CN107281738A - Wheel skidding device - Google Patents
Wheel skidding device Download PDFInfo
- Publication number
- CN107281738A CN107281738A CN201710625534.7A CN201710625534A CN107281738A CN 107281738 A CN107281738 A CN 107281738A CN 201710625534 A CN201710625534 A CN 201710625534A CN 107281738 A CN107281738 A CN 107281738A
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- Prior art keywords
- pedal
- earth element
- skidding device
- wheel skidding
- wheel
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- 230000009471 action Effects 0.000 claims abstract description 19
- 230000005540 biological transmission Effects 0.000 claims description 17
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 claims description 16
- 230000001681 protective effect Effects 0.000 claims description 7
- 238000004026 adhesive bonding Methods 0.000 claims description 4
- 230000008878 coupling Effects 0.000 claims description 4
- 238000010168 coupling process Methods 0.000 claims description 4
- 238000005859 coupling reaction Methods 0.000 claims description 4
- 238000001514 detection method Methods 0.000 claims description 3
- 238000010586 diagram Methods 0.000 description 13
- ORQBXQOJMQIAOY-UHFFFAOYSA-N nobelium Chemical compound [No] ORQBXQOJMQIAOY-UHFFFAOYSA-N 0.000 description 11
- 210000002683 foot Anatomy 0.000 description 8
- 239000011148 porous material Substances 0.000 description 4
- 230000005611 electricity Effects 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 238000000926 separation method Methods 0.000 description 2
- 208000027418 Wounds and injury Diseases 0.000 description 1
- 210000003423 ankle Anatomy 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 230000006378 damage Effects 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 208000014674 injury Diseases 0.000 description 1
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- 230000009467 reduction Effects 0.000 description 1
Classifications
-
- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63C—SKATES; SKIS; ROLLER SKATES; DESIGN OR LAYOUT OF COURTS, RINKS OR THE LIKE
- A63C17/00—Roller skates; Skate-boards
- A63C17/04—Roller skates; Skate-boards with wheels arranged otherwise than in two pairs
-
- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63C—SKATES; SKIS; ROLLER SKATES; DESIGN OR LAYOUT OF COURTS, RINKS OR THE LIKE
- A63C17/00—Roller skates; Skate-boards
- A63C17/0093—Mechanisms transforming leaning into steering through an inclined geometrical axis, e.g. truck
-
- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63C—SKATES; SKIS; ROLLER SKATES; DESIGN OR LAYOUT OF COURTS, RINKS OR THE LIKE
- A63C17/00—Roller skates; Skate-boards
- A63C17/01—Skateboards
- A63C17/011—Skateboards with steering mechanisms
- A63C17/012—Skateboards with steering mechanisms with a truck, i.e. with steering mechanism comprising an inclined geometrical axis to convert lateral tilting of the board in steering of the wheel axis
-
- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63C—SKATES; SKIS; ROLLER SKATES; DESIGN OR LAYOUT OF COURTS, RINKS OR THE LIKE
- A63C17/00—Roller skates; Skate-boards
- A63C17/01—Skateboards
- A63C17/014—Wheel arrangements
-
- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63C—SKATES; SKIS; ROLLER SKATES; DESIGN OR LAYOUT OF COURTS, RINKS OR THE LIKE
- A63C17/00—Roller skates; Skate-boards
- A63C17/22—Wheels for roller skates
-
- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63C—SKATES; SKIS; ROLLER SKATES; DESIGN OR LAYOUT OF COURTS, RINKS OR THE LIKE
- A63C17/00—Roller skates; Skate-boards
- A63C17/26—Roller skates; Skate-boards with special auxiliary arrangements, e.g. illuminating, marking, or push-off devices
Landscapes
- Footwear And Its Accessory, Manufacturing Method And Apparatuses (AREA)
- Motorcycle And Bicycle Frame (AREA)
Abstract
The embodiment of the present invention provides a wheel skidding device, and it includes：Pedal, at least one earth element, driving element, the first controller, first sensor, pedal are coupled to earth element, and earth element is coupled to driving element, and the first controller is coupled to driving element and first sensor；The relative position in horizontal plane of earth element and pedal is adjustable；Earth element is used to act under the driving of driving element；First sensor is used to sense posture of the driver on pedal；Driving element is used to generate the action of control earth element and maintains wheel skidding device generally in the output signal of poised state；First controller is used for according to the generation of gesture stability output signal, it is to avoid caused physical fatigue is slided in manpower driving realization.In addition, during sliding, because device can maintain poised state and earth element direction of action is adjustable in itself, the operation skill to operator requires relatively low, so as to improve and enrich Consumer's Experience.
Description
Technical field
The present embodiments relate to skidding or walking-replacing tool technical field, more particularly to a kind of wheel skidding device.
Background technology
Roller skate can be divided mainly into velocity profile, manipulation type as a kind of converter tools or walking-replacing tool, and still, this two
The structure type of class roller skate is basically identical, including shoe body and installed in the wheel carrier of sole and several rollers, different
It is the difference according to application target, quantity, size and the arrangement of roller have certain difference.It is by behaviour during use
The manpower driving of author is such as realized by pedaling slides, and is used for a long time or easy so as to have some limitations
Cause physical fatigue.In addition, during sliding, balance will be kept in roller skate by standing, the requirement to operator is higher, from
And the Consumer's Experience for ultimately resulting in roller skate is poor.
The content of the invention
In view of this, one of technical problem that the embodiment of the present invention is solved is to provide a kind of wheel skidding device, to gram
Clothes alleviate above-mentioned technological deficiency in the prior art.
The embodiment of the present invention provides a kind of wheel skidding device, and it includes：Pedal, at least one earth element, driving element,
One controller, first sensor, the pedal are coupled to the earth element, and the earth element is coupled to the driving member
Part, first controller is coupled to the driving element and the first sensor；The earth element and the pedal
The relative position in horizontal plane it is adjustable；The earth element is used to act under the driving of the driving element；Described first
Sensor is used to sense posture of the driver on the pedal；The driving element, which is used to generate, controls the earth element to move
Make and maintain the wheel skidding device generally in the output signal of poised state；First controller is used for according to the appearance
State controls the generation of the output signal.
It is described because the pedal is coupled to the earth element in above technical scheme, the embodiment of the present invention
Earth element is coupled to the driving element, and first controller is coupled to the driving element and first sensing
Device；The relative position in horizontal plane of the earth element and the pedal is adjustable；The earth element is used in the driving
Acted under the driving of element；The first sensor is used to sense posture of the driver on the pedal；The driving element
For generating the control earth element action and maintaining the wheel skidding device generally in the output signal of poised state；Institute
Stating the first controller is used for the generation of the output signal according to the gesture stability, it is to avoid manpower driving realization, which is slided, to be caused
Physical fatigue.In addition, during sliding, because device can maintain poised state and earth element direction of action in itself
Adjustable, the operation skill to operator requires relatively low, so as to improve and enrich Consumer's Experience.
Brief description of the drawings
In order to illustrate more clearly about the embodiment of the present invention or technical scheme of the prior art, below will be to embodiment or existing
There is the accompanying drawing used required in technology description to be briefly described, it should be apparent that, drawings in the following description are only this
Some embodiments described in inventive embodiments, for those of ordinary skill in the art, can also be obtained according to these accompanying drawings
Obtain other accompanying drawings.
Fig. 1 is the structure brief configuration schematic diagram of wheel skidding device in the embodiment of the present application one；
Fig. 2 is the structure brief configuration schematic diagram of wheel skidding device in the embodiment of the present application two；
Wheel skidding device brief configuration schematic diagram in embodiment three as shown in Figure 3.
Fig. 4 is that wheel skidding device implements structural representation in the embodiment of the present application four；
Fig. 5 is the structural representation of wheel skidding device in the embodiment of the present application five；
Fig. 6 is the side perspective schematic diagram of wheel skidding device in the embodiment of the present application six；
Fig. 7 is the partial schematic diagram of wheel skidding device in the embodiment of the present application seven；
Fig. 8 is the schematic diagram of wheel skidding device in the embodiment of the present application eight；
Fig. 9 is the view of wheel skidding device traveling in the embodiment of the present application nine；
Figure 10 is the view of wheel skidding device traveling in the embodiment of the present application ten；
Figure 11 is the structural representation of wheel skidding device in the embodiment of the present application 11.
Embodiment
Certainly, implementing any technical scheme of the embodiment of the present invention must be not necessarily required to while reaching all excellent of the above
Point.
In order that those skilled in the art more fully understand the technical scheme in the embodiment of the present invention, below in conjunction with the present invention
Accompanying drawing in embodiment, the technical scheme in the embodiment of the present invention is clearly and completely described, it is clear that described reality
It is only a part of embodiment of the embodiment of the present invention to apply example, rather than whole embodiments.Based on the implementation in the embodiment of the present invention
Example, the every other embodiment that those of ordinary skill in the art are obtained should all belong to the scope of protection of the embodiment of the present invention.
Further illustrate that the embodiment of the present invention is implemented with reference to accompanying drawing of the embodiment of the present invention.
In the embodiment of the present invention, because the pedal is coupled to the earth element, the earth element is coupled to described
Driving element, first controller is coupled to the driving element and the first sensor；The earth element and institute
The relative position in horizontal plane for stating pedal is adjustable；The earth element is used to act under the driving of the driving element；Institute
Stating first sensor is used to sense posture of the driver on the pedal；The driving element is used to generate the control ground connection
Element movement and the wheel skidding device is maintained generally in the output signal of poised state；First controller is used for basis
The generation of output signal described in the gesture stability, it is to avoid caused physical fatigue is slided in manpower driving realization.In addition, in cunning
In capable process, because device can maintain poised state and earth element direction of action adjustable in itself, to the behaviour of operator
Make skill and require relatively low, so as to improve and enrich Consumer's Experience.
In the following embodiments of the present invention, posture of the first sensor specifically for sensing driver on the pedal
And pitching sensed data is generated, first controller according to the pitching sensed data specifically for determining working as the pedal
The preceding angle of pitch.First controller is when controlling the output signal of the driving element, especially by the expectation of the pedal
The angle of pitch and the current angle of pitch control the output signal of the driving element, such as pass through the expectation pitching of the pedal
Differential seat angle between angle and the current angle of pitch.
It is following to realize that above-mentioned wheel skidding device is illustrative with specific roller skate form, however, it is desirable to explanation
It is that roller skate is not unique way of realization of wheel skidding device, above-mentioned wheel skidding device can also be made suitable for entering on hand
The product form that road wheel is slided, or, it is adaptable to disabled person carries out any products form of skidding.
Further, in following embodiments, the earth element is illustratively wheel, and the earth element drives described
Rolled under the driving of dynamic element.When subsequent control is turned to, control the rotating speed of wheel to generate for controlling what is turned to turn
Speed difference.
But, in other embodiments, actual thing can arbitrarily be formed with ground by being not limited to wheel or other
Manage the structure type of contact.If being such as applied to the scene such as skating or skiing, the earth element can also be similar flat
The structural member of tabular, the earth element enters line slip under the driving of the driving element.
Further, in following embodiments, the first sensor is specifically as follows gyroscope, still, is not limited to
Gyroscope, as long as posture of the driver on the pedal can be sensed and pitching sensed data is generated.Following embodiments
In, first sensor is not illustrated.
Further, in following embodiments, the driving element is specially motor, still, and portion is not limited as motor, only
The earth element can be driven to be acted, it is possible to achieve specific application scenarios.When the driving element is electricity
During machine, the output signal of the driving element is the output torque of the driving element.
Embodiment one (an independent grounding element)：
Fig. 1 is the structure brief configuration schematic diagram of wheel skidding device in the embodiment of the present application one；As shown in figure 1, with skidding
When this specific product form of footwear realizes wheel skidding device, roller skate specifically includes above-mentioned pedal 101, earth element 102, motor
(not shown in figure 1), the first controller (not shown in figure 1), the pedal 101 are used to be applied to stand on one leg, the ground connection
The quantity of element 102 is specially that one, i.e. driver only have a contact point by the roller skate and ground.Accordingly, institute
The quantity for stating driving element is one.
Specifically, the driving element can be directly embedded in the wheel hub of the earth element 102, so that skidding
It is more compact in footwear overall structure.
However, it is desirable to explanation, if do not consider or not emphasis consider the integrally-built compactedness of roller skate, the drive
Dynamic element can also be arranged in the wheel hub of the earth element 102 without embedded mode, such as by fixed seat or its
His similar structures are set directly at the lower position of pedal 101.
Embodiment two (two earth elements 102a and 102b closely setting)
Fig. 2 is the structure brief configuration schematic diagram of wheel skidding device in the embodiment of the present application two；As shown in Fig. 2 the present embodiment
In, and unlike above-described embodiment one, the quantity of the earth element is two, and respectively earth element 102a, 102b connects
Horizontal spacing between ground element 102a, 102b is smaller, so as to realize the position by the center of pedal 101 is positioned close to
Place, so that driver forms two contact points by the roller skate and ground, so as to reduce the difficulty that roller skate is used.
In the present embodiment, the power transmission shaft of the driving element laterally sets i.e. vertical with the direction that roller skate is advanced, described
The two ends of power transmission shaft set the earth element 102a and 102b respectively, and the driving element is embedded in the earth element 102
Wheel hub in, and be directly connected to by power transmission shaft with the earth element 102a, while with not being embedded with the driving element
Earth element 102b is coupled.In other words, the earth element 102a of the driving element is embedded with during roller skate is advanced
As driving wheel, and the earth element 102b of the driving element is not embedded with as driven pulley, the driven pulley is in the master
Rotated under the drive of driving wheel.
It should be noted that in other embodiments, one can also be respectively configured to described earth element 102a, 102b
Motor, so that the action of each earth element can be individually controlled.
Embodiment three (distantly located two earth elements 102a and 102b)
Fig. 3 a, Fig. 3 b are the two of one of the structure brief configuration schematic diagram of wheel skidding device in the embodiment of the present application three sum；Such as
Shown in Fig. 3 a, Fig. 3 b, in the present embodiment, from above-described embodiment and unlike, earth element 102a, 102b, which are separately positioned on, to be leaned on
At the position at the nearly left and right sides edge of pedal 101, i.e., the two contact point lateral separations formed with ground are larger, so as to enter
The difficulty that one step reduction roller skate is used.
Similar above-described embodiment two, earth element 102a, 102b share a motor, specifically by the biography of the driving element
Moving axis laterally sets i.e. vertical with the direction that roller skate is advanced, and the two ends of the power transmission shaft set the earth element respectively
102a, 102b, the driving element are embedded wherein described in one in earth element 102a wheel hub, and by power transmission shaft with it is described
Earth element 102a is directly connected to, while the earth element 102b couplings with not being embedded with the driving element.In other words, embed
There is the earth element 102a of the driving element during roller skate is advanced as driving wheel, and be not embedded with the driving
The earth element 102b of element is as driven pulley, and the driven pulley rotates under the drive of the driving wheel.
Alternately, in an other embodiment, the quantity of the driving element is two, earth element 102a, 102b
A driving element is respectively configured, so as to be grounded the independent control of element 102a, 102b rotating speed, is normally traveling across
Cheng Zhong, earth element 102a, 102b rotating speed is identical.
In above-described embodiment one to three, the axle center of the earth element is located at the lower position of pedal 101, and described connects
Ground element also integrally is located at the lower position of pedal 101.
As shown in figure Fig. 3 b, in addition to：Fixed pedestal 100a, described earth element 102a, 102b are coupling in the fixation
On pedestal 100a, the fixed pedestal 100a is fixed on the lower surface of the pedal 101., can be with a concrete application scene
102a, 102b and fixed pedestal 100a are become one by earth element, then fixed pedestal 100a is fixed on pedal 101
Lower surface.Fixed pedestal 100a is fixed on the lower surface of the pedal along horizontal direction.
In other embodiments, the fixed pedestal can also be fixed on the lower surface of the pedal along vertical direction,
Pore structure is provided with the fixed pedestal, the power transmission shaft of the motor passes through pore structure, meanwhile, at the two ends of the power transmission shaft
Ground unit described in one or one group is respectively coupled to, so that earth element to be integrally provided in the lower section of the pedal.
, can also be with other arbitrary structures by described earth element 102a, 102b it should be noted that in his embodiment
It is eventually coupled on the pedal 101.Fig. 3 c are the schematic diagram of fixed pedestal in alternative the embodiment of the present application three；Such as Fig. 3 c institutes
Show, described earth point 102a, 102b are coupled to the lower surface of pedal by quick-disassembly structure 100b.
Example IV (distantly located two earth elements 102a and 102b)
From unlike above-described embodiment three, in following Fig. 4 embodiments, when including earth element 102a, 102b and phase
Lateral separation between mutually is larger, and earth element 102a, 102b axle center is located at the lower position of pedal 101, but part to
On protrude from the pedal 101.
The entirety of pedal 101 in above-described embodiment three is moved down, the wheel skidding device in example IV as shown in Figure 4 is obtained
Brief configuration schematic diagram.
Alternately, in an other embodiment, the quantity of the driving element is two, earth element 102a, 102b
A driving element is respectively configured, so as to be grounded the independent control of element 102a, 102b rotating speed, is normally traveling across
Cheng Zhong, earth element 102a, 102b rotating speed is identical.
Fig. 5 is that wheel skidding device implements structural representation in the embodiment of the present application five；As shown in figure 5, being used as skidding
The roller skate of device includes an earth element 102, and the earth element 102 is located at the position at the center of pedal 101, and should
Motor is provided with the wheel hub of earth element 102.The power transmission shaft of motor is located in wheel hub, while power transmission shaft 103 leans on pars intermedia
Position is configured with clutch shaft bearing structure 104, and the bearing arrangement is coupled with earth element 102, so as to drive earth element 102 to rotate.
In addition, in figure 5 it is possible to setting a second bearing structure 105 respectively at the two ends of power transmission shaft, power transmission shaft is each
The bearing arrangement at end is coupled with pedal 101, so as to realize the lower position that motor, power transmission shaft are integrally provided in pedal 101.
Fig. 6 is that wheel skidding device implements structural representation in the embodiment of the present application six；As shown in fig. 6, being used as skidding
The roller skate of device is earth element 102a, 102b including two earth elements, and earth element 102a, 102b, which are separately positioned on, to be leaned on
At the position at the nearly left and right sides edge of pedal 101.Earth element 102a, 102b configure a motor, motor and biography
The set-up mode of moving axis is referred to above-mentioned embodiment illustrated in fig. 5.
From unlike above-mentioned Fig. 1-Fig. 4 embodiments, in Fig. 5, Fig. 6 embodiment, pedal 101 not be rectangle, but
Its two ends has circular arc.
Fig. 7 a, Fig. 7 b are the two of one of the structural representation of wheel skidding device in the embodiment of the present application seven sum；Referring to Fig. 7 a, figure
7b, on the basis of above-mentioned Fig. 1 embodiments, adds constraint unit 108, the constraint unit is arranged on the pedal, used
In the fixed individual foot position using the wheel skidding device or foot upper position.Alternatively, the constraint unit is
Structure with thread gluing or locking buckle, is fixed using the wheel skidding device by the thread gluing or the locking buckle
The foot position of driver or foot upper position, prevent driver from falling from roller skate.Foot position is such as instep
Position, foot upper position is such as ankle or shank.
Further, in the present embodiment, wheel skidding device also includes：Protective cover 109, the protective cover is used for standing in institute
The heel contact of single pin on pedal 101 is stated single pin is stabilized on the pedal 101 during skidding.Protective cover
Concrete shape can be arc, so as to be brought into close contact with heel, there is provided stable supporting role.
In the present embodiment, provided by fettering unit and protective cover to the pin of driver in rear position and anterior position
Firm effect, so that it is dangerous to effectively prevent tumble injury caused by driver falls during skidding from roller skate.
Further, in the present embodiment, alternatively, in any embodiment of the application, in addition to：Battery compartment 106, institute
State and battery pack 107 be provided with battery compartment 106, the battery pack 107 be used for the driving element and other need electricity consumption
Structure or circuit power.Specifically, the pedal 101, which has in hollow cavity, the hollow cavity, sets the battery compartment
106。
Fig. 8 is the partial schematic diagram of wheel skidding device in the embodiment of the present application eight；In the present embodiment, in the wheel as roller skate
The rear position of sliding device is provided with battery pack 107, and specifically, such as battery compartment is arranged in the hollow cavity of protective cover 109,
Battery pack 107 is arranged in the battery compartment.
It should be noted that in an other embodiment, and unlike above-mentioned Fig. 8, but by driver by battery
Group 107 backs on the body, then passes through the power circuit or element in external power line and roller skate such as the first controller, motor
Connection.
Fig. 9 is the control principle schematic diagram of wheel skidding device in the embodiment of the present application nine；As shown in figure 9, when the pedal to
It is preceding or when tilting backwards, first controller be used for according to the expectation pitching angle theta * and current pitching angle theta of the pedal it
Between differential seat angle generation driving electric signal to control the output torque size of the driving element.Specifically, according to the pedal
Current rate of pitch ω and expect differential seat angle θ between pitching angle theta * and current pitching angle thetaerrorGeneration driving electric signal
To control the output torque size of the driving element.In the present embodiment, driving electric signal is such as driving voltage.First control
Device (also referred to as balance controller) is such as PID controller.
Specifically, wheel skidding device can also include second controller (also referred to as speed control), second control
Device is used for：According to the current rotating speed V and the maximum (top) speed V of setting of the driving element*Determine the expectation pitching angle theta *.This
In embodiment, second controller is such as also PID controller.
Further, judge whether the current rotating speed V of the driving element exceedes the maximum (top) speed V of setting*If surpassed
Cross, show that wheel skidding device will enter overspeed condition, the expectation pitching angle theta * of a setting nonzero size is exported for this, it is and current
Pitching angle theta calculates and obtains above-mentioned differential seat angle θerror, the first controller is according to differential seat angle θerrorGeneration drives electric signal to control
The output torque of the driving element simultaneously finally causes the pedal towards the direction inclination in contrast to direct of travel, so as to limit
The upper limit of the travel speed of the wheel skidding device not over travel speed.If not less than, it is 0 to expect pitching angle theta *, then
According to the differential seat angle θerror, the first controller is according to differential seat angle θerrorGeneration drives electric signal to control the driving member
The output torque of part simultaneously finally causes the pedal to be dynamically in horizontality.
Specifically, wheel skidding device can also include second sensor, and the second sensor is used to sense the driving member
The current rotating speed of part.
In addition, it is necessary to which explanation, in some concrete application scenes, can not also consider in generation driving electric signal
Current rate of pitch.
In addition, it is necessary to explanation, in some concrete application scenes, it is determined that it is described expectation the angle of pitch when can not also
Second controller is configured, but is multiplexed the first controller.I.e. the first controller can be used for according to the current of the driving element
The rotating speed V and maximum (top) speed V of setting*The expectation pitching angle theta * is determined, can be also used for being bowed according to the expectation of the pedal
Differential seat angle generation between elevation angle theta * and the current pitching angle theta drives electric signal to control the output torque of the driving element
Size.
In addition, it is necessary to explanation, the output signal of driving element can also other forms, output torque is in the present embodiment
In simply illustrate, different driving element has different types of output signal.
In an other concrete application scene, if being configured with second controller, the second controller can also be multiplexed with
First controller.I.e. second controller can be used for the current rotating speed V and the maximum (top) speed of setting according to the driving element
V*The expectation pitching angle theta * is determined, expectation pitching angle theta * and the current pitching angle theta according to the pedal is can be also used for
Between differential seat angle generation driving electric signal to control the output torque size of the driving element.
In the above-mentioned wheel skidding device embodiment including two earth elements, in order to realize steering, wheel skidding device can be with
Including rotation direction sensor and the 3rd controller, the rotation direction sensor is used to sense step appearance of the driver on the pedal
State generation turns to sensed data, and the 3rd controller is further used for：According to the steering sensed data generation course changing control
Instruct and be controlled to generate the speed difference for being used for controlling to turn to the action to two earth elements.
Alternatively, in a kind of application scenarios, the rotation direction sensor is pressure sensor, and the pressure sensor is used for
Sense step posture of the driver on the pedal and generate pressure sensitive data, the 3rd controller is further used for：
Course changing control instruction is generated according to the pressure sensitive data to be controlled with the action to two earth elements to generate
For the speed difference for controlling to turn to.
Alternatively, in another application scene, the rotation direction sensor is steering spindle, and the steering spindle, which is used to sense, to be driven
Foot posture of the person on the pedal simultaneously generates torque sensed data, and the 3rd controller is further used for：According to described
The generation course changing control instruction of torque sensed data is controlled with the action to two earth elements to be used to control to generate
The speed difference of steering.
Alternatively, in another application scenarios, the rotation direction sensor is：Gyroscope, the gyroscope is driven for sensing
Foot posture of the person of sailing on the pedal simultaneously generates angular movement sensed data；3rd controller is further used for：According to
The angular movement sensed data generation course changing control instruction is controlled to generate use with the action to two earth elements
The speed difference turned in control.
In the present embodiment, the first controller is multiplexed with the 3rd controller.However, it is desirable to explanation, if not increasing individually
3rd controller, then the 3rd controller be except can be multiplexed above-mentioned first controller, or, can with second controller, or,
If individually increasing by the 3rd controller, the 3rd controller can be multiplexed with above-mentioned first controller or second controller.
In the above-described embodiments, motor is specially wheel hub motor, still, in other embodiments, and motor can also be height
Speed motor.
In the above-described embodiments, wheel cover can also be configured to wheel.
Figure 10 is the structural representation of wheel skidding device in the embodiment of the present application ten；As shown in Figure 10, similar above-mentioned Fig. 1's
On the basis of embodiment, direct of travel is consistent with the width of the pedal 101 after earth element 102 is rotated by 90 °.
In the present embodiment, the description for rotating the earth element can be found in above-described embodiment record.
In addition, from unlike above-mentioned Fig. 1, the fixed pedestal 100 can be fixed on the pedal along vertical direction
Lower surface, pore structure is provided with the fixed pedestal, the power transmission shaft of the motor passes through pore structure, meanwhile, a ground connection
Element housing is on the power transmission shaft and is integrally provided in the lower section of the pedal.
Figure 11 is the structural representation of wheel skidding device in the embodiment of the present application 11；As shown in figure 11, in similar above-mentioned figure
On the basis of 3a embodiment, the width of direct of travel and the pedal 101 after earth element 102a, 102b are rotated by 90 °
Unanimously.
In the present embodiment, the description for rotating the earth element can be found in above-described embodiment record.
In addition, from unlike above-mentioned Figure 10, the fixed pedestal (referring to Fig. 3 c) can be fixed on along horizontal direction
The lower surface of the pedal, two earth elements are arranged on the fixed pedestal.When rotated, two are pulled down from the pedal
Individual earth element, according to direction of rotation the need for, retighten the lower surface in the pedal.
Alternatively, on the basis of above-described embodiment, rotary stopper unit can also be included, for maintaining the ground connection member
Length direction of the direction of action of part along the pedal, or the direction of action of the earth element is maintained along the pedal
Width.
Specifically, in the above-described embodiments, rotary shaft is provided with below the pedal, the earth element surrounds the rotation
Rotating shaft is rotated by 90 °, or, the rotary shaft rotation drives the earth element to be rotated by 90 °, so that the earth element is dynamic
Make width of the direction of action of length direction or the earth element of the direction along the pedal along the pedal.
It should be noted that when circuit element or structure settings such as the first controller, second controller, first sensors
, can be by the position detection unit that configures such as when above-mentioned change occurs for the relative position of wheel and pedal in pedal
The relative position relation of positioning meter detection wheel and pedal, positioning meter is such as Hall element, so that former to related control
Reason is adjusted, to cause the circuit elements such as the first controller, second controller, first sensor or structure to be applied to turn to
State.
In the disclosure, statement " including (include) " or " may include (may include) " refers to corresponding function, behaviour
The presence of work or element, without limiting one or more additional functions, operation or element.In the disclosure, such as " including
" and/or the term of " have (have) " can be regarded as representing some characteristics, numeral, step, operation, composition member (include)
Part, element or its combination, and be not to be construed as excluding one or more of the other characteristic, numeral, step, operation, element, member
Part or its combination there is a possibility that or additional.
In the disclosure, statement " A or B ", " in A or/and B at least one " or " A or/and B one or more "
It may include all possible combination of Listed Items." A or B ", " in A and B at least one " or " in A or B for example, statement
At least one " it may include：(1) at least one A, (2) at least one B, or (3) at least one A and at least one B.
Statement " first ", " second " used in the various embodiments of the disclosure, " described the first " or " described
Two " can modify various parts and unrelated with order and/or importance, but these statements do not limit corresponding component.It is presented above
It is only used for the purpose for distinguishing element and other elements.For example, the first user equipment and second user equipment represent different
User equipment, although both of which is user equipment.For example, on the premise of without departing substantially from the scope of the present disclosure, the first element can claim
Make the second element, similarly, the second element can be referred to as the first element.
When an element (for example, first element) is referred to as with another element (for example, second element) " (operationally or can
Communicatedly) connection " or " (operationally or communicably) is attached to " another element (for example, second element) or " being connected to " are another
During one element (for example, second element), it is thus understood that an element is connected directly to another element or an element
Another element is indirectly connected to via another element (for example, third element).Conversely, it is appreciated that when element (for example,
First element) referred to as " be directly connected to " or during " directly connection " to another element (the second element), then without element (for example, the
Three elements) it is inserted between both.
Statement " being used for " can alternatively be used with following statement as used in this article：" being suitable for ", " have ...
Ability ", " being designed as ", " being suitable to ", " being fabricated to " or " can ".Term " being used for " need not can be meant in hardware " special design
For ".Alternately, in some cases, statement " equipment being used for ... " can mean the equipment together with miscellaneous equipment or part
" can ... "." to be suitable to the processor that (or for) performs A, B and C " for example, phrase gratifying to be used only for performing corresponding operating
Application specific processor (for example, embeded processor) may be implemented within one or more of storage device software program
Perform the general processor (for example, central processing unit (CPU) or application processor (AP)) of corresponding operating.
Device embodiment described above is only schematical, wherein the module illustrated as separating component can
To be or may not be physically separate, the part shown as module can be or may not be physics mould
Block, you can with positioned at a place, or can also be distributed on multiple mixed-media network modules mixed-medias.It can be selected according to the actual needs
In some or all of module realize the purpose of this embodiment scheme.Those of ordinary skill in the art are not paying creativeness
Work in the case of, you can to understand and implement.
Claims (23)
1. a kind of wheel skidding device, it is characterised in that including：Pedal, at least one earth element, driving element, the first controller,
First sensor, the pedal is coupled to the earth element, and the earth element is coupled to the driving element, described first
Controller is coupled to the driving element and the first sensor；The earth element and the pedal in horizontal plane
Relative position is adjustable；The earth element is used to act under the driving of the driving element；The first sensor is used to feel
Answer posture of the driver on the pedal；The driving element is used to generate the control earth element action and maintains institute
State output signal of the wheel skidding device generally in poised state；First controller is used for defeated according to the gesture stability
Go out the generation of signal.
2. wheel skidding device according to claim 1, it is characterised in that be provided with rotary shaft below the pedal, described to connect
Ground element is rotated by 90 ° around the rotary shaft, or, the rotary shaft rotation drives the earth element to be rotated by 90 °, so that
The direction of action of length direction or the earth element of the direction of action of the earth element along the pedal is along institute
State the width of pedal.
3. wheel skidding device according to claim 2, it is characterised in that also include：Rotary stopper unit, for remaining described
Length direction of the direction of action of earth element along the pedal, or the direction of action of the earth element is maintained along institute
State the width of pedal.
4. wheel skidding device according to claim 1, it is characterised in that the quantity of the driving element is one, described to drive
Dynamic element and two earth elements are coupled.
5. wheel skidding device according to claim 4, it is characterised in that the earth element is wheel, the driving element
Power transmission shaft laterally set, the two ends of the power transmission shaft set an earth element respectively, and the driving element is embedded in
Wherein described in one in the wheel hub of earth element, and directly connected with being embedded with the earth element of the driving element by power transmission shaft
Connect, while the earth element coupling with not being embedded with the driving element.
6. wheel skidding device according to claim 1, it is characterised in that the quantity of the driving element is two, Mei Gesuo
State earth element and configure a driving element.
7. wheel skidding device according to claim 1, it is characterised in that the axle center of the earth element is located under the pedal
Orientation is put and the earth element is integrally located at the pedal lower position.
8. wheel skidding device according to claim 1, it is characterised in that the axle center of the earth element is located under the pedal
Orientation is put and the earth element part is projected upwards in the pedal.
9. wheel skidding device according to claim 1, it is characterised in that two earth elements are separately positioned on close to institute
At the position for stating pedal left and right sides edge, or it is positioned close at the position of the pedal centre.
10. wheel skidding device according to claim 1, it is characterised in that also include：Set in battery compartment, the battery compartment
There is battery pack, the battery pack is used to power to the driving element.
11. wheel skidding device according to claim 10, it is characterised in that the battery compartment is arranged under the pedal
Side.
12. the wheel skidding device according to claim any one of 1-11, it is characterised in that also include：Fetter unit, the beam
Unit is tied up to be arranged on the pedal, it is top for the foot position of the fixed driver using the wheel skidding device or foot
Position.
13. wheel skidding device according to claim 12, it is characterised in that the constraint unit is with thread gluing or locking
The structure of buckle, the foot position of the driver using the wheel skidding device is fixed by the thread gluing or the locking buckle
Or foot upper position.
14. wheel skidding device according to claim 13, it is characterised in that also include：Protective cover, the protective cover be used for
Stand single pin on the pedal heel contact to make single pin be stabilized on the pedal during skidding.
15. wheel skidding device according to claim 1, it is characterised in that also include：Fixed pedestal, the earth element coupling
Close on the fixed pedestal, the fixed pedestal is fixed on the lower surface of the pedal.
16. wheel skidding device according to claim 1, it is characterised in that also include：Second controller, second control
Device is used to determine the expectation angle of pitch according to the current rotating speed of the driving element and the maximum (top) speed of setting.
17. wheel skidding device according to claim 16, it is characterised in that first controller is further used for when described
Pedal is forward or when tilting backwards, according to the expectation angle of pitch of the current rate of pitch of the pedal and the pedal with
Differential seat angle generation between the current angle of pitch drives electric signal to control the output signal size of the driving element.
18. wheel skidding device according to claim 16, it is characterised in that also include：Second sensor, second sensing
Device is used for the current rotating speed for sensing the driving element.
19. wheel skidding device according to claim 1, it is characterised in that the earth element is wheel and quantity is two,
The wheel skidding device also includes：Rotation direction sensor and the 3rd controller, the rotation direction sensor are used to sense driver in institute
The step posture on pedal is stated, the 3rd controller is used for the action according to foot's posture to two earth elements
It is controlled to generate the speed difference for being used for controlling to turn to.
20. wheel skidding device according to claim 19, it is characterised in that the rotation direction sensor is pressure sensor, institute
Stating pressure sensor is used to sense step posture of the driver on the pedal.
21. wheel skidding device according to claim 19, it is characterised in that the rotation direction sensor is steering spindle, described turn
It is used to sense foot posture of the driver on the pedal to axle.
22. wheel skidding device according to claim 19, it is characterised in that the rotation direction sensor is gyroscope, the top
Spiral shell instrument is used to sense foot posture of the driver on the wearable pedal.
23. wheel skidding device according to claim 1, it is characterised in that also include：Position detection unit, it is described for detecting
Relative position relation between ground unit and the pedal.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710625534.7A CN107281738A (en) | 2017-07-27 | 2017-07-27 | Wheel skidding device |
| PCT/CN2017/095715 WO2019019207A1 (en) | 2017-07-27 | 2017-08-02 | Roller skating apparatus |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710625534.7A CN107281738A (en) | 2017-07-27 | 2017-07-27 | Wheel skidding device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107281738A true CN107281738A (en) | 2017-10-24 |
Family
ID=60102338
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710625534.7A Pending CN107281738A (en) | 2017-07-27 | 2017-07-27 | Wheel skidding device |
Country Status (2)
| Country | Link |
|---|---|
| CN (1) | CN107281738A (en) |
| WO (1) | WO2019019207A1 (en) |
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