CN107284581B - Universal vehicle capable of being disassembled and assembled and deformed - Google Patents
Universal vehicle capable of being disassembled and assembled and deformed Download PDFInfo
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- CN107284581B CN107284581B CN201710306057.8A CN201710306057A CN107284581B CN 107284581 B CN107284581 B CN 107284581B CN 201710306057 A CN201710306057 A CN 201710306057A CN 107284581 B CN107284581 B CN 107284581B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62K—CYCLES; CYCLE FRAMES; CYCLE STEERING DEVICES; RIDER-OPERATED TERMINAL CONTROLS SPECIALLY ADAPTED FOR CYCLES; CYCLE AXLE SUSPENSIONS; CYCLE SIDE-CARS, FORECARS, OR THE LIKE
- B62K11/00—Motorcycles, engine-assisted cycles or motor scooters with one or two wheels
- B62K11/007—Automatic balancing machines with single main ground engaging wheel or coaxial wheels supporting a rider
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62K—CYCLES; CYCLE FRAMES; CYCLE STEERING DEVICES; RIDER-OPERATED TERMINAL CONTROLS SPECIALLY ADAPTED FOR CYCLES; CYCLE AXLE SUSPENSIONS; CYCLE SIDE-CARS, FORECARS, OR THE LIKE
- B62K13/00—Cycles convertible to, or transformable into, other types of cycles or land vehicle
- B62K13/06—Cycles convertible to, or transformable into, other types of cycles or land vehicle to a quadricycle, e.g. by coupling together two bicycles side by side
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Abstract
The invention provides a detachable and deformable universal vehicle. The universal vehicle which can be disassembled and deformed adopts the design that two wheels are respectively and independently driven, and realizes the relative rotation or steering of the two wheels through the connecting and rotating mechanism. Furthermore, the invention optimizes the position design among the pedal, the connecting and rotating mechanism and the two wheels, not only effectively shortens the distance between the two wheels, thereby reducing the overall volume and weight of the universal vehicle, but also realizes the omnibearing flexible steering. The universal vehicle has good balance stability, is easy for a rider to master balance when in use, is convenient to operate and control, can realize stable and flexible pivot steering, and can freely and omnidirectionally steer even in a narrow channel. Moreover, the universal vehicle can be disassembled and deformed into two vehicles which independently operate, and can be used by two riders, the design of two motors of the universal vehicle is fully utilized, the fun of disassembling and deforming can be provided for the riders, and another riding mode can be provided for the riders.
Description
Technical Field
The invention relates to the field of electric balance cars, in particular to a universal car which is simple to operate, flexible to steer and detachable and deformable.
Background
The electric balance car is a novel vehicle and can be used for replacing walking and leisure entertainment. Current electrodynamic balance cars mainly include unicycles and swing cars. The wheelbarrow only has one wheel, so that the occupied space is smaller than that of a swing car, but the wheelbarrow is not easy to balance and operate, the user is difficult to learn and skillfully use, in-situ 360-degree steering cannot be realized, and the use interest is influenced. Compared with a wheelbarrow, the swing car is easy to balance and operate, and a user can learn and use the swing car easily, but the swing car occupies a large space and is inconvenient to carry, and the swing car is difficult to steer and inflexible when in a narrow channel. The development and popularization of the electric balance bike are restricted by the problems of the monocycle and the swing car. In addition, among the prior art, the mode of riding of wheel barrow and swing car is single relatively, can't warp each other between the swing car of wheel barrow and two-wheeled, and the wheel barrow can't assemble to warp to the balanced car of double round promptly, and the unable dismouting of swing car warp to the wheel barrow, and wheel barrow and swing car all can't provide the enjoyment of equipment or dismouting for riding passerby.
Disclosure of Invention
The invention aims to solve the technical problems of overcoming the technical defects of the existing wheelbarrows and swing cars and providing the detachable and deformable universal car which has simple operation, flexible steering and smaller occupied space, the universal vehicle has the advantages that the universal vehicle is organically combined with the advantages of the monocycle and the swing vehicle, the universal vehicle can be disassembled and deformed into the two monocycles according to use requirements, so that the disassembling and deforming fun is provided for a rider, and another riding mode is provided for the rider.
In order to solve the technical problems, the invention adopts the technical scheme that:
the utility model provides a removable and deformable's universal car, includes:
the first wheel and the second wheel are symmetrically arranged and can independently rotate or steer;
a first motor and a second motor, the first motor driving the first wheel to move, the second motor driving the second wheel to move;
the first pedal is connected with the first motor and controls the first motor, and the second pedal is connected with the second motor and controls the second motor;
the connecting and rotating mechanism is respectively connected with the first motor and the second motor and can realize the relative rotation of the first motor and the second motor; the connecting rotating mechanism can be detached from the first motor and/or the second motor;
the first motor is provided with a first connecting mechanism for mounting the third pedal, and the second motor is provided with a second connecting mechanism for mounting the fourth pedal;
an electronic control system comprising a first controller, a second controller, a first sensor, a second sensor; the first sensor detects a control signal of the first step plate and controls the first motor via the first controller; the second sensor detects a control signal of the second step plate and controls the second motor via the second controller.
The first pedal can rotate relative to the first motor, and the second pedal can rotate relative to the second motor. When the universal vehicle is used, a rider stands on the first foot pedal and the second foot pedal respectively with two feet, at the moment, the first foot pedal and the second foot pedal are basically parallel to the ground, and the standing direction of the two feet is consistent with the rotating direction of the wheels. Similar to the control method of the swing car, the two feet are inclined forwards or backwards relative to the ground by changing the gravity center of a human body, the two feet respectively control the rotation of the first pedal and the second pedal, the first sensor and the second sensor respectively detect the rotation angle change of the first pedal and the second pedal and respectively feed back signals to the first controller and the second controller, and the first controller and the second controller respectively control the forward rotation or the reverse rotation and the rotation speed of the first motor and the second motor according to the rotation angle change so as to realize the forward movement, the backward movement and the steering of the swing car, and the specific control method is as follows:
when the first pedal and the second pedal incline forwards and rotate at the same time and the rotating angles are the same, the first motor and the second motor rotate forwards at the same time, and the universal vehicle moves forwards.
When the first pedal and the second pedal are inclined backwards and rotate at the same time and the rotating angles are the same, the first motor and the second motor rotate reversely at the same time, and the universal vehicle moves backwards.
When the first pedal and the second pedal rotate forwards or backwards at the same time, but the rotation angles are different, the rotation angle is large, the rotation speed of the corresponding motor is high, the rotation angle is small, the rotation speed of the corresponding motor is low, and the universal vehicle turns to the direction with the low rotation speed.
When the first pedal and the second pedal rotate forwards and backwards respectively, the first motor and the second motor rotate forwards and reversely respectively, the universal vehicle can rotate in place in the reverse direction, a rider can easily master balance relatively due to the fact that the universal vehicle adopts a two-wheel design, the two wheels adopt the design of independent driving respectively, in-place steering can be achieved, and on the basis of the original functions, a new using method and fun are given to the electric balance vehicle.
When the first pedal and the second pedal are reset to be in a balanced state, the first motor and the second motor stop rotating, and the universal vehicle stops moving. The balance state generally means that the plane of the first foot rest and the plane of the second foot rest are parallel to the ground, but the electronic control system may set a certain rotation position of the first foot rest and the second foot rest to the balance state.
Because the connecting and rotating mechanism can be detached and separated from the first motor and/or the second motor, after the connecting and rotating mechanism is detached, a third pedal is respectively arranged at the first connecting mechanism of the first motor, and a fourth pedal is respectively arranged at the second connecting mechanism of the second motor, so that two wheelbarrows which independently operate can be obtained, and the selection of another riding mode is provided for riders.
The control method of the monocycle comprises the following steps:
the first pedal (or the second pedal) is an operation and control mechanism for actually controlling the monocycle, and the third pedal (or the fourth pedal) is only used for a rider to stand. The first step board (or the second step board) controls the independent vehicle to move forward or backward.
When the first pedal (or the second pedal) tilts forwards and rotates, the first motor (or the second motor) rotates forwards, and the monocycle moves forwards.
When the first pedal (or the second pedal) rotates backwards, the first motor (or the second motor) rotates reversely, and the wheelbarrow moves backwards.
The steering of the independent vehicle is similar to that of prior art wheelbarrows.
In order to reduce the space occupied by the universal vehicle, the first motor and the second motor can be respectively arranged inside the first wheel and the second wheel, and the technology of the hub motor in the prior art is adopted.
The universal vehicle adopts the design that two wheels are respectively and independently driven, so that a rider can easily master balance, and pivot steering can be realized. On the basis, the first pedal and the connecting and rotating mechanism are respectively arranged at two sides of the first wheel; the second pedal and the connecting and rotating mechanism are respectively arranged on two sides of the second wheel.
Preferably, the first pedal is arranged on the outer side of the first wheel, and the second pedal is arranged on the outer side of the second wheel; the link rotation mechanism is disposed between the first wheel and the second wheel. The universal vehicle has the advantages that the foot pedals are arranged on the outer sides of the two wheels, so that the distance between the two wheels is shortened, the two wheels can freely and omnidirectionally steer in a narrow channel, namely, the rotation in the direction of 360 degrees is realized, and the universal vehicle can be called as a universal vehicle.
Further preferably, the first motor is provided inside a first wheel, the second motor is provided inside a second wheel, and the connection rotation mechanism is provided between the first motor and the second motor; the first pedal and the connecting rotating mechanism are respectively positioned at two sides of the first motor, and the second pedal and the connecting rotating mechanism are respectively positioned at two sides of the second motor.
The first wheel and the second wheel are symmetrically arranged, and preferably, the first wheel and the second wheel are arranged in parallel.
Furthermore, the third pedal and the first pedal are respectively positioned at two sides of the first motor; the fourth pedal and the second pedal are respectively positioned at two sides of the second motor;
the connection between the third foot board or the fourth foot board and the first connecting mechanism or the second connecting mechanism can be detachable or not detachable.
For the case of detachable, as one embodiment, the first connecting mechanism and the second connecting mechanism are first connecting holes and/or first connecting joints, the third step board and the fourth step board are provided with second connecting heads and/or second connecting holes matched with the first connecting holes and/or the first connecting joints, so as to detachably connect the first connecting mechanism and the third step board, and the second connecting mechanism and the fourth step board are detachably connected.
For the condition that the pedal can not be disassembled, as one embodiment, the third pedal is hinged with the first connecting mechanism so as to realize the expansion or the retraction of the third pedal; the fourth pedal is hinged with the second connecting mechanism so as to realize the expansion or the retraction of the fourth pedal.
As one embodiment, the first connecting mechanism and the second connecting mechanism are both rotating shafts, one end of the third pedal is connected with the rotating shaft and can rotate around the rotating shaft by a limited angle, and one end of the fourth pedal is connected with the rotating shaft and can rotate around the rotating shaft by a limited angle.
Furthermore, the third pedal and the fourth pedal are provided with openings for the connection rotating mechanism to pass through so that the connection rotating mechanism is respectively connected with the first motor and the second motor;
or the third foot board and the fourth foot board are provided with fixing mechanisms for connecting the connecting and rotating mechanisms.
With the above arrangement, it is possible to avoid the influence of the presence of the third step plate and the fourth step plate on the connection of the connection rotation mechanism with the first motor and the second motor.
The connecting and rotating mechanism can realize the relative rotation of the first motor and the second motor so as to better and smoothly realize the steering of the universal vehicle. Further, the first motor and the second motor are rotatable about an axis parallel to a line connecting the axis of the first wheel and the axis of the second wheel. In particular, the axis coincides with a line connecting the axis of the first wheel and the axis of the second wheel.
The connection rotation mechanism may be provided with corresponding embodiments according to the above-described objects. As one embodiment, the connection rotation mechanism further includes a first connection portion detachably connected to the first motor, and a second connection portion detachably connected to the second motor, and the first connection portion and the second connection portion are relatively rotatable so that the first motor and the second motor can relatively rotate.
In order to facilitate the rotation of the first and second connection portions, the first and second connection portions may be connected to the connection shaft through a bearing. Furthermore, a limiting component may be disposed at the connection rotation mechanism to limit the rotation of the first connection portion and the second connection portion, and the limiting component is referred to in the prior art and is not listed.
The first sensor and the second sensor respectively comprise a gyroscope, an acceleration sensor and an inductive switch, the inductive switch senses whether a rider stands on the universal vehicle to turn on or off, the controller receives detection signals of the inductive switch to control whether the first motor and the second motor work, and the controller receives detection signals of the acceleration sensor and the gyroscope to control whether the first motor and the second motor change states. The first and second sensors are disposed at, preferably but not limited to, below the first and second footplates, respectively.
The connection mode of the controller and the sensor can be wired connection or wireless connection, that is, the first sensor and the second sensor transmit detection signals to the controller in radio frequency, microwave and other wireless signal modes.
Because the universal vehicle can be disassembled and deformed into two independent vehicles which can be respectively and independently used. The number of the controllers of the universal vehicle is 2, and the controllers comprise a first controller connected with the first sensor and a second controller connected with the second sensor. The first controller controls the rotation and the rotating speed of the first motor according to the detection signal transmitted by the first sensor; the second controller controls the rotation and the rotating speed of the second motor according to the detection signal transmitted by the second sensor. The present embodiment provides two controllers to independently control the first motor and the second motor, respectively. The first controller and the second controller may be disposed at the first step plate or the second step plate, respectively, and may also be disposed at the first motor or the second motor.
In order to make the first motor and the second motor operate more cooperatively, the first controller is preferably connected to the second controller. The first controller and the second controller may be connected in a wired or wireless manner, that is, the first controller and the second controller transmit signals through radio signals such as radio frequency signals and microwave signals.
For the wired connection mode, as one of the implementation modes, a first circuit connector and a second circuit connector are respectively arranged on the first motor and the second motor, the first circuit connector is connected with the first controller, and the second circuit connector is connected with the second controller. And the first circuit connector is connected with the second circuit connector through a connecting wire so as to realize the connection of the first controller and the second controller.
The specific positions of the first circuit connector and the second circuit connector can be set according to actual conditions as long as the relative rotation of the first motor and the second motor is not influenced.
Further, the first pedal of the universal vehicle is connected with a motor shaft of a first motor and can rotate around the motor shaft of the first motor, and the second pedal of the universal vehicle is connected with a motor shaft of a second motor and can rotate around the motor shaft of the second motor.
Further, for safety, the rotation range of the step plate is prevented from being excessively large, and a limit member may be provided to limit the rotation range of the first and second step plates.
The horizontal heights of the first pedal and the second pedal can be set according to actual conditions, can be set on a horizontal plane where a connecting line of the axes of the first wheel and the second wheel is located, and can also be set to be higher or lower than the horizontal plane where the connecting line of the axes is located. Similarly, the third and fourth pedals have the same horizontal height as the first and second pedals.
In order to further improve the balance stability of the universal vehicle, preferably, the universal vehicle is further provided with a third wheel and four wheels; the third wheel is detachably connected with the first pedal, and the first wheel and the third wheel are respectively positioned at two sides of the first pedal; the fourth wheel is detachably connected with the second pedal, and the second wheel and the fourth wheel are respectively positioned on two sides of the second pedal. Through the setting, ride passerby and can be as required according to the use, to universal car installation third wheel and fourth wheel, universal car becomes four wheels from two wheels, makes universal car warp to four-wheel "swing car", can not only further improve the balance stability of universal car, also provides the enjoyment that the dismouting warp for riding passerby in addition.
Furthermore, a third motor, a third sensor and a third controller are arranged on the third wheel; and a fourth motor, a fourth sensor and a fourth controller are arranged on the fourth wheel. When the third wheel and the fourth wheel are mounted on the universal vehicle, namely the third wheel is connected with the first pedal and the fourth wheel is connected with the second pedal, the third wheel and the fourth wheel do not work, and the control method of the universal vehicle with the four wheels is the same as that of the universal vehicle with the two wheels. When the third wheel and the fourth wheel are detached, the third controller and the fourth controller are respectively started by only installing a pedal, and then the wheelbarrow can be used.
Compared with the prior art, the invention has the beneficial effects that:
the universal vehicle adopts the design that two wheels are respectively and independently driven, and realizes that the two wheels can relatively rotate or turn through the connecting and rotating mechanism. Furthermore, the invention optimizes the position design among the pedal, the connecting and rotating mechanism and the two wheels, not only effectively shortens the distance between the two wheels, thereby reducing the overall volume and weight of the universal vehicle, but also realizes the omnibearing flexible steering. The universal vehicle has good balance stability, a rider can easily master balance when using the universal vehicle, the universal vehicle is convenient to operate and control, stable and flexible pivot steering can be realized, and the universal vehicle can freely and omnidirectionally steer even in a narrow channel. To sum up, the universal car has overcome the commonality problem that wheel barrow and swing car exist, increases new vigor member for the electrodynamic balance car field.
In addition, two wheelbarrows which independently operate can be obtained by disassembling the connecting and rotating mechanism and installing the third pedal and the fourth pedal, two riders can use the wheelbarrow, and the universal wheelbarrow can fully utilize the design of two motors of the universal wheelbarrow. In addition, the universal vehicle can be further provided with the third wheel and the fourth wheel, so that the universal vehicle is changed from two wheels into four wheels, the universal vehicle is transformed into a four-wheel swing vehicle, and the balance stability of the universal vehicle is further improved. The universal vehicle not only provides the fun of dismounting and deforming for the riders, but also provides various riding modes for the riders.
Drawings
Fig. 1 is a schematic structural diagram of the universal vehicle according to embodiment 1.
Fig. 2 is a schematic front view of the universal vehicle according to embodiment 1.
Fig. 3 is a schematic connection diagram of the connection steering mechanism, the first electric motor and the second electric motor.
FIG. 4 is a schematic diagram of the connection relationship of the control circuit of the universal vehicle.
Fig. 5 is a schematic view of the steering (advancing) of the universal vehicle.
Fig. 6 is a schematic view of the steering (backing) of the universal vehicle.
Fig. 7 is a schematic view of the steering of the universal vehicle.
Fig. 8 is a schematic view of the steering (pivot steering) of the universal vehicle.
Fig. 9 is a schematic view of a disassembled and assembled variation of the universal vehicle according to embodiment 1.
Fig. 10 is a schematic view of a disassembled and assembled variation of the universal vehicle according to embodiment 2.
Fig. 11 is a schematic structural diagram of the universal vehicle according to embodiment 3.
Detailed Description
The present invention will be further described with reference to the following embodiments.
The same or similar reference numerals in the drawings of the embodiments of the present invention correspond to the same or similar components; in the description of the present invention, it is to be understood that the terms "upper", "lower", "left", "right", "top", "bottom", "inner", "outer", and the like, if any, are used in the orientations and positional relationships indicated in the drawings only for the convenience of describing the present invention and simplifying the description, but not for indicating or implying that the referred device or element must have a specific orientation, be constructed in a specific orientation, and be operated, and therefore the terms describing the positional relationships in the drawings are used for illustrative purposes only and are not to be construed as limiting the present patent.
Furthermore, if the terms "first," "second," and the like are used for descriptive purposes only, they are used for mainly distinguishing different devices, elements or components (the specific types and configurations may be the same or different), and they are not used for indicating or implying relative importance or quantity among the devices, elements or components, but are not to be construed as indicating or implying relative importance.
Example 1
As shown in fig. 1~3, a universal vehicle includes a first wheel 100, a second wheel 200, a first motor 300, a second motor 400, a first step plate 500, a second step plate 600, a connection rotation mechanism 700, an electronic control system 800, a third step plate 900, and a fourth step plate 1000.
The first wheel 100 and the second wheel 200 are symmetrically arranged in parallel, and the first wheel 100 and the second wheel 200 do not have a common axle and can be independently rotated or steered. The first motor 300 drives the first wheel 100 to move, and the second motor 400 drives the second wheel 200 to move. The first motor 300 and the second motor 400 each have a structure including a motor shaft (310, 410), a stator (320, 420), a rotor (330, 430), and the like.
The link rotation mechanism 700 is disposed between the first wheel 100 and the second wheel 200, and in order to reduce the space occupied by the universal vehicle, the first motor 300 and the second motor 400 may be disposed inside the first wheel 100 and the second wheel 200, respectively, and the technology of the hub motor in the prior art may be adopted. At this time, the connection rotation mechanism 700 is located between the first motor and the second motor, the connection rotation mechanism 700 is connected to the first motor 300 and the second motor 400, respectively, and the connection rotation mechanism is detachable from the first motor and the second motor.
The first step plate 500 and the connection rotation mechanism 700 are respectively located at both sides of the first motor, and the second step plate 600 and the connection rotation mechanism 700 are respectively located at both sides of the second motor. More specifically, the first step plate 500 is located outside the first wheel 100, the first step plate 500 is connected to the motor shaft of the first motor and is rotatable about the motor shaft 310 of the first motor 300, the second step plate 600 is located outside the second wheel 200, and the second step plate 600 is connected to the motor shaft 410 of the second motor 400 and is rotatable about the motor shaft 410 of the second motor 400. For safety, the rotation range of the pedals is prevented from being excessively large, and a limit member may be provided to limit the rotation range of the first and second pedals 500 and 600.
The connection rotation mechanism 700 includes a first connection portion 710 detachably connected to the first motor, a second connection portion 720 detachably connected to the second motor, and a connection shaft 730 respectively connected to the first connection portion 710 and the second connection portion 720, and the connection shaft is parallel to a line connecting the first wheel axis and the second wheel axis. In the present embodiment, the connecting shaft coincides with a connecting line between the axle center of the first wheel 100 and the axle center of the second wheel 200. The first connecting portion 710 and the second connecting portion 720 are rotatable about the connecting shaft 730, and the first connecting portion 710 and the second connecting portion 720 are relatively rotatable, so that the first motor 300 and the second motor 400 can be relatively rotated.
In order to facilitate rotation of the first and second connection parts 710 and 720, the first and second connection parts 710 and 720 may be connected to the connection shaft 730 through bearings. Further, a limiting member may be disposed at the connection rotation mechanism 700 to limit the rotation of the first connection portion 710 and the second connection portion 720, and the limiting member is referred to in the prior art and is not listed.
The electronic control system 800 includes a controller, a first sensor 810 for detecting a rotation angle at the first step plate 500, and a second sensor 820 for detecting a rotation angle at the second step plate 600. The number of controllers is at least 2, and in this embodiment, the number of controllers is 2. The two controllers are respectively a first controller 830 connected with the first sensor and a second controller 840 connected with the second sensor 820, the first controller 830 controls the rotation and rotation speed of the first motor according to the detection signal transmitted by the first sensor 810, the second controller 840 controls the rotation and rotation speed of the second motor according to the detection signal transmitted by the second sensor 820, so as to realize the forward, backward and steering of the universal vehicle, and the connection relationship between the controllers and other components is shown in fig. 4.
In addition, the first controller 830 and the second controller 840 can also be connected to better coordinate the operation of the two motors. The connection between the first controller 830 and the second controller 840 may be a wired connection or a wireless connection, i.e., the first controller 830 and the second controller 840 transmit signals through radio signals such as radio frequency signals and microwave signals. As one embodiment of the wired connection, a first circuit connector and a second circuit connector are respectively disposed on the first motor and the second motor, the first circuit connector is connected to the first controller 830, and the second circuit connector is connected to the second controller 840. The first circuit connector is connected with the second circuit connector through a connecting wire so as to realize the connection of the first controller and the second controller. In this embodiment, the first controller 830 and the second controller 840 are connected wirelessly.
The first controller 830 and the second controller 840 may be provided at the first step board 500 and the second step board 600, respectively, or at the first motor 300 and the second motor 400, respectively.
Each of the first and second sensors 810 and 820 includes a gyroscope, an acceleration sensor, and an inductive switch that senses whether a rider stands on the universal vehicle to turn on or off, a controller that receives a detection signal of the inductive switch to control whether the first and second motors 300 and 400 operate, and a controller that receives detection signals of the acceleration sensor and the gyroscope to control whether the first and second motors 300 and 400 change states. The first and second sensors 810 and 820 are respectively provided at the first and second footrests 500 and 600, and in the present embodiment, are provided under the first and second footrests 500 and 600.
The controller and the sensor may be electrically connected or wirelessly connected, that is, the first sensor and the second sensor transmit the detection signal to the controller in radio frequency, microwave or other wireless signal modes.
The specific control method of the universal vehicle is as follows:
when the first step plate 500 and the second step plate 600 are simultaneously forwardly tilted and rotated at the same angle, the first motor 300 and the second motor 400 are simultaneously forwardly rotated, and the universal vehicle moves forward, as shown in fig. 5.
When the first step plate 500 and the second step plate 600 are tilted backward at the same time and rotated at the same angle, the first motor 300 and the second motor 400 are simultaneously rotated in reverse, and the articulated vehicle moves backward, as shown in fig. 6.
When the first step board 500 and the second step board 600 are simultaneously rotated forward or backward at different angles, the rotation angle is large, the rotation speed of the corresponding motor is fast, the rotation angle is small, the rotation speed of the corresponding motor is slow, and the universal vehicle is steered to the slower rotation speed, as shown in fig. 7.
When the first step plate 500 and the second step plate 600 are respectively rotated forward and backward, the first motor 300 and the second motor 400 are respectively rotated forward and backward, and the universal vehicle can be rotated in the original position in the backward direction, as shown in fig. 8.
A first connecting mechanism 1100 for mounting the third step board 900 is arranged at one end of the first motor 300 connected with the connecting and rotating mechanism 700, and a second connecting mechanism 1200 for mounting the fourth step board 1000 is arranged at one end of the second motor connected with the connecting and rotating mechanism.
The connection of the third step plate 900 or the fourth step plate 1000 to the first connection mechanism 1100 or the second connection mechanism 1200 may be detachable or not detachable. In this embodiment, in the detachable case, the first connection mechanism 1100 and the second connection mechanism 1200 are first connection holes and/or first connection joints, the third foot board 900 and the fourth foot board 1000 are provided with second connection holes and/or second connection joints matching with the first connection holes and/or the first connection joints, so as to detachably connect the first connection mechanism 1100 and the third foot board 900, and the second connection mechanism 1200 and the fourth foot board 1000 are detachably connected. Further, in order to enhance the connection stability of the third step plate 900 and the first connection mechanism 1100 and the connection stability of the fourth step plate 1000 and the second connection mechanism 1200, other fixing members such as screws may be provided at the first connection mechanism 1100 and the second connection mechanism 1200.
When the universal vehicle needs to be disassembled and transformed into an independent vehicle, the connecting and rotating mechanism is disassembled first, then the third pedal 900 is installed at the first connecting mechanism 1100 of the first motor, and the fourth pedal 1000 is installed at the second connecting mechanism 1200 of the second motor, so that two independent operating unicycles can be obtained, and the disassembling process is shown in fig. 9.
The control method of the monocycle comprises the following steps:
the first pedal 500 (or the second pedal 600) is a control mechanism for actually controlling the unicycle, and the third pedal (or the fourth pedal) is only used for the rider to stand. The first step plate 500 (or the second step plate) controls the forward or backward movement of the independent vehicle.
When the first step plate 500 (or the second step plate 600) rotates forward, the first motor (or the second motor) rotates forward, and the unicycle moves forward.
When the first step plate 500 (or the second step plate 600) is tilted backward and rotated, the first motor (or the second motor) is reversed and the unicycle moves backward.
The steering of the independent vehicle is similar to that of a prior art unicycle.
Example 2
This embodiment is a second embodiment of the present invention, and as shown in fig. 10, different from embodiment 1, in this embodiment, the connection between the third step board 900 and the first connection mechanism 1100 or the connection between the fourth step board 1000 and the second connection mechanism 1200 of the universal vehicle is not detachable, the third step board 900 of the universal vehicle is hinged to the first connection mechanism 1100 to realize the expansion or the retraction of the third step board 900, and the fourth step board 1000 is hinged to the second connection mechanism 1200 to realize the expansion or the retraction of the fourth step board. As one embodiment, but not limited to, the first connection mechanism 1100 and the second connection mechanism 1200 are rotation shafts, one end of the third step board 900 is connected to the rotation shafts and can rotate around the rotation shafts for a limited angle, and the other end of the third step board 900 can be detachably connected to the first motor. One end of the fourth step plate 1000 is connected to the rotation shaft and can rotate around the rotation shaft by a limited angle, and the other end of the fourth step plate 1000 can be detachably connected to the second motor.
The shape of the third step board 900 and the fourth step board 1000 may be set as needed, and further, the connection of the connection rotation mechanism and the first motor and the second motor is not affected by the presence of the third step board 900 and the fourth step board 1000. The third step plate 900 and the fourth step plate 1000 are provided with openings through which the connection rotation mechanism passes so that the connection rotation mechanism is fixed 400 to the first motor 300 and the second motor, respectively. Alternatively, the third step board 900 and the fourth step board 1000 are provided with a fixing mechanism for connecting the connection rotating mechanism.
Example 3
In this embodiment, a third embodiment of the present invention is shown in fig. 11, and on the basis of embodiment 1, in order to further improve the balance stability of the universal vehicle, a third wheel 1300 and a fourth wheel 1400 are additionally arranged on the universal vehicle, the third wheel 1300 is detachably connected to the first foot board 500, and the first wheel 100 and the third wheel 1300 are respectively located at two sides of the first foot board 500. The fourth wheel 1400 is detachably connected to the second step plate 600, and the second wheel 200 and the fourth wheel 1400 are respectively located at two sides of the second step plate 600.
Further, a third motor, a third sensor, and a third controller are provided on the third wheel 1300. The fourth wheel 1400 is provided with a fourth motor, a fourth sensor, and a fourth controller. When the third wheel 1300 and the fourth wheel 1400 are installed on the universal vehicle, that is, the third wheel 1300 is connected to the first step plate 500 and the fourth wheel 1400 is connected to the second step plate 600, the third wheel 1300 and the fourth wheel 1400 do not operate, and the method for operating the universal vehicle with four wheels is the same as the method for operating the prior universal vehicle with two wheels. After the third wheel and the fourth wheel are disassembled, the third controller and the fourth controller are respectively started only by installing the foot pedal, and the monocycle can be used.
This embodiment universal car becomes four wheels from two wheels, makes universal car warp to four-wheel "swing car", can not only further improve universal car's balanced stability, also provides the enjoyment that the dismouting warp moreover for riding passerby.
It should be understood that the above-described embodiments of the present invention are merely examples for clearly illustrating the present invention, and are not intended to limit the embodiments of the present invention. Other variations and modifications will be apparent to persons skilled in the art in light of the above description. And are neither required nor exhaustive of all embodiments. Any modification, equivalent replacement, and improvement made within the spirit and principle of the present invention should be included in the protection scope of the claims of the present invention.
Claims (10)
1. A universal vehicle capable of being disassembled and assembled and deformed is characterized by comprising:
the first wheel and the second wheel are symmetrically arranged and can independently rotate or steer;
a first motor and a second motor, the first motor driving the first wheel to move, the second motor driving the second wheel to move;
the first pedal is connected with a motor shaft of the first motor and can rotate around the motor shaft of the first motor to control the first motor, the second pedal is connected with a motor shaft of the second motor and can rotate around the motor shaft of the second motor to control the second motor, and the first pedal and the second pedal are provided with limiting components;
the connecting and rotating mechanism comprises a first connecting part detachably connected with the first motor, a second connecting part detachably connected with the second motor, and a bearing and a connecting shaft which connect the first connecting part and the second connecting part, the connecting shaft is superposed with the axes of the motor shaft of the first motor and the motor shaft of the second motor, the first connecting part and the second connecting part are respectively connected with the first motor and the second motor, and the first connecting part and the second connecting part are connected with the connecting shaft through the bearing and rotate relatively to realize the relative rotation of the first motor and the second motor; the connecting and rotating mechanism can be detached and separated from the first motor and/or the second motor;
the first motor is provided with a first connecting mechanism for mounting the third pedal, and the second motor is provided with a second connecting mechanism for mounting the fourth pedal;
an electronic control system comprising a first controller, a second controller, a first sensor, a second sensor; the first sensor detects a control signal of the first step plate and controls the first motor via the first controller; the second sensor detects a control signal of the second step plate and controls the second motor via the second controller.
2. The removable and transformable universal vehicle according to claim 1, wherein the first step plate and the connecting and rotating mechanism are respectively disposed on both sides of the first wheel; the second pedal and the connecting and rotating mechanism are respectively arranged on two sides of the second wheel.
3. The removable and deformable cart according to claim 2, wherein the first foot rest is disposed outside the first wheel and the second foot rest is disposed outside the second wheel; the link rotation mechanism is disposed between the first wheel and the second wheel.
4. The detachably transformable universal vehicle according to any one of claims 1-3, wherein the first motor is disposed inside a first wheel, the second motor is disposed inside a second wheel, and the connection rotation mechanism is disposed between the first motor and the second motor; the first pedal and the connecting rotating mechanism are respectively positioned at two sides of the first motor, and the second pedal and the connecting rotating mechanism are respectively positioned at two sides of the second motor.
5. The universal vehicle according to any one of claims 1 to 3, wherein the first and second connecting mechanisms are first connecting holes and/or first connecting joints, the third and fourth pedals are provided with second connecting heads and/or second connecting holes matched with the first connecting holes and/or first connecting joints to realize the detachable connection of the first connecting mechanism and the third pedal, and the second connecting mechanism and the fourth pedal are detachably connected.
6. The detachably deformable universal vehicle according to any one of claims 1-3, wherein the third pedal is hinged to the first connecting mechanism to realize the expansion or contraction of the third pedal; the fourth pedal is hinged to the second connecting mechanism, so that the fourth pedal is unfolded or folded.
7. The removable and deformable cart according to claim 6, wherein the third and fourth pedals are provided with openings for the connection and rotation mechanism to pass through, so that the connection and rotation mechanism is connected to the first and second motors, respectively;
or the third foot board and the fourth foot board are provided with fixing mechanisms for connecting the connecting and rotating mechanisms.
8. The removably transformable universal vehicle of any of claims 1-3 or 7, further provided with a third wheel and a fourth wheel; the third wheel is detachably connected with the first pedal, and the first wheel and the third wheel are respectively positioned at two sides of the first pedal; the fourth wheel is detachably connected with the second pedal, and the second wheel and the fourth wheel are respectively positioned on two sides of the second pedal.
9. The detachably transformable universal vehicle of claim 8, wherein the connection rotation mechanism further comprises a connection shaft connected to the first connection portion and the second connection portion, respectively, the first connection portion and the second connection portion being rotatable about the connection shaft.
10. The detachable and transformable universal vehicle according to claim 8, wherein a third motor, a third sensor and a third controller are provided on the third wheel of the universal vehicle; a fourth motor, a fourth sensor and a fourth controller are arranged on the fourth wheel; the third controller is used for independently controlling the third wheel when the third wheel is disconnected with the first pedal and pedals are arranged on two sides of the third wheel; the fourth controller is used for independently controlling the fourth wheel when the fourth wheel is disconnected with the second pedal and pedals are arranged on two sides of the fourth wheel.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN201710306057.8A CN107284581B (en) | 2017-05-03 | 2017-05-03 | Universal vehicle capable of being disassembled and assembled and deformed |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN201710306057.8A CN107284581B (en) | 2017-05-03 | 2017-05-03 | Universal vehicle capable of being disassembled and assembled and deformed |
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| CN107284581A CN107284581A (en) | 2017-10-24 |
| CN107284581B true CN107284581B (en) | 2023-03-14 |
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| CN201710306057.8A Active CN107284581B (en) | 2017-05-03 | 2017-05-03 | Universal vehicle capable of being disassembled and assembled and deformed |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| KR102443340B1 (en) * | 2017-12-20 | 2022-09-16 | 현대자동차주식회사 | Personal mobility |
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| CN107284581A (en) | 2017-10-24 |
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