CN101513911A - Sing-wheel transporter - Google Patents
Sing-wheel transporter Download PDFInfo
- Publication number
- CN101513911A CN101513911A CNA2008100654058A CN200810065405A CN101513911A CN 101513911 A CN101513911 A CN 101513911A CN A2008100654058 A CNA2008100654058 A CN A2008100654058A CN 200810065405 A CN200810065405 A CN 200810065405A CN 101513911 A CN101513911 A CN 101513911A
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- wheel
- sing
- axletree
- vehicle frame
- vertical tube
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Abstract
The invention relates to a single-wheel transporter, which is provided with a rotating shaft so that a bearing platform and main load such as people, objects and the like on the bearing platform can rotate above a wheel relative to the wheel nearby the horizontal direction forming an included angle of smaller than 45 degrees with a horizontal line; and by controlling the relative rotation thereof, the single-wheel transporter realizes left and right balance and turning.
Description
Technical field
The present invention relates to sing-wheel transporter, particularly wheelbarrow, single wheel battery-driven car and one-wheel robot.
Background technology
Sing-wheel transporter is meant with the wheel of a circle as the parts that mainly contact with stayed surface, and the device that this wheel rolling is moved, as wheelbarrow, single wheel battery-driven car and one-wheel robot etc.The single wheel battery-driven car replaces manpower with electric power, and is controlled by electronics, mechanical assistance people.One-wheel robot is article rather than people with the different load that are of wheelbarrow, and replaces the people to control by electronics, machinery.
Sing-wheel transporter has lacked a wheel than bicycle, two-wheel car, can reduce weight, volume and energy resource consumption, is more convenient for carrying and depositing, and better road adaptive capacity is arranged.
There are two contact points on bicycle and ground, utilize the friction force between trailing wheel and the ground, and front-wheel can rotate relative to trailing wheel and vehicle frame easily, realize turning to, and adjust left and right sides balance.Two-wheeled two-wheel car side by side then natively can left and right sides balance, utilizes the two-wheel speed discrepancy to realize turning to.
Wheelbarrow is owing to have only a contact point, all around balance and turning to all than two-wheel bicycle difficulty more.Traditional wheelbarrow has only wheel, support, pedal and vehicle seat, can only rely on the swing of human body to control balance and turn to, need very high skill, therefore, with bicycle to be widely used as the vehicle different, wheelbarrow all just rests on as on the athletic sports appliance for a long time.
The self-balancing wheelbarrow of exploitation and composition (self-balancing unicycle) on this basis, inclination by the sensor detecting car body, control rotation direction of wheel and speed produce suitable forward and acceleration/accel backward control anterior-posterior balance, but left and right sides balance and turn to and still can only rely on the swing of human body to control, so can not resemble the upright self-balance robot of two-wheel so far and the self-balancing electric motor car with two wheels uses widely.
Chinese patent 03826296.3 discloses a kind of wheelbarrow that has handlebar, and the vehicle frame captive joint axletree, saddle, handlebar, handlebar can with the vehicle frame slide relative, saddle can with saddle mounting rod slide relative, wheel can be that rotate at the center with the axletree.This wheelbarrow also can only rely on the swing of human body to control balance and turn to.
Some robots (as " field, village playboy ") then have the rosette maintenance left and right sides balance of weight by rotation.
Summary of the invention
The present invention is exactly in order to solve the control problem with left and right sides balance of turning to of sing-wheel transporter, to provide a kind of simple in structure, controlling easy sing-wheel transporter.
Below direction and position are meant at design-calculated purpose state in the narration, direction and position under the state in promptly using.
The present invention is by rotating shaft is set, make carrying platform and top people thereof, basic load such as thing can with the horizon angle less than 45 the degree horizontal directions near, above wheel, relatively rotate with wheel, by controlling their relatively rotating, change the direction that wheel is advanced, simultaneously partly the inclination about handlebar device is converted into the inclination of wheel fore-and-aft direction, add by the control wheel, deceleration with correcting device before wheel, the rear to inclination, at the centnifugal force that turns to generation and adding, under the moment loading that deceleration produces, device to the right or be tilted to the left and can obtain very soon correcting, according to the adjustment result of human brain or sensor feedback, approach the balance that reaches correct repeatedly one by one.
Device is made up of wheel, axletree, wheel fork, vertical tube, vehicle frame and rotating mechanism etc., close with being connected between existing cycle frame and front-wheel: the bottom of wheel fork links to each other with wheel by axletree, wheel fork top captive joint vertical tube, the vehicle frame that connects carrying platform rotatably is being connected above the wheel on the vertical tube, and the mechanism by control rotations such as manpower, electric power, hydraulic pressure, air pressure is set between vertical tube and vehicle frame.The axle center of rotating mechanism and the angle of vertical direction are less than 45 degree, and the position of carrying platform is the position of load center of gravity above axletree vertical that makes on the axletree.On the vehicle frame control apparatus that can produce horizontal displacement can be set, to adapt to bigger load change.
For make device can be when the balance of the left and right sides stabilising direction, the axle center of the rotating mechanism between above-mentioned vehicle frame and vertical tube and the angle of vertical direction be greater than 0 degree, less than 45 degree, and tilts to the carrying platform direction.Like this, under the state of equilibrium of the left and right sides, vehicle frame is relative with vertical tube when rotating, and can cause the load upper shift of gravity center, thereby keeps the stable of direction.
For keeping the stable of non-operating state device, in the place ahead of wheel a cross bar parallel with axletree is set, cross bar extends to foot-operated to both sides, with the cross bar be spool main wheel both sides an auxiliary steamboat is set respectively.Cross bar is connected to wheel shaft or wheel fork in the mode of fixing or adjustable position, or on the vehicle frame.This sampling device just can stably be parked and be moved, and then can lift automatically and put down when device starts and stops.
Drive sing-wheel transporter with electric power, with manpower control carrying platform is rotation between vehicle frame and the vertical tube, according to the sensor detecting car body the inclination of wheel fore-and-aft direction control the rotation direction of wheel and speed produce suitable forward and acceleration/accel backward control anterior-posterior balance, just formed the self-balancing electric unicycle.
Above-mentioned sing-wheel transporter utilizes the weight of load self to come the balance of control apparatus, does not need weight, and is simple in structure, volume is little, in light weight, carry, deposit conveniently, use easily and keep in repair, adopt different material and structures to realize easily, while is controlled the left and right sides balance of wheelbarrow because of the use hand and turns to, can be easier than swaying, more accurate, the necessary operations space is also smaller, can keep the operating habit of bicycle basically.
Obviously, this apparatus function is realized not being subjected to different propulsive efforts, different loads kind, steering hardware, steering controling signal and is turned to the influence in propulsive effort source etc., manpower, electric power or other propulsive efforts that can control vehicle wheel rotational speed can, manned, loading is also passable, the control of human brain, computer can, can be used for wheelbarrow, electric unicycle and one-wheel robot etc.
Description of drawings
Fig. 1 is the top view of the structural representation of embodiment of the present invention 1.
Fig. 2 is that the realization of embodiment of the present invention 1 turns to the scheme drawing with balance.
Fig. 3 is the front elevation of the structural representation of embodiment of the present invention 1.
Fig. 4 is the lateral plan of the structural representation of embodiment of the present invention 1.
Fig. 5 is the front elevation of the structural representation of embodiment of the present invention 2.
Fig. 6 is the lateral plan of the structural representation of embodiment of the present invention 2.
Fig. 7 is the scheme drawing of embodiment of the present invention 2 startups and halted state.
Fig. 8 is that embodiment of the present invention 2 is parked state and the scheme drawing when the seat.
Embodiment
In conjunction with the accompanying drawings 1,2,3,4, present embodiment is the electric unicycle that comprises that saddle/power supply/controller 1, handlebar 2, vehicle frame 3, outer tube 4, connecting rod mechanism 5, vertical tube 6, wheel fork 7, wheel rim motor/wheel 8 and foot-operated 9 etc. are formed.The bottom of wheel fork 7 links to each other with wheel 8 by axletree, foot-operated 9 also are connected wheel fork 7 lower ends, vertical tube 6 at wheel fork 7 upper end captive joints, the vehicle frame 3 that connects saddle/power supply/controller 1 rotatably is connected vertical tube 6 upper ends, vehicle frame 3 front ends connect an outer tube 4, rotatably be connected with handlebar 2 in the outer tube 4, the eccentric articulated linkage in the lower end of handlebar 2 mechanism 5, the other end of connecting rod mechanism is hinged on the vertical tube 6.The axle center of vehicle frame 3 and the rotating shaft of vertical tube 6 and the angle of vertical direction are 0 to spend, and the load center of gravity on the axletree is above axletree vertical.
When riding, the people holds handlebar, props up electric unicycle, and be sitting on the saddle, pin is placed on forward slightly place, both sides, electric unicycle ground, starts electric unicycle, the wheel rim motor rotates, drive wheels is quickened forward, when the center of gravity of car approach wheel shaft directly over the time, successively pin be placed on foot-operated on, under the automatic guidance of controller, motor progressively reduces acceleration/accel, until the center of gravity of car arrive wheel shaft directly over, begin stable travelling.
In travelling, if car leans forward, motor quickens until stable again, and hypsokinesis is then opposite, and motor slows down until stable again.
When car generation inclination, rotate handlebar 2, handlebar 2 by connecting rod mechanism 5 make comprise vertical tube 6, wheel fork 7, wheel 8 and foot-operated 9 whole relative to vehicle frame 3, saddle 1 and above human body etc. rotate.In general the "Left"-deviationist handlebar that then turns left, Right deviation is the turning clockwise handlebar then, and is less because of the quality of wheel, when not being very large, mainly is that wheel rotates relative to ground and vehicle frame at friction force.At this moment advancing on axletree of wheel produces thrust to the side direction of vehicle frame 3, saddle 1 and human body etc., promote human body and get back to the position that makes the car body balance, if thrust is not enough or too big then controller can be according to the leaning forward or hypsokinesis of wheel fork 7 relative wheels 8, quickens or slow down until balance.
Then handlebar is turned to required direction in the time of need turning to, readjust until balance then.
This embodiment is simple in structure, and carrying capacity is strong, turns to easily, and volume is little, and is easy to carry.
In conjunction with the accompanying drawings 5,6,7,8, present embodiment comprises the electric unicycle that saddle/power supply/controller 21, handlebar 22, vehicle frame 23, wheel fork 24, wheel rim motor/wheel 25, regulating mechanism 26, support 27, auxiliary wheel 28 and foot-operated 29 etc. are formed.
The lower end of wheel fork 24 links to each other with wheel 25 by axletree, wheel fork 24 upper end captive joints vertical tube, the vehicle frame 23 that connects saddle/power supply/controller 21 rotatably is connected on the vertical tube, captive joint handlebar 22 on the vertical tube, the lower hinge of wheel fork 25 connects support 27, also has regulating mechanism 26 between support 27 and the wheel fork 24, one end of regulating mechanism 26 is hinged on support 27 middle parts, other end telescopically is connected on the wheel fork 24, support 27 front ends are fixedly connected with foot rest 29, and the middle part of foot rest has an auxiliary wheel 28 respectively in the both sides of wheel.The axle center of the rotating shaft of vehicle frame 23 parts and vertical tube and the angle of vertical direction be greater than 0 degree, and tilt to saddle 21, and the load center of gravity on the axletree is above axletree vertical.
By expansion regulating mechanism 26, can regulate the angle and auxiliary wheel 28 distance overhead of support 27 and wheel fork 24, fixing then, so that electric unicycle can adapt to different road conditions, be suitable as seat in the time of also can making vehicle parking.
In this embodiment, the axle center of the rotating shaft of vehicle frame 23 parts and vertical tube and the angle of vertical direction are spent greater than 0, and tilt to saddle 21, can stabilising direction.Foot-operated cross bar 29 makes and starts and stop more convenient, deposits also easily, uses as seat when also being convenient to vehicle parking.When then making moving vehicle, auxiliary wheel can stably tow.
This embodiment one-object-many-purposes, compact conformation, all features of the vehicle that need when having the transfer public transport means.Also be good advertising carrier simultaneously.
Claims (5)
1. a sing-wheel transporter is made up of wheel, axletree, wheel fork, vertical tube, vehicle frame etc., as the parts that mainly contact with stayed surface, and this wheel rolling is moved with the wheel of a circle, it is characterized in that:
The bottom of wheel fork links to each other with wheel by axletree, and wheel fork top captive joint vertical tube, and the vehicle frame that connects carrying platform rotatably is being connected above the wheel on the vertical tube, and the mechanism of control rotation is set between vertical tube and vehicle frame.The axle center of rotating mechanism and the angle of vertical direction are less than 45 degree, and the position of carrying platform is the position of load center of gravity above axletree vertical that makes on the axletree.
2. 1 sing-wheel transporter according to claim 1 is characterized in that:
The axle center of the rotating mechanism between vehicle frame and vertical tube and the angle of vertical direction, less than 45 degree and tilt to the carrying platform direction greater than 0 degree.
3. as sing-wheel transporter as described in the claim 2, it is characterized in that:
The place ahead of wheel is provided with a cross bar parallel with axletree, and cross bar is fixed or the mode of adjustable position is connected on the car body.
4. as sing-wheel transporter as described in the claim 2, it is characterized in that:
Described device is served as reasons and is controlled the self-balancing electric unicycle of vehicle wheel rotational speed implement device anterior-posterior balance.
5. as sing-wheel transporter as described in the claim 3, it is characterized in that:
Described device is served as reasons and is controlled the self-balancing electric unicycle of vehicle wheel rotational speed implement device anterior-posterior balance.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNA2008100654058A CN101513911A (en) | 2008-02-22 | 2008-02-22 | Sing-wheel transporter |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNA2008100654058A CN101513911A (en) | 2008-02-22 | 2008-02-22 | Sing-wheel transporter |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN101513911A true CN101513911A (en) | 2009-08-26 |
Family
ID=41038562
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CNA2008100654058A Pending CN101513911A (en) | 2008-02-22 | 2008-02-22 | Sing-wheel transporter |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN101513911A (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102139733A (en) * | 2010-02-03 | 2011-08-03 | 陈和 | Power-driven unicycle |
| CN102275621A (en) * | 2010-09-06 | 2011-12-14 | 陈和 | Electric unicycle |
| US8467941B2 (en) | 2008-11-06 | 2013-06-18 | Segway, Inc. | Apparatus and method for control of a vehicle |
| CN103770895A (en) * | 2014-01-09 | 2014-05-07 | 温宝忠 | Serviceable one-wheel electrombile with balancing wheels and rolling bearings |
-
2008
- 2008-02-22 CN CNA2008100654058A patent/CN101513911A/en active Pending
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US8467941B2 (en) | 2008-11-06 | 2013-06-18 | Segway, Inc. | Apparatus and method for control of a vehicle |
| US9168966B2 (en) | 2008-11-06 | 2015-10-27 | Segway, Inc. | Apparatus and method for control of a vehicle |
| US9477228B2 (en) | 2008-11-06 | 2016-10-25 | Segway, Inc. | Apparatus and method for control of a vehicle |
| CN102139733A (en) * | 2010-02-03 | 2011-08-03 | 陈和 | Power-driven unicycle |
| CN102139733B (en) * | 2010-02-03 | 2012-11-28 | 陈和 | Power-driven unicycle |
| CN102275621A (en) * | 2010-09-06 | 2011-12-14 | 陈和 | Electric unicycle |
| CN102275621B (en) * | 2010-09-06 | 2013-08-21 | 陈和 | Electric unicycle |
| CN103770895A (en) * | 2014-01-09 | 2014-05-07 | 温宝忠 | Serviceable one-wheel electrombile with balancing wheels and rolling bearings |
| CN103770895B (en) * | 2014-01-09 | 2015-11-18 | 温宝忠 | A kind of electric enicycle for transport with balance rollers and rolling bearing |
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Legal Events
| Date | Code | Title | Description |
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| C06 | Publication | ||
| PB01 | Publication | ||
| C02 | Deemed withdrawal of patent application after publication (patent law 2001) | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Open date: 20090826 |