WO2017028302A1 - Electric monocycle with assistant function and driving method using assistant function - Google Patents

Abstract

An electric monocycle, in particular an electric monocycle with an assistant function and a driving method using the assistant function, the structure of the electric monocycle with assistant function comprising: a wheel carrier (21) on which a support module used for supporting a driver is provided; a wheel (1) which is rotatably adapted to the wheel carrier (21) and is driven by a motor; an energy-storage wheel (2) which is rotatably adapted to the wheel carrier (21) and acts in conjunction with the support module by means of a first clutch, wherein the energy-storage wheel (2) is configured such that the rotational energy thereof drives the rotation of the support module by means of the first clutch, and the rotational direction of the support module is opposite to that of the wheel (1), so as to provide an electric monocycle with assistant function to ensure the safety of the driver under emergency stop.

Description

Electric unicycle with auxiliary function and driving method using auxiliary function Technical field

The present invention relates to the field of electric unicycles, and more particularly to an electric unicycle with an auxiliary function, and also discloses a driving method using the auxiliary function.

Background technique

The electric unicycle is an electric-driven, self-balancing personal transportation vehicle. It is a kind of urban transportation. It is a new vehicle that has never been seen before. It is also called a physical car and a thinking car. In personal transportation, work inspections, indoor venues, golf carts, police patrols, exhibition patrols, large venue staff transportation, tourism and entertainment, and car loading;

Today, with the rapid development of society, 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 shuttle bus and the speed of commuting.

However, electric unicycles have some disadvantages, which make the driver vulnerable to injury when driving. For example, when an obstacle is encountered, it is blocked by an obstacle, causing an emergency stop. At this time, the driver and the driver are very large. Inertia, the faster the speed, the greater the weight, the greater the inertia. Although the electric unicycle can stop when it encounters obstacles, the driver is not so lucky, and often flies directly, causing casualties;

Moreover, the current deceleration process of the electric unicycle is slow, because if the emergency stop, such as when the front is hitting the pedestrian, then the emergency stop, the above situation will occur, the driver is thrown out, causing casualties;

Then, in addition to the above obstacles, in addition to stopping, there is no way to avoid casualties by crossing it, which is also a problem to be solved in the field of wheelbarrows.

Summary of the invention

SUMMARY OF THE INVENTION An object of the present invention is to overcome the above-mentioned deficiencies in the prior art and to provide an electric unicycle with an auxiliary function for ensuring the safety of a driver in an emergency stop state.

In order to achieve the above object, the present invention provides the following technical solutions:

An electric unicycle with auxiliary function, comprising:

a wheel carrier on which a support module for supporting a driver is disposed;

a wheel rotatably coupled to the wheel carrier and driven to rotate by a motor;

An energy storage wheel rotatably mated with the wheel carrier and coupled to the support module by a first clutch device configured to pass its first kinetic energy through its first kinetic energy The support module is driven to rotate, and the support module rotates in the opposite direction to the rotation direction of the wheel.

The energy storage wheel keeps rotating state during the driving of the electric unicycle, but under normal conditions, it only keeps its own rotation and does not drive other devices. When the electric unicycle stops, the energy storage wheel passes through the first clutch device and the support module. Connection, according to the prior art, the support module will rotate forward rapidly, and the driver will also dump forward. At this time, in the case of using the structure of the present application, the storage wheel is connected with the support module because The energy wheel is always in rotation, so that it can give the supporting module a turning force to rotate in the opposite direction from the moment of connection with the supporting module, and the rotational kinetic energy of the energy storage wheel is converted to support the rotational kinetic energy of the module. The rotation direction of the support module is opposite to the rotation direction of the wheel, which drives the driver to turn, offsets the forward inertia, restores the support module to the normal position, and the driver does not fly out, causing no casualties. Safe driving is guaranteed in an emergency stop state.

Preferably, the direction of rotation of the accumulator wheel is opposite to the direction of rotation of the wheel. In this case, it is only necessary to provide an in-wheel motor in the wheel frame to drive the accumulator wheel to rotate, the direction of rotation and the rotation of the wheel. The opposite can be done, without too many complicated other structures, the structure is simpler.

Preferably, the electric wheelbarrow further includes a lifting device, the support module being configured to be telescopically movable within a fixed range on the wheel frame, the lifting device being configured to convert the rotational kinetic energy of the energy storage wheel into a support module The kinetic energy of moving upwards, as described in the background art, when encountering an obstacle, we choose to skip it in order to achieve no emergency stop, a safer situation, or when the driver needs to actively jump, such as the stairs In the special case, this structure of the application can help achieve the purpose;

The energy storage wheel is still in rotation. When the entire electric unicycle needs to jump, the energy storage wheel is connected to the support module through the lifting device, and the rotational kinetic energy of the energy storage wheel is instantaneously converted into the kinetic energy for moving the support module upward. Then, the support module is lifted upwards. When it reaches a certain zero boundary point, it no longer moves, and then drives the wheel frame to move upwards, and the entire electric unicycle is in a jumping state to achieve the purpose of jumping.

Preferably, the electric wheelbarrow further includes a first sensor for detecting a rotation angle and a speed of the support module, and is set with a threshold. When the threshold is exceeded, the first clutch device is activated, and in the normal driving situation, some acceleration In the deceleration, as in the prior art, the support module must also rotate at a certain angle, but the speed of the rotation is not fast. If the accumulator wheel and the support module are in contact with each other, the ability to move in the opposite direction is excessive. It will cause the driver to fall out in the other direction. Therefore, the setting of the first sensor and the first clutch device solves this problem. Under the limitation of the threshold, the special situation of emergency stop is recognized, and energy storage is realized. The connection of the wheel.

Preferably, the energy storage wheel comprises a flywheel extending to a side thereof, the first clutch device is a brake caliper fixedly mounted on the support module, the jaw is fitted on the flywheel, the structure is simple, and the whole structure is similar to a car. The disc brake and the brake caliper are closed, and the flywheel and the support module can be connected very stably in an instant, so that the rotational kinetic energy of the accumulator wheel is converted into the rotational kinetic energy of the reverse rotation of the support module.

Preferably, the energy storage wheel comprises a flywheel extending to a side thereof, and a ring is arranged on the circumference of the flywheel a tooth, the lifting device comprising two or more coaxially rotating gears, the support module being provided with a rack meshing with at least one of the gears, the flywheel meshing with at least one of the gears, the gear Both are mounted on the same core by a second clutch device, which is mounted on the wheel carrier. This specific structure is used to realize the jumping function of the electric unicycle. When the jump is required, the second clutch device makes all or part of the gears. Connecting the shaft core and rotating coaxially, the gear that is originally connected to the flywheel in the idling state drives the other gears to rotate through the shaft core, including the gear connected with the rack supporting the module, and the gear drives the rack to move upward, then the support The module moves up and is lifted. When it reaches a certain zero point, it no longer moves, and then drives the wheel frame to move upwards. The entire electric unicycle jumps to achieve the purpose of jumping.

Preferably, the electric wheelbarrow further includes a second sensor for detecting a pressure signal generated by the driver on the support module, and setting a predetermined signal, and when the driver completes a certain set of actions, the set pressure signal or pressure is fed back. When the signal is combined, the second clutch device is activated. When a normal person drives some driving tools, such as a bicycle/skateboard/skate, when jumping, there will be a squatting motion, and then jump, and in order to make the driver If there is a better driving feeling, the structure of the solution can be adjusted by a set second sensor, with some combination of the pressure signal or the pressure signal, to prompt the driver to complete a certain set of actions that have been used before, triggering the first The two-clutch device makes the electric unicycle jump, more humane, better user experience and lower learning cost.

Preferably, the support module comprises:

Pedal, set on both sides of the wheel frame;

A wrapper component that is placed on top of the support module for the driver to sit or wrap the driver's waist.

The pedal is used to place the driver's feet. As with the prior art, the wrapping component better protects the driver, and when the supporting module is rotated in the reverse direction, the driver can better drive the reverse movement and counteract the inertia.

Preferably, a damping device is arranged between the lower part of the wrapping component and the wheel frame. When the electric unicycle jumps up and falls, the damping device can play a role of damping, whether it is for the driver or the electric unicycle. Ground protection.

Preferably, the supporting module is provided with a braking device for braking the rotation of the wheel, and the braking device drives the supporting module to rotate in the rotating direction of the wheel during the braking process, and the wheel is braked by the supporting module, and the supporting module It will rotate forward, and then it will be rotated by the accumulator wheel. Under this cooperation, the brakes are completed, and even the emergency brake is used. When the emergency brake is used, it is equivalent to the emergency stop state, and is related to the energy storage wheel. The structure is designed to help the entire electric unicycle and the driver remain in a safe state.

Preferably, the electric unicycle includes a free mode and an electronic control mode, and an attitude control switch for controlling the action of the electric unicycle is disposed under the pedal, and the attitude control switch is controlled by the direction and angle of the pedal depression in the electronic control mode, Thereby controlling the electric unicycle to make forward/backward/brake/steering and other actions. In the free mode, the driver controls the action of the electric unicycle through the body posture, which is more humanized, when the balance ability is not good enough or the electric unicycle is not enough. When the skilled driver drives, the electronic control mode is selected to achieve better driving results, and the free mode ensures that the driver still has the driving experience of the electric unicycle in the prior art.

Preferably, the free mode and the electronic control mode are controlled by a switch that is wired or wirelessly connected to the electric unicycle, which is more convenient and more user-friendly.

Preferably, the support module is provided with a balance gyro, the balance gyro is at least a two-degree-of-freedom gyro, and the gyro with two degrees of freedom or more has precession, and the so-called "precession" is when the gyro rotor rotates at a high speed. If the applied external moment is along an axial direction other than the rotation axis, the gyro does not move in the direction of the external moment, and the direction of the rotational angular velocity and the direction of the external moment are perpendicular to each other. This characteristic is called the advance of the gyroscope. Mobility, for example, for a three-degree-of-freedom gyro, if the external moment acts around the outer ring axis, The gyroscope will rotate around the inner ring axis; if the external torque acts around the inner ring axis, the gyroscope will rotate around the outer ring axis. For a two-degree-of-freedom gyro (without the outer frame), when it is forced to move around the third axis (imaginary outer frame axis), the gyro will rotate around the inner frame axis. This structure, when the electric unicycle is excessively tilted, It can help maintain the balance of the electric unicycle and make the driving process safer.

Preferably, the number of balanced gyros is equal to or greater than one set, and at least one set of balanced gyros is disposed at the front and rear ends of the support module.

Preferably, the balance gyro is composed of a wheel that rotates at the center and a plurality of frames that are sequentially fitted outside the wheel and capable of controlling the angle of rotation.

Preferably, the outermost frame on the balance gyro is mounted at an angle that is perpendicular to the vertical direction of the vehicle.

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

A. Start the electric unicycle, keep the normal driving state, and keep the energy storage wheel rotating;

B. When the electric unicycle needs emergency stop or rapid deceleration, the first clutch device is used to match the accumulator wheel with the support module, so that the rotational kinetic energy of the accumulator wheel drives the support module to rotate in the opposite direction of the wheel rotation direction. This drives the driver to overcome the inertia in the direction of travel caused by the emergency stop or rapid deceleration of the electric unicycle.

It is used to realize the protection of the driver in the emergency stop state of the electric unicycle.

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

A. Start the electric unicycle, keep the normal driving state, and keep the energy storage wheel rotating;

B. When the electric unicycle needs an emergency stop or rapid deceleration, energy storage is performed by the first clutch device The wheel cooperates with the support module to rotate the kinetic energy of the energy storage wheel to drive the support module to rotate in the opposite direction of the rotation direction of the wheel, thereby driving the driver to overcome the inertia toward the driving direction caused by the emergency stop or rapid deceleration of the electric unicycle;

C. When the electric unicycle jump is required, the energy storage wheel and the support module are matched by the second clutch device, so that the rotational kinetic energy of the energy storage wheel is converted into kinetic energy for moving the support module upward, and the electric unicycle is driven to jump.

It is used to realize the jumping function of the electric unicycle.

Preferably, in step C, the driver generates a signal recognizable by the sensor through a fixed motion command to control the working state of the second clutch device.

The invention also discloses another driving method of an electric unicycle, which comprises the steps of:

A. Start the electric unicycle, keep the normal driving state, and keep the energy storage wheel rotating;

B. When the electric unicycle needs emergency stop or rapid deceleration, the first clutch device is used to match the accumulator wheel with the support module, so that the rotational kinetic energy of the accumulator wheel drives the support module to rotate in the opposite direction of the wheel rotation direction. Thereby driving the driver to overcome the inertia toward the driving direction caused by the emergency stop or rapid deceleration of the electric unicycle;

C. When the electric unicycle is required to decelerate, the braking device is controlled to turn the brake wheel. During the rotation of the deceleration wheel, when the supporting module is rotated, the first clutch device is connected to the accumulator wheel to correct the angle of the supporting module.

Achieve the active emergency stop function of the electric unicycle.

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

Safeguarding the driver in an emergency stop.

BRIEF DESCRIPTION OF THE DRAWINGS:

Figure 1 is a first isometric view of the electric unicycle of the present application;

2 is a second isometric view of the electric unicycle of the present application;

Figure 3 is a side view of the electric unicycle of the present application;

4 is a schematic diagram of the emergency stop inertia of the electric unicycle of the present application;

Figure 5 is a jumping trajectory diagram of the electric unicycle of the present application;

6 is a first schematic view of a two-degree-of-freedom gyro of an electric unicycle according to Embodiment 4 of the present application;

7 is a second schematic diagram of a two-degree-of-freedom gyro of an electric unicycle according to Embodiment 4 of the present application;

8 is a schematic view showing the installation of a two-degree-of-freedom gyro of an electric unicycle according to Embodiment 4 of the present application;

9 is a first schematic view of a two-degree-of-freedom gyro of an electric unicycle according to Embodiment 5 of the present application;

10 is a second schematic diagram of a two-degree-of-freedom gyro of an electric unicycle according to Embodiment 5 of the present application;

Marked in the figure: 1-wheel, 2-accumulator wheel, 21-wheel carrier, 3-flywheel, 4-first rack, 41-second rack, 5-step, 6-first gear, 7- Two gears, 8-third gear, 81-fourth gear, 9-plate, 10-spring, 11-seat, 12-wrapped parts, 13-snap, 14-handle, 15-door structure, 16- Disc brake, 17-attitude control switch, 18-second rotating wheel, 19-first rectangular frame, 20-second rectangular frame, 31-third rectangular frame, 22-steering motor, 23-first rotating wheel .

detailed description

The present invention will be further described in detail below with reference to the embodiments and specific embodiments. But should not It is to be understood that the scope of the above-described subject matter of the present invention is limited to the following embodiments, and that the technology implemented based on the present invention is within the scope of the present invention.

Example 1

As shown in Figures 1 and 2, an electric unicycle with an auxiliary function includes:

a wheel carrier 21, the wheel frame 21 is provided with a support module for supporting a driver;

The wheel 1 is rotatably coupled to the wheel carrier 21 and driven to rotate by a motor. In this embodiment, the motor is a hub motor, which is the same as most electric unicycles in the prior art;

An energy storage wheel 2 rotatably mated with the wheel carrier 21 and engaged with the support module by a first clutch device, the energy storage wheel 2 being configured to have its rotational kinetic energy The first clutch device drives the support module to rotate, the rotation direction of the support module is opposite to the rotation direction of the wheel 1, the rotation direction of the energy storage wheel 2 is opposite to the rotation direction of the wheel 1, and the energy storage wheel 2 is driven by another hub motor. Driven, the hub motor is also mounted on the wheel carrier 21, the mounting position is coaxial with the hub motor that drives the wheel 1, and the accumulator wheel 2 is also rotated in reverse while the wheel 1 is rotating, the accumulator wheel 2 including extending to the side thereof The flywheel 3, which is fixedly connected to the energy storage wheel 2, is driven to rotate at the same angular velocity, the first clutch device is a brake caliper, which is fixedly mounted on the support module, and the jaws are fitted on the flywheel 3;

a first sensor, configured to detect a rotation angle and a speed of the support module, and set a threshold. When the threshold is exceeded, the first clutch device is activated, and the first sensor is disposed on the support module, and the support module is measured. Rotational acceleration and rotation angle (0 degree based on the angle between the supporting module and the horizontal direction of 90 degrees), wherein the threshold corresponds to the acceleration corresponding to the rotation angle, when at a certain acceleration, the supporting module If the rotation angle exceeds a predetermined range, it is regarded as breaking the threshold, and the first clutch device is activated;

The support module includes:

The pedals 5 are disposed on both sides of the wheel frame 21;

The wrap member 12 (including a seat 11) is provided with a handle 14 in front of the seat 11, which may be a simple handle 14 which is only for help, or a control end for controlling the forward or backward movement of the electric unicycle forward or backward. Set on the top of the support module, it is a semi-circular open-loop structure (the height is adjustable to suit different drivers), and the front end is provided with a buckle 13 that can be connected for the driver to sit or wrap the driver's waist, the package A damping device, specifically a spring 10, is disposed between the lower part of the component 12 and the wheel frame 21, and the wheel frame 21 extends upward from both sides with a door structure 15 (belonging to the supporting module, and other structures of the supporting module are also mounted on the door structure 15 Upper, such as the wrapping member 12 is connected to both sides of the door structure 15 through a plate member 9 extending downwardly from both sides thereof, the top portion of which is connected to the lower surface of the seat 11 by a plurality of the springs 10, The brake caliper is mounted on the door structure 15. When the brake caliper is closed, the rotating flywheel 3 rotates, thereby driving the door structure 15 to rotate, thereby driving the wrapping component 12 to rotate, and finally driving the driver to rotate backward, Take the inertia.

The electric unicycle includes a free mode and an electric control mode, and an attitude control switch 17 for controlling the action of the electric unicycle is disposed under the pedal 5. In the electronic control mode, the direction and angle of the pedal 5 are controlled to control the attitude control switch 17 In order to control the electric unicycle to make forward/backward/brake/steering actions, in the free mode, the driver controls the action of the electric unicycle through the body posture, the free mode and the electronic control mode are wired or wireless through an electric unicycle Connected switch control;

The pedal 5 is mounted on the side of the support module by a shaft disposed at a middle portion thereof, and can be flipped back and forth, and the front and rear ends of the lower portion are respectively provided with elastic switches, and when the pedal 5 is stepped forward or backward by the driver, Pressing the lower switch, that is, the attitude control switch 17, performs the above-mentioned triggering action. Specifically, the lower part of the pedal 5 is divided into two regions before and after, and a total of four under the pedal 5 on both sides of the wheel carrier 21 The area, the four areas are individually stepped down and the action of stepping together, matching multiple corresponding actions, such as forward/backward/brake/steering;

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

A. Start the electric unicycle, keep the normal driving state, and keep the energy storage wheel 2 rotating;

B. When the electric unicycle needs emergency stop or rapid deceleration, the first clutch device is used to match the accumulator wheel 2 and the support module, so that the rotational kinetic energy of the accumulator wheel 2 drives the support module to rotate in the opposite direction of the wheel 1 The direction is rotated, thereby driving the driver to overcome the inertia toward the driving direction caused by the emergency stop or rapid deceleration of the electric unicycle.

Example 2

As shown in FIGS. 1 and 2, in addition to the structure of Embodiment 1, the present embodiment further includes a lifting device, the support module is configured to be telescopically movable on the wheel frame 21, and the lifting device is configured to enable the storage The rotational kinetic energy of the energy wheel 2 is converted into kinetic energy that causes the support module to move upward.

The wrapping member 12 is slidably coupled to both sides of the door structure 15 through a plate member 9 extending downwardly on both sides thereof;

The accumulator wheel 2 includes a flywheel 3 extending to the side thereof (the acceleration state can also generate the precession of the gyro to improve the balance of the unicycle, and the coordinated rotation of the wheel 1 and the accumulator wheel 2 itself is also carried The fixed axis of the gyro overcomes the precession of the steering of the electric unicycle), the circumference of the flywheel 3 is provided with annular teeth, and the lifting device comprises two or more coaxially rotating gears, the support The module is provided with a rack meshing with at least one of the gears, here a first rack 4, the flywheel 3 meshes with at least one of the gears, and the gears are mounted on the same core by a second clutch device, The shaft core is mounted on the wheel carrier 21 (ie, both sides of the door structure 15);

In this embodiment, the gears are two, including the first gear 6 and the second gear 7, both disposed on the support module (here, specifically on the plate member 9 extending downward on both sides of the wrapping member 12). One side (the one in the forward direction of the electric unicycle), the first gear 6 meshes with the flywheel 3, and the second gear 7 meshes with the first rack 4,

In this embodiment, the rear side of the support module is further provided with a third gear 8 and a fourth gear 81, and is mounted on a shaft core by a third clutch device, and the shaft core is mounted on the wheel carrier 21 (ie, The two sides of the door structure 15 are mounted with a second rack 41, and the third gear 8 and the second rack 41 are engaged.

This specific structure is used to realize the jumping function of the electric unicycle. When the jump is required, the second clutch device connects all or part of the gears to the shaft core, and rotates coaxially, and the gear that is originally connected to the flywheel 3 in the idling state passes through the shaft core. Driving other gears, including gears connected to the racks on the supporting module. When the gears move the rack upwards, the supporting module moves up and is lifted, and when it reaches the preset position, it no longer moves. The second clutch device is separated, the flywheel 3 is in an idling state, the inertia generated by the support module drives the wheel carrier 21 to move upward, and the entire electric unicycle is in a jumping state. When the highest point is reached, the third clutch device connects all or part of the gear connecting shaft. The core is coaxially rotated, and the gear that is originally connected to the flywheel 3 in an idling state drives the other gears to rotate through the shaft core, and includes a gear connected to the rack supporting the module. At this time, the gear drives the rack to move downward, and then supports The module moves downwards and no longer moves when the preset value is reached. At the same time, the third clutch device leaves and flies. 3 is in the idling state, ready for the next jump, when the whole vehicle falls from the highest point to the surface, the spring is shock-absorbing, and the flywheel 3 cooperates with the first clutch device to adjust the posture, thereby achieving the purpose of the entire jump, in this In the structure, specifically:

When the first gear 6 is closed by the second clutch device and rotates coaxially with the second gear 7, the originally idling The flywheel 3 drives the first gear 6 and the second gear 7 to drive the first rack 4 to move upward. When the preset position is reached, the second gear device is no longer moved, and the second clutch device is switched to the leaving state again, and the flywheel 3 continues to idle. At this time, the plate member 9 has the inertia generated when moving upward, drives the wheel carrier 21 and the whole vehicle to leave the ground, and when jumping to the highest point, the third gear 8 is closed by the third clutch device and is coaxial with the fourth gear 81. Rotating, the originally idling flywheel 3 is driven by the third gear 8 and the fourth gear 81 to drive the second rack 41 to move downward. When the preset position is reached, it no longer moves, and the third leaving device switches to the leaving state again. The flywheel 3 continues to idle, and is ready for the next jump. When the whole vehicle falls from the highest point to the ground, the spring 10 acts as a shock absorber, and the flywheel 3 adjusts the posture by cooperating with the first departure. The role of the electric unicycle jump (jump trajectory shown in Figure 5).

The embodiment further includes a second sensor for detecting a pressure signal generated by the driver on the support module, and setting a predetermined signal, when the driver completes a certain set of actions to feed back the set pressure signal or pressure signal combination, The second clutch device is activated.

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

A, start the electric unicycle, keep the normal driving state, the energy storage wheel 2 keeps rotating (Figure 3);

B. When the electric unicycle needs emergency stop or rapid deceleration (as shown in FIG. 4), the first clutch device is used to match the accumulator wheel 2 and the support module, so that the rotational kinetic energy of the accumulator wheel 2 drives the support module along the wheel. 1 Rotating in the opposite direction of the direction of rotation, thereby driving the driver to overcome the inertia in the direction of travel caused by the emergency stop or rapid deceleration of the electric unicycle;

C. When an electric unicycle jump is required, the energy storage wheel 2 and the support module are matched by the second clutch device, so that the rotational kinetic energy of the energy storage wheel 2 is converted into kinetic energy for moving the support module upward, and the electric unicycle is driven to jump. .

In step C, the driver generates a signal recognizable by the sensor through a fixed motion command to control the working state of the second clutch device.

Example 3

As shown in FIG. 1, in addition to the structure described in Embodiment 1, the support module is provided with a braking device for braking the rotation of the wheel 1, and the braking device drives the supporting module along the braking process. The wheel 1 is rotated in the direction of rotation, specifically a disc brake 16 (similar to the disc brake 16 of the automobile) disposed inside the door structure 15 and mating with the wheel brake pads on the side of the wheel of the wheel 1.

Example 4

As shown in FIG. 6, 7, and 8, in addition to the structure described in Embodiment 1, the support module is further provided with a balance gyro, and the balance gyro is at least a two-degree-of-freedom gyro, which is two in this embodiment. Degree of freedom, in this embodiment, specifically two second rotating wheels 18 disposed on both sides of the top of the door structure 15, which are each mounted in a single first rectangular frame 19, two of which are A rectangular frame 19 is respectively mounted at both ends of a second rectangular frame 20, the first rectangular frame 19 is rotatable by a motor, and the first rectangular frame 19 and the second rotating wheel 18 are composed of two degrees of freedom. The gyro, when the electric unicycle is over-slanted, deflects the second rotating wheel 18 as a whole by rotating the first rectangular frame 19, and assists the electric unicycle to maintain balance by utilizing the precession of the two-degree-of-freedom gyro.

The embodiment discloses a driving method of an electric unicycle, which comprises the steps of:

A. Start the electric unicycle, keep the normal driving state, and keep the energy storage wheel 2 rotating;

B. When the electric unicycle needs emergency stop or rapid deceleration, the first clutch device is used to match the accumulator wheel 2 and the support module, so that the rotational kinetic energy of the accumulator wheel 2 drives the support module to rotate in the opposite direction of the wheel 1 Directional rotation, which drives the driver to overcome the emergency stop or rapid deceleration of the electric unicycle The inertia that is directed toward the direction of travel;

C. When the electric unicycle deceleration is required, the braking device is controlled to brake the wheel 1 and the deceleration wheel 1 is rotated. When the supporting module is rotated, the first clutch device is connected to the accumulator wheel 2 to correct the supporting module. angle.

Example 5

As shown in FIG. 9 and FIG. 10, in addition to the structure described in Embodiment 1, the support module is further provided with a balance gyro, and the specific structure thereof is different from that described in Embodiment 4. The balance gyro includes at least Two, symmetrically disposed on the front and rear sides of the seat 11, a single balanced gyro:

a third rectangular frame 31 mounted on the front and rear sides of the seat 11;

a first rotating wheel 23 mounted in the third rectangular frame 31, the first rotating wheel 23 of which is horizontally disposed (may also be mounted at a certain angle and in a vertical direction of the wheelbarrow), and is rotatable in a vertical direction, And can be deflected left and right along an axis parallel to the front and rear direction of the wheelbarrow;

The specific deflection structure is such that the third rectangular frame 31 is provided with a steering motor 22, and the first rotating wheel 23 is disposed in a small rectangular frame surrounding the small rectangular frame, and the two ends of the small rectangular frame are hinged in the third rectangular frame. The two side walls of the steering motor 22 drive the small rectangular frame deflection by a gear set connected thereto to effect deflection of the first rotating wheel 23.

When the number of the balance gyros is two and symmetrically disposed on the front and rear sides of the seat 11, the front and rear two first rotating wheels 23 are rotated at a high speed after being turned on, if the two first and second rotating wheels 23 are changed before and after The inclination angle, which produces the balance force in the same direction, can correct the dumping force of the wheelbarrow to the ground on both sides;

If the two first rotating wheels 23 change the angle to generate a relative balance force, the wheelbarrow can be rotated left or right along the axis to function as a vehicle steering;

If the inclination angle of the first rotating wheel 23 is changed, and a balancing force of different magnitudes in the same direction is generated, the dumping of the wheelbarrow and the steering force can be corrected;

Specifically, the lower portion of the pedal 5 is divided into two regions before and after, and a total of four regions are below the pedals 5 on both sides of the wheel frame 21, and four regions are individually stepped downwardly and combined to step together, matching a plurality of corresponding signals to control the action of the wheelbarrow, such as forward/backward/brake/steering;

A gravity sensor can be selectively installed under the seat 11 and on the pedal 5 to measure the load of the vehicle, and the two first rotating wheels 23 are comprehensively changed according to the mass of the vehicle body, the acceleration sensor mounted on the vehicle, and the vehicle speed sensor. The inclination angle and the timing of the clutched energy storage wheel 2 comprehensively control the balance of the unicycle on the ground and in the air to ensure the safety of the rider. When the non-body posture control is provided, the steering handle is optional, or the foot pedal is used. The way to provide acceleration or steering power for the vehicle.

In the specific driving process, if the center of gravity of the human body does not conform to the posture required for forward and backward movement, it can be controlled by the frame clutch storage wheel 2 or the wheel 1, and the steering is driven by the two first rotating wheels 23 to generate relative or phased precession. carry out;

Specifically, as shown in FIG. 10, the first rotating wheel 23 can also be disposed obliquely, and the tilting of the wheelbarrow and the steering force can be corrected by the above adjustment manner.

As can be seen from the above, the balance gyro is composed of a wheel that rotates at the center (the first rotating wheel 23) and a plurality of frames that are sequentially fitted outside the wheel and are rotatable (the outermost frame in this embodiment is the third The rectangular frame 31) is composed, and the third rectangular frame 31 can also be mounted at an angle that is perpendicular to the vertical direction of the vehicle.

Claims (20)

An electric unicycle with auxiliary function, comprising: a wheel carrier on which a support module for supporting a driver is disposed; a wheel rotatably coupled to the wheel carrier and driven to rotate by a motor; It is characterized by: An energy storage wheel rotatably mated with the wheel carrier and coupled to the support module by a first clutch device configured to pass its first kinetic energy through its first kinetic energy The support module is driven to rotate, and the support module rotates in the opposite direction to the rotation direction of the wheel. The electric unicycle with an auxiliary function according to claim 1, wherein the direction in which the accumulator wheel rotates is opposite to the direction in which the wheel rotates. The electric unicycle with auxiliary function according to claim 1, further comprising a lifting device, said support module being arranged to be telescopically movable within a fixed range on the wheel frame, said lifting device being configured to enable The rotational kinetic energy of the accumulator wheel is converted into kinetic energy that causes the support module to move upward. The electric unicycle with auxiliary function according to claim 1, further comprising a first sensor for detecting a rotation angle and a speed of the support module, and setting a threshold, and when the threshold is exceeded, starting First clutch device. The electric unicycle with auxiliary function according to claim 4, wherein the energy storage wheel comprises a flywheel extending to a side thereof, and the first clutch device is a brake caliper or other opening and closing device, which is fixedly mounted on On the support module, the jaws are fitted on the flywheel. The electric unicycle with auxiliary function according to claim 3, wherein said The energy wheel includes a flywheel extending to a side thereof, the flywheel is provided with annular teeth on the circumference thereof, the lifting device comprises two or more coaxially rotating gears, and the support module is provided with at least one gear meshing a rack that meshes with at least one of the gears, the gears being mounted on the same core by a second clutch device mounted on the wheel carrier. The electric unicycle with auxiliary function according to claim 6, further comprising a second sensor for detecting a pressure signal generated by the driver on the support module and setting a predetermined signal when the driver completes a certain When the group action feeds back the set pressure signal or pressure signal combination, the second clutch device is activated. The electric unicycle with auxiliary function according to claim 1, wherein the support module comprises: Pedal, set on both sides of the wheel frame; A wrapper component that is placed on top of the support module for the driver to sit or wrap the driver's waist. The electric unicycle with an auxiliary function according to claim 8, wherein a damper device is disposed between the lower portion of the wrapping member and the wheel carrier. The electric unicycle with auxiliary function according to claim 1, wherein the supporting module is provided with a braking device for braking the rotation of the wheel, and the braking device drives the supporting module along the wheel during the braking process. The direction of rotation is rotated. The electric unicycle with auxiliary function according to claim 8, wherein the electric unicycle includes a free mode and an electric control mode, and an attitude control switch for controlling the action of the electric unicycle is disposed under the pedal, in the electronic control mode, The direction and angle of the pedal pedal control the attitude control switch, thereby controlling the electric unicycle to make forward/backward/brake/steering, etc., in free mode, driving The driver controls the movement of the electric unicycle through the body posture. The electric unicycle with auxiliary function according to claim 11, wherein said free mode and electronic control mode are controlled by a switch that is wired or wirelessly connected to the electric unicycle. The electric unicycle with auxiliary function according to claim 1, wherein the support module is provided with a balance gyro, and the balance gyro is at least a two-degree-of-freedom gyro. The electric unicycle with auxiliary function according to claim 13, wherein the number of the balance gyros is equal to or greater than one set, and at least one set of balance gyros is disposed at both front and rear ends of the support module. The electric unicycle with assist function according to claim 14, wherein said balance gyro is composed of a center-rotating wheel and a plurality of frames which are sequentially fitted outside said wheel and capable of controlling a rotation angle. The electric unicycle with auxiliary function according to claim 15, wherein the outermost frame on the balance gyro is mounted at an angle to the vertical direction of the vehicle. A method of driving an electric unicycle according to any one of claims 1 to 16, wherein the steps are: A. Start the electric unicycle, keep the normal driving state, and keep the energy storage wheel rotating; B. When the electric unicycle needs emergency stop or rapid deceleration, the first clutch device is used to match the accumulator wheel with the support module, so that the rotational kinetic energy of the accumulator wheel drives the support module to rotate in the opposite direction of the wheel rotation direction. This drives the driver to overcome the inertia in the direction of travel caused by the emergency stop or rapid deceleration of the electric unicycle. A method of driving an electric unicycle according to claim 7, wherein the step for: A. Start the electric unicycle, keep the normal driving state, and keep the energy storage wheel rotating; B. When the electric unicycle needs emergency stop or rapid deceleration, the first clutch device is used to match the accumulator wheel with the support module, so that the rotational kinetic energy of the accumulator wheel drives the support module to rotate in the opposite direction of the wheel rotation direction. Thereby driving the driver to overcome the inertia toward the driving direction caused by the emergency stop or rapid deceleration of the electric unicycle; C. When the electric unicycle jump is required, the energy storage wheel and the support module are matched by the second clutch device, so that the rotational kinetic energy of the energy storage wheel is converted into kinetic energy for moving the support module upward, and the electric unicycle is driven to jump. The traveling method according to claim 18, characterized in that In step C, the driver generates a signal recognizable by the sensor through a fixed motion command to control the working state of the second clutch device. A driving method for an electric unicycle according to claim 10, comprising the steps of: A. Start the electric unicycle, keep the normal driving state, and keep the energy storage wheel rotating; B. When the electric unicycle needs emergency stop or rapid deceleration, the first clutch device is used to match the accumulator wheel with the support module, so that the rotational kinetic energy of the accumulator wheel drives the support module to rotate in the opposite direction of the wheel rotation direction. Thereby driving the driver to overcome the inertia toward the driving direction caused by the emergency stop or rapid deceleration of the electric unicycle; C. When the electric unicycle is required to decelerate, the brake device is controlled to turn the brake wheel, and during the rotation of the deceleration wheel, when the support module is rotated, the first clutch device is connected to the accumulator wheel to correct the support. The angle of the module.

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