition patrols, transportation tools for staff in large venues, tourism and entertainment, and car loading;

With the rapid development of society today, traffic congestion has become a common phenomenon in many large and medium-sized cities. A convenient electric unicycle will allow users to enjoy the ease and happiness of shuttling in the busy city and the speed of commuting to and from get off work.

However, the electric unicycle has some disadvantages, which make the driver vulnerable to injury when driving. For example, when encountering obstacles, they are blocked by obstacles and cause a sudden stop. At this time, due to the large distance between the driving car and the driver Inertia, the faster the speed, the greater the weight, the greater the inertia. Although the electric unicycle can stop when it encounters an obstacle, the driver is not so lucky and often flies out directly, causing casualties;

In addition, the deceleration process of the current electric unicycle is slow, because if it stops suddenly, for example, when the front is about to hit a pedestrian, the above situation will also occur, and the driver will be thrown out, causing casualties;

In addition, when encountering the above-mentioned obstacles, besides stopping, is there any way to avoid casualties by crossing them? This is also a problem to be solved in the field of unicycles.

Contents of the invention

The object of the present invention is to overcome the above-mentioned shortcomings in the prior art, and provide an electric unicycle with auxiliary wheels that can ensure the driver's safety in an emergency stop state.

In order to realize the above-mentioned purpose of the invention, the present invention provides the following technical solutions:

An electric unicycle with training wheels, comprising:

A wheel frame, the wheel frame is provided with a supporting module for supporting the driver;

Wheels, said wheels are rotatably matched with the wheel frame and driven to rotate by electric motors;

Auxiliary wheels, the number of the auxiliary wheels is equal to or greater than two, symmetrically arranged on a bracket in front of the wheel, the auxiliary wheels include a camber angle or are vertically arranged, and the bracket can be lifted and installed on the wheel frame or On the support module, the auxiliary wheels are driven to rotate by the first power source.

When we have installed liftable auxiliary wheels, when encountering the situation that requires deceleration or emergency stop as described in the background technology, the driver can lower the auxiliary wheels, and the auxiliary wheels form a support in front of the electric unicycle, so that It will not cause the driver on the support module to fly out due to forward leaning, and ensure the safety of the driver in the emergency stop state. At the same time, this structure can also realize some other auxiliary functions, such as going up and down stairs, because the general electric The wheels of the unicycle are relatively large, and the width of the steps of the stairs is relatively narrow, so if you go up and down directly, the wheels will only touch the edge of the stairs, which is very bad for the wheels, and it is also not conducive to the speed limit when going up and down the stairs. If the building is too fast and causes an accident, when the auxiliary wheel of the present invention is used, the contact between the auxiliary wheel and the step surface of the stairs can play a supporting role, expand the supporting surface, and facilitate the control of the overall speed of the electric unicycle. safer.

Preferably, the supporting module can move linearly within a fixed range along the side of the wheel frame, and the side of the wheel is equipped with a rotating device that cooperates with the supporting module, and the rotating device is configured so that its rotational kinetic energy can be converted into Kinetic energy to move the support module upwards;

When the driver encounters an obstacle, he can also choose to cross it. At this time, the rotating device is turned by the wheel to provide rotational kinetic energy, which drives the support module to move upward. When it moves to a predetermined position, it stops at the wheel. The movement on the frame, through the upward inertia of the supporting module, drives the electric unicycle to jump up as a whole, realizing the jumping function.

Preferably, the rotating device is a disc fixed on the side of the wheel. The disc is coaxial with the wheel, and the structure is simple and convenient to process. The rotational kinetic energy of the wheel is transmitted through the disc as an intermediary and then converted into a support module through other mechanisms Upward driving momentum.

Preferably, the support module includes:

Pedals are arranged on both sides of the wheel frame;

The wrapping part is set on the top of the support module and is used for the driver to sit or wrap the driver's waist, so as to give the driver more reliable protection, so that when the speed is too fast or the sudden stop is stopped, it will not be affected by excessive inertia. large enough to cause an accident.

Preferably, the pedals are liftably installed on both sides of the wheel frame or the support module. When the pedals are lowered to the lowest position, the height of the bottom of the pedals is equal to or lower than the lowest point of the wheels. When the electric unicycle is parked, the pedals can also be lowered to support and Both sides of the electric unicycle support parking.

Preferably, each of the auxiliary wheels is driven by a separate first power source, and the direction of rotation is adjustable. The auxiliary wheels are provided with a brake device. When the electric unicycle needs to decelerate or accelerate, the auxiliary wheels can be lowered to touch the ground , by changing the rotation speed of the auxiliary wheel, the speed of the overall electric unicycle is affected. When the emergency stop or rapid deceleration is stopped, the rotation of the auxiliary wheel is stopped by the braking device, and the friction force of the direct contact between the auxiliary wheel and the ground makes the entire electric unicycle To achieve the purpose of emergency stop or rapid deceleration;

At the same time, when the auxiliary wheel is not lowered to the ground, the first power source drives it to rotate, and when it accelerates to rotate, it can also generate the precessive force of the gyro to help the electric unicycle maintain balance during driving or in the air.

Preferably, the auxiliary wheels on both sides of the bracket are connected by a cross bar, and the middle part of the cross bar is connected to the bracket by a swing device, and the swing device is used to adjust the inclination angle of the cross bar so that the rotating auxiliary wheels form a The three-degree-of-freedom gyroscope, through the fixed axis of the three-degree-of-freedom gyroscope, plays the role of assisting the electric unicycle to maintain balance.

Preferably, the oscillating device is installed on an elevating rod, and the elevating rod is driven up and down by the second power source to realize the lifting function of the auxiliary wheels.

Preferably, the wheel frame extends upwards with a door-shaped structure fitted around the wheel, the support modules are slidably installed on both sides of the door-shaped structure, and a shock-absorbing structure is provided between the top of the door-shaped structure and the bottom of the wrapping part. The device, when the electric unicycle jumps and falls, it acts as a shock absorber to better protect the driver.

Preferably, a control handle is arranged beside the wrapping part, which is used to control the driving state of the electric unicycle, so as to optimize the driver's operation process and be more humanized.

Preferably, the circumference of the disc is provided with teeth, and the support module is provided with a rack, the teeth on the disc mesh with a first gear, the rack meshes with a second gear, and the first gear The second gear and the second gear are installed on the same shaft core through the clutch device. The opening and closing of the clutch device determines whether the first gear and the second gear rotate on the same axis and at the same speed, so as to realize different processes in the jumping process of the electric unicycle.

The invention also discloses a driving method of the electric unicycle, the steps of which are:

A. Start the electric unicycle and keep it in normal driving state;

B. When the electric unicycle is about to decelerate or stop suddenly, lower the auxiliary wheel to touch the ground, and start to decelerate or stop suddenly after the lowering is completed. The speed of the auxiliary wheel itself can assist in changing the speed of the entire electric unicycle, such as the original speed of the electric unicycle is X, the speed of the auxiliary wheel is Y, and after Y<X, the electric unicycle will be decelerated.

The present invention also discloses another driving method of the electric unicycle, the steps of which are:

A. Start the electric unicycle and keep it in normal driving state;

B. When the electric unicycle needs to be decelerated or stopped suddenly, lower the auxiliary wheel to touch the ground, and decelerate or stop the auxiliary wheel through the brake device, so that the electric unicycle can be decelerated or stopped suddenly;

Through the setting of the brake device, the deceleration effect of the auxiliary wheel is more obvious. The difference between this method and the previous deceleration scheme is similar to the difference between engine braking and brake braking in car braking.

The present invention also discloses another driving method of the electric unicycle, the steps of which are:

A. Start the electric unicycle and keep it in normal driving state;

B. When the electric unicycle needs to jump, control the clutch device so that the first gear and the second gear rotate synchronously to drive the support module to move upwards. After the support module moves to a predetermined position, control the clutch device , so that the first gear and the second gear are disconnected and rotated respectively, and the inertia generated upward when the support module moves drives the electric unicycle to jump.

The present invention also discloses another driving method of the electric unicycle, the steps of which are:

A. Start the electric unicycle and keep it in normal driving state;

B. When the electric unicycle is vacated, the auxiliary wheels keep rotating, and the inclination angle of the crossbar is adjusted by the swing device to assist the electric unicycle to maintain balance.

Compared with prior art, the beneficial effect of the present invention:

Ensure driver safety in emergency stop state.

Description of drawings:

Fig. 1 is an axonometric view of the present invention;

Fig. 2 is another axonometric view of the present invention;

Fig. 3 is a schematic diagram of the jumping process of the present invention;

Fig. 4 is the schematic diagram of going up and down stairs of the present invention;

Fig. 5 is another schematic diagram of the present invention going up and down stairs;

Fig. 6 is a schematic diagram of uphill and downhill according to the present invention;

Fig. 7 is another schematic diagram of uphill and downhill according to the present invention;

Fig. 8 is a schematic diagram of emergency stop or deceleration of the present invention;

Marks in the figure: 1-pedal, 2-wheel, 3-fourth gear, 4-third gear, 5-second gear, 6-fourth power source, 7-screw, 8-door structure, 9- Package parts, 10-control handle, 11-second power source, 12-lifting rod, 13-spring, 14-short rod, 15-third power source, 16-training wheel, 17-brake device, 18-cross bar , 19-the first rack, 20-the second rack, 21-damping device, 22-the first gear.

Detailed ways

The present invention will be further described in detail below in conjunction with examples and specific implementation methods. However, it should not be understood that the scope of the above subject matter of the present invention is limited to the following embodiments, and all technologies realized based on the content of the present invention belong to the scope of the present invention.

Example 1

As shown in Fig. 1, 2, a kind of electric unicycle with auxiliary wheel 16, it comprises:

A wheel frame, the wheel frame is provided with a supporting module for supporting the driver;

Wheel 2, said wheel 2 is rotatably matched with the wheel frame, and is driven to rotate by a motor;

Auxiliary wheels 16, the number of the auxiliary wheels 16 is equal to or greater than two, symmetrically arranged on a support in front of the wheel 2, the auxiliary wheels 16 include camber or vertical settings, and the support can be lifted and installed on the On the wheel frame or the support module, the auxiliary wheels 16 are driven to rotate by a first power source, and each of the auxiliary wheels 16 is driven to rotate by a separate first power source, and the direction of rotation is adjustable. The wheel 16 is provided with a braking device 17 .

The support module can move linearly within a fixed range along the side of the wheel frame, and a door-shaped structure 8 is extended upward from the wheel frame to fit around the wheel 2, and the support module is slidably installed on the door-shaped structure 8, on both sides, between the top of the door-shaped structure 8 and the bottom of the wrapping part 9, a shock absorber 21 (a number of vertical springs in this embodiment) is arranged, and the side of the wheel 2 is equipped with a A rotating device, the rotating device is configured so that its rotational kinetic energy can be converted into kinetic energy to move the support module upwards, the rotating device is a disc fixed on the side of the wheel 2, the disc and the wheel 2 are coaxial, the The circumference of the disc is provided with teeth, and the support module is provided with a rack. The teeth on the disc are engaged with a first gear 22, and the rack is engaged with a second gear 5. The first gear 22 and the second gear 5 are engaged. The two gears 5 are installed on the same shaft core through a clutch device. Specifically, the rack on the support module is divided into a first rack 19 and a second rack 20, which are respectively installed on the support module, and are located in the front and rear directions of the electric unicycle. The first rack 19 is at the rear, the first gear 22 cooperates with the disk, the second gear 5 cooperates with the first rack 19, and the third gear 4 and the second gear are also included in this embodiment. Four gears 3, the third gear 4 and the fourth gear 3 are installed on the same shaft core through another clutch device, the third gear 4 cooperates with the disc, the fourth gear 3 cooperates with the second rack 20, the above-mentioned set The device of the gear set and the rack, the specific cooperation is to realize the jumping function, specifically:

When the electric unicycle was running normally, the third gear 4 and the first gear 22 matched with the disk were in an idling state, because the clutch device was in a disconnected state at this moment, and when jumping was required, the first gear 22 and the second gear The clutch device between 5 is closed, so that the first gear 22 rotates to drive the second gear 5 to rotate, thereby driving the first rack 19 to move upward, that is, to make the supporting module move upward quickly. When the supporting module moves to a predetermined position, the second gear is controlled. The clutch device between the first gear 22 and the second gear 5 is disconnected, so that the second gear 5 loses the power source, and the first tooth bar 19 meshed with it also loses the power source at the same time, and it no longer moves relative to the wheel carrier. The inertia generated by the upward movement lifts the entire electric unicycle to jump. When the jump is realized, the clutch device between the third gear 4 and the fourth gear 3 is closed, so that the rotation of the third gear 4 drives the rotation of the fourth gear 3, thereby driving the rotation of the fourth gear 3. The second rack 20 moves downward, that is, drives the support module to move downward. When the support module moves to a predetermined position, the clutch device between the third gear 4 and the fourth gear 3 is controlled to be disconnected, so that the fourth gear 3 loses power. source, the second gear rack 20 meshing with it also loses the power source at the same time, and it no longer moves relative to the wheel frame, thereby retracting the support module and preparing for the next jump, when it touches the ground after the jump, through the shock absorption Device 21 is shock-absorbing.

In this embodiment, the support module includes:

The pedal 1 is arranged on both sides of the wheel frame. The pedal 1 is installed on both sides of the wheel frame or the supporting module in a liftable manner. When the pedal 1 is lowered to the lowest position, the height of the bottom of the pedal 1 is equal to or lower than the lowest point of the wheel 2. The top of 1 is installed on the support module through a rod, and the side of the support module is provided with a fourth power source 6, which is connected with the rod above the pedal 1 through the structure of the screw 7, and the structure of the screw 7 is driven up and down by the fourth power source 6. Move to realize the lifting of pedal 1.

Wrapping part 9, which is arranged on the top of the support module, is used for the driver to sit or wrap the driver's waist. The wrapping part 9 includes a seat, and a control handle 10 is arranged in front of the seat, which can be a simple handle that only helps to support, or can be a A control end controls the forward or backward of the electric unicycle forward or backward, the wrapping part 9 is a semicircular open-loop structure (its height is adjustable to suit different drivers), and the front end is provided with a buckle that can be connected. Sitting on the driver or wrapping the driver's waist.

In this embodiment, the auxiliary wheels 16 on both sides of the bracket are connected by a cross bar 18, and the middle part of the cross bar 18 is connected to the bracket by a swing device, and the swing device is used to adjust the inclination angle of the cross bar 18. During the driving of the electric unicycle, under the normal driving state or jumping state, the fixed axis of the gyroscope is used to assist the electric unicycle to maintain balance.

The swing device is installed on a lifting rod 12, and the lifting rod 12 is driven up and down by the second power source 11. The swing device specifically includes:

Short rod 14, the middle part of the short rod 14 is hinged to the lifting rod 12, driven by the third power source 15, so as to swing around the hinge point;

Spring 13, the spring 13 is installed on the two ends of the short bar 14, the two ends of the spring 13 are respectively connected to the short bar 14 and the cross bar 18, the middle part of the cross bar 18 is hinged on the elevating bar 12, when it is necessary to change the position of the auxiliary wheel 16 position, driven by the third power source 15, the deflection of the short rod 14 is driven, thereby driving the deflection of the cross rod 18, so as to realize the change of the position of the auxiliary wheel 16.

This embodiment also discloses a driving method of the electric unicycle, the steps of which are:

A. Start the electric unicycle and keep it in normal driving state;

B. When the electric unicycle is about to decelerate or stop suddenly, lower the auxiliary wheels 16 to touch the ground, and start to decelerate or stop suddenly after lowering.

Concrete state is as shown in Figure 8, when emergency stop or deceleration, auxiliary wheel 16 is lowered to form anti-support, makes the state of whole electric unicycle as Figure 8, can overcome the inertia brought when emergency stop or deceleration.

When the structure of this embodiment goes up and down stairs or up and down slopes, it can be carried out in different directions, as shown in Figure 4-7. For example, when going downhill, place the driver to turn forward. Direction ahead, certainly, when going uphill, also can adopt the scheme of Fig. 7, see specific situation.

Example 2

This embodiment also discloses another driving method of the electric unicycle, the steps of which are:

A. Start the electric unicycle and keep it in normal driving state;

B. When the electric unicycle needs to be decelerated or stopped suddenly, the auxiliary wheels 16 are lowered to touch the ground, and the auxiliary wheels 16 are decelerated or stopped by the braking device 17, so that the electric unicycle is decelerated or stopped suddenly.

It is after adopting braking device 17, the deceleration or emergency stop method of electric unicycle.

Example 3

This embodiment also discloses another driving method of the electric unicycle, the steps of which are:

A. Start the electric unicycle and keep it in normal driving state;

B. When the electric unicycle needs to jump, control the clutch device so that the first gear 22 and the second gear 5 rotate synchronously to drive the support module to move upwards. After the support module moves to a predetermined position, it drives the electric unicycle jump.

The specific state is shown in Figure 3, and the specific process has been recorded in the manual.

Example 4

This embodiment also discloses another driving method of the electric unicycle, the steps of which are:

A. Start the electric unicycle and keep it in normal driving state;

B. When the electric unicycle is vacated, the auxiliary wheels 16 keep rotating, and the inclination angle of the crossbar 18 is adjusted by the swing device, so as to assist the electric unicycle to maintain balance.

Claims (12)

1. a kind of electric unicycle with auxiliary wheel comprising：

Wheel carrier is provided with the supporting module for being used to support driver on the wheel carrier；

Wheel, the wheel are rotationally matched with wheel carrier, and are rotated by motor drive；

It is characterized in that, further including：

Auxiliary wheel, the auxiliary wheel quantity are equal to or more than two, are symmetrically disposed on a holder in front of the wheel, Auxiliary wheel includes camber angle or is vertically arranged, and the holder is liftably installed in the wheel carrier or the supporting module, institute Auxiliary wheel is stated to be rotated by the first power source drive；

The supporting module can move linearly along the wheel carrier side in fixed range, and the wheel face is equipped with and institute The tumbler of supporting module cooperation is stated, the tumbler is configured to its rotational kinetic energy and can be converted to keep supporting module upward Mobile kinetic energy；

Each auxiliary wheel is rotated by individual first power source drive, and direction of rotation is adjustable, is set on the auxiliary wheel It is equipped with brake gear；

It is connected by cross bar between the auxiliary wheel of the holder both sides, is connected by a pendulous device and holder in the middle part of cross bar It connects, the pendulous device is used to adjust the angle of inclination of cross bar.

2. according to the electric unicycle with auxiliary wheel described in claim 1, which is characterized in that the tumbler is to fix In the disk of wheel face, the disk and wheel are coaxial.

3. the electric unicycle according to claim 2 with auxiliary wheel, which is characterized in that the supporting module includes：

Pedal is set to wheel carrier both sides；Packaging components are arranged at the top of supporting module, sit or wrap up for driver and drive The person's of sailing waist.

4. according to the electric unicycle with auxiliary wheel described in claim 3, which is characterized in that the pedal is liftably pacified Loaded on wheel carrier or supporting module both sides, when pedal drops to extreme lower position, the height of pedal bottom is minimum equal to or less than wheel Place.

5. according to the electric unicycle with auxiliary wheel described in claim 1, which is characterized in that the pendulous device is installed on On one elevating lever, the elevating lever is lifted by the second power source drive.

6. according to the electric unicycle with auxiliary wheel described in claim 4, which is characterized in that the wheel carrier extends upward Door type structure of one cooperation around wheel, the supporting module are slidably mounted to the door type structure both sides, door type structure It is provided with damping device between top and packaging components bottom.

7. according to the electric unicycle with auxiliary wheel described in claim 3, which is characterized in that setting by the packaging components There is control handle, the transport condition for controlling electric unicycle.

8. according to the electric unicycle with auxiliary wheel described in claim 6, which is characterized in that the disk circumference is provided with Tooth is provided with rack in supporting module, and the tooth on the disk is engaged with a first gear, and the rack is nibbled with a second gear It closes, the first gear and second gear are installed on by arrangement of clutch in same shaft core.

9. a kind of running method of electric unicycle according to claim 1-8 any one, which is characterized in that step For：

A, start electric unicycle, keep normally travel state；

B, when electric unicycle prepares deceleration or emergency stop, auxiliary wheel contact ground is transferred, is reduced speed now after the completion of decentralization Or emergency stop.

10. a kind of running method according to the electric unicycle described in claim 1, which is characterized in that step is：

A, start electric unicycle, keep normally travel state；

B, when electric unicycle needs deceleration or emergency stop, auxiliary wheel contact ground is transferred, the brake gear pair is passed through Auxiliary wheel slows down or emergency stop, to make electric unicycle slow down or emergency stop.

11. a kind of running method according to the electric unicycle described in claim 8, which is characterized in that step is：

A, start electric unicycle, keep normally travel state；

B, when electric unicycle is jumped, the arrangement of clutch is controlled, keeps the first gear and second gear same Step rotation, drives the supporting module to move up, after supporting module is moved to precalculated position, controls the arrangement of clutch, make The first gear and second gear disconnect, and rotate respectively, and the inertia that supporting module generates upwards when moving drives electric single-wheel Vehicle jumps.

12. a kind of running method according to the electric unicycle described in claim 6, which is characterized in that step is：

A, start electric unicycle, keep normally travel state；

B, when electric unicycle empties, the auxiliary wheel keeps rotation, and the inclination angle of the cross bar is adjusted by pendulous device Degree, auxiliary electric wheelbarrow keep balance.