KR101541973B1 - Leg type bicycle - Google Patents

Abstract

A legged bicycle according to an embodiment of the present invention includes a bicycle frame; And a rear leg moving part rotatably mounted in front of the bicycle frame, and a rear leg moving part rotatably mounted behind the bicycle frame; A driving unit for driving the moving module; And a control unit for controlling the driving unit, wherein the control unit includes: a pedal sensing unit that senses a rotational speed of a pedal that is rotatably mounted on the bicycle frame; And a control unit for controlling the driving speed of the driving unit based on the information sensed by the pedal sensing unit. According to the present embodiment, the moving module is provided not as a wheel structure but as a leg type so that it can move smoothly even if there is an obstacle such as a stepped staircase.

Description

Leg type bicycle {Leg type bicycle}

The bridge type bicycle is started. More particularly, the present invention relates to a bridge type bicycle in which a moving module is provided as a bridge type so that even if there is an obstacle such as a stepped stairway, the bridge type bicycle can move smoothly.

There are a number of moving devices driven by the rotation of the wheels. For example, there is a bicycle that is driven by a pedal and a steering wheel, to which front and rear rotatable wheels are attached. Bicycles are not only good mobility, they are easy to ride, and they are used regularly because they have a lot of momentum and benefit their health.

A general bicycle includes a bicycle frame on which a handle for steering is mounted, wheels which are rotatably mounted on the front and rear of the frame, a pedal, a pedal, A chain for transmitting to the wheel, and a brake means for stopping the rotation of the wheel by an operation of a lever on the handle.

However, the above-mentioned bicycle has an advantage that it has excellent mobility, but has a limitation that it can travel only on a flat ground due to the wheel structure. For example, if a person is required to drive a stairway while driving, the passenger may have to choose to turn to another road, or the bicycle may have to climb the stairs.

Therefore, it is required to develop a bicycle having a new structure such as that disclosed in Korean Patent Publication No. 2006-0059235, in which a place having a step like a stairway can move smoothly.

An object of an embodiment of the present invention is to provide a leg type bicycle in which a moving module is provided not as a wheel structure but as a leg type so that it can move smoothly even if there is an obstacle such as a stepped staircase.

Another object of the present invention is to provide a leg-type bicycle in which the driving part provides driving force for rotation of the moving module, thereby reducing the occupant's physical power consumption, thereby increasing convenience.

A legged bicycle according to an embodiment of the present invention includes a bicycle frame; And a rear leg moving part rotatably mounted in front of the bicycle frame, and a rear leg moving part rotatably mounted behind the bicycle frame; A driving unit for driving the moving module; And a control unit for controlling the driving unit, wherein the control unit includes: a pedal sensing unit that senses a rotational speed of a pedal that is rotatably mounted on the bicycle frame; And a control unit controlling the driving speed of the driving unit based on the information sensed by the pedal sensing unit. According to this configuration, the moving module is provided in a leg type rather than a wheel structure, Even if there is an obstacle, it can move smoothly.

According to one aspect, each of the front leg moving part and the rear leg moving part comprises: A shaft mounted on the bicycle frame; A leg portion rotatably coupled to the shaft and having a plurality of leg members for allowing movement by depressing and pushing the ground during rotation; And a brake mounted on the shaft for braking rotation of the leg portion.

According to one aspect of the present invention, the control unit further includes a lever sensing unit for sensing the operation of the brake lever mounted on the bicycle frame and then transmitting sensing information to the control unit. When the occupant pulls the brake lever, The driving of the moving module may be stopped by operating the brake or by stopping the operation of the driving unit.

According to one aspect of the present invention, the pair of legs are provided so as to be spaced along the longitudinal direction of the shaft, and each of the legs may be disposed at equal intervals along the circumferential direction of the shaft.

According to one aspect, the leg member includes: a plurality of joint portions; And an elastic portion connecting the plurality of joint portions to enable deformation of the other joint portion with respect to one joint portion.

According to one aspect, the leg member may further include a non-slip pad mounted on an end of the plurality of joint parts to prevent slippage when contacting the ground.

According to one aspect, the elastic portion may be of a spring or torsion spring type.

According to one aspect, the driving unit may include drive motors individually mounted to the pair of legs and selectively driveable under the control of the control means.

According to the embodiment of the present invention, the moving module is provided in a leg type rather than a wheel structure so that even if there is an obstacle such as a stepped staircase, the moving module can move smoothly.

Also, according to the embodiment of the present invention, since the driving unit provides the driving force for the rotation of the moving module, it is possible to reduce the physical power consumption of the occupant, thereby improving convenience.

1 is a perspective view of a legged bicycle according to an embodiment of the present invention.
2 is a block diagram of control means for controlling the bicycle shown in Fig.
3 is a perspective view of the rear leg moving part of the mobile module shown in Fig.
FIGS. 4A to 4C are diagrams showing a rotating operation of the legged moving part under the control of the control means. FIG.
FIGS. 5A to 5C are diagrams showing the leg control of the front leg moving unit and the rear leg moving unit shown in FIG. 1. FIG.
6 is a view schematically showing the configuration of a leg-type moving part of a leg-type bicycle according to another embodiment of the present invention.
7 is a view schematically showing a configuration of a leg-type moving part of a leg-type bicycle according to another embodiment of the present invention.

Hereinafter, configurations and applications according to embodiments of the present invention will be described in detail with reference to the accompanying drawings. DETAILED DESCRIPTION OF THE INVENTION The following description is one of many aspects of the claimed invention and the following description forms part of a detailed description of the present invention.

In the following description, well-known functions or constructions are not described in detail for the sake of clarity and conciseness.

FIG. 1 is a perspective view of a leg-type bicycle according to an embodiment of the present invention, FIG. 2 is a block diagram of control means for controlling the bicycle shown in FIG. 1, Fig.

As shown in these drawings, the leg type bicycle 100 according to an embodiment of the present invention includes a bicycle frame 110, a front leg moving unit 150 mounted on the front and rear of the bicycle frame 110, A driving module 180 driving the moving module 130 and a control module 160 controlling the driving module 180 according to the intention of the passenger can do.

In the leg type bicycle 100 having such a configuration, since the moving module 130 is provided not as a wheel type but as a leg type, it can move not only on a flat ground but also on a sloped place, Can be increased.

First, as shown in FIG. 1, the bicycle frame 110 is provided with a saddle 111 on which a passenger boarded, a steering handle 112 for steering, and a pedal 113 . The occupant can sit on the saddle 111 to operate the handle 112 and also rotate the pedal 113 to travel to a desired place.

Although not shown in detail, the bicycle frame 110 may include a driving unit 180 for driving the moving module 130 and a control unit 160 for controlling the driving unit 180. The driving unit 180 is provided with a total of four driving motors 181, 182, 183 and 184 so that a pair of the front leg moving unit 150 and the rear leg moving unit 140, The legs 141, 145, 151 and 155 can be individually driven. This will be described later.

Meanwhile, the moving module 130 of the present embodiment may include a front leg moving part 150 and a rear leg moving part 140 having substantially the same configuration. Accordingly, the rear leg moving part 140 will be described below, and the description of the front leg moving part 150 will be omitted or schematically shown only for necessary parts.

The rear leg moving part 140 of the moving module 130 of the present embodiment includes a shaft 115 disposed transversely to the space between the frames 110 as shown in Figs. 1 and 3, and particularly Fig. 3, A pair of legs 141 and 145 rotatably coupled to the shaft 115 and a brake 190 mounted on the shaft 115 for braking rotation of the legs 141 and 145 can do. At this time, the legs 141 and 145 can be driven by the respective driving motors 181 and 182 so that the pair of legs 141 and 145 can be individually driven.

That is, the legs 141 and 145 can be rotated not only in one direction but also in the other direction by the driving force provided from the respective driving motors 181 and 182, and the rotational speed can be controlled.

Each of the legs 141 and 145 may include three leg members 141a and 145a formed in the circumferential direction, as shown in Fig. That is, the three leg members 141a and 145a are equidistantly spaced at intervals of 120 degrees, thereby allowing the bicycle 100 of the present embodiment to stably run by pivoting the ground surface or rotating the ground during rotation. However, the number of the leg members 141a and 145a is not limited to this, and it is of course possible to provide four leg members arranged at different numbers, for example, 90 degrees apart.

Each of the leg members 141a and 145a has a joint portion. 3, the leg member 141a includes two joint portions 142, that is, one joint 142a and a second joint 142b. And the first joint 142a and the second joint 142b are connected to a spring-type elastic portion 143 having an elastic force.

Therefore, elastic energy is stored by compression of the elastic portion 143 when each of the leg members 141a and 145a touches the ground, and stored energy is used again as driving force, thereby improving driving efficiency. The second joint 142b with respect to the first joint 142a is connected to the elastic portion 143 so that the position of the second joint 142b with respect to the first joint 142a can be corrected to some extent So that the stability of the running can be improved.

The end of the second joint 142b may be provided with a non-slip pad 144 for preventing slippage when contacting the ground. The non-slip pad 144 may be made of a material such as rubber. Although shown as being round in the drawing, it is to be appreciated that the anti-slip pad 144 may be provided in a plate shape or the like in order to improve stability upon contact with the ground.

On the other hand, referring to FIG. 3, the obstacle height or torque that can be overcome can be determined according to the distance L between the ends of the leg members 141a and 145a. The greater the distance L between the end portions of the leg members 141a and 145a, the higher the obstacle can be overcome, but the longer the leg members are, the greater the driving torque provided from the driving unit 180 is.

On the other hand, the leg type bicycle 100 of the present embodiment has a mode different from the conventional operation mode in which the passenger rotates the pedal 113 so that the rotational force of the pedal is transmitted to the wheel by the chain. In the case of the present embodiment, the operation of the movement module 130 can be performed under the control of the control means 160. [

The control means 160 of the present embodiment includes a pedal sensing portion 161 for sensing the rotational speed of the pedal 113 rotatably mounted on the bicycle frame 110 and a brake lever 114 And a control unit 170 for controlling the driving speed of the driving unit 180 based on information sensed by the pedal sensing unit 161 or the lever sensing unit 165, ).

The pedal sensing unit 161 may be an encoder. However, the present invention is not limited thereto.

When the speed of rotation of the pedal 113 is increased, the pedal sensing unit 161 senses information of the speed of the pedal 113 in real time, and then transmits the information to the controller 170. The controller 170 controls the pedal 113 182, 183, and 184 of the driving unit 180 at a speed corresponding to the rotational speed, the traveling speed can be increased. If the rotational speed of the pedal 113 is slowed down, the control unit 170 senses the information in real time and transmits the sensed information to the controller 170. The controller 170 controls the driving unit 180 at a speed corresponding to the reduced rotational speed of the pedal 113, 182, 183, and 184 of the drive motors 181, 182, 183, and 184, the traveling speed can be reduced.

When the occupant pulls the brake lever 114, the lever sensing unit 165 senses whether or not the lever 114 is operated, and then transmits the sensed information to the control unit 170. Then, The bike can be braked in one of two ways, and the bike can be braked in the two ways.

First, when the lever sensing portion 165 senses that the brake lever 114 is pulled, the controller 170 controls the operation of each of the drive motors 181, 182, 183, and 184 of the driver 180 based on the sensed information The running of the bicycle 100 can be stopped.

Secondly, when the lever sensing portion 165 senses that the brake lever 114 is pulled, the controller 170 controls the brake 190 mounted on the shaft 115 based on the sensing information, .

As described above, the running speed of the bicycle 100 can be selectively controlled by the control of the control means 160, and also the stopping operation can be accurately performed. In addition, although the operation of rotating the pedal 113 is performed, since it is different from the conventional method of transmitting power through the chain, it is possible to reduce the occupant's physical power consumption compared with the conventional one, .

Hereinafter, the principle of controlling the driving unit 180 by the control unit 170 will be described with reference to FIGS. 4A to 4C.

FIGS. 4A to 4C are diagrams showing a rotating operation of the legged moving part under the control of the controller 170. FIG.

), 각 다리부(141, 145)의 회전 속도(

,

,

,

)를 제어할 수 있다.The control unit 170 of the present embodiment controls the driving motors 181 and 182 mounted on the respective legs 141 and 145 according to the rotational speed of the pedal 113, It is possible to control the rotation speed at the time of touching the ground, the rotation speed at the time of falling from the ground, and the rotation speed in each rotation section. That is, the angle

, The rotational speeds of the leg portions 141 and 145

,

,

,

Can be controlled.

) 및 각 다리부의 회전 속도(

,

,

,

) 등을 제어한다. 가령, 지령 주행 속도가 낮으면 지면에 닿는 각도(

)를 크게 하고, 각 다리부(141, 145)의 회전 속도(

,

,

,

) 등을 작게 한다. 반대로 지령 주행속도가 높으면, 지면에 닿는 각도(

)를 작게 하고, 각 다리부(141, 145)의 회전 속도(

,

,

,

) 등을 크게 할 수 있다.The control unit 170 of the present embodiment determines the angle of contact with the ground according to the command running speed of the controller 170 according to the rotational speed of the pedal 113 of the bicycle

) And the rotational speed of each leg (

,

,

,

And the like. For example, if the command running speed is low,

And the rotational speeds of the leg portions 141 and 145

,

,

,

). On the other hand, if the command running speed is high,

And the rotational speeds of the leg portions 141 and 145

,

,

,

) Can be increased.

) 및 각 다리부(141, 145)의 회전 속도(

,

,

,

) 등을 초기 다리 각도차(60도)를 갖는 하나의 다리부(141)와 다른 하나의 다리부(145)가 따르도록 제어부(170)가 다리부(141, 145)들의 각 구동모터(181, 182)를 제어하여 수행할 수 있다.The running of the bicycle 100 in the front direction may be performed at an angle to reach the ground determined according to the command running speed of the controller 170 according to the rotational speed of the pedal 113 of the bicycle 100

And the rotational speeds of the leg portions 141 and 145

,

,

,

) Of the legs 141 and 145 to the respective driving motors 181 and 182 of the legs 141 and 145 such that one leg 141 having the initial leg angle difference (60 degrees) and the other leg 145 follow. , 182).

The leg type bicycle 100 of the present embodiment includes two leg portions 151 and 155 of the front leg moving portion 150 and two leg portions 141 and 145 of the rear leg moving portion 140 The leg angle difference can be controlled. Hereinafter, for convenience of explanation and understanding, the two leg portions of the front leg moving portion 150 are referred to as a first leg portion 155 and the second leg portion 151, and the two leg portions of the rear leg moving portion 140 The leg portions are referred to as a third leg portion 145 and a fourth leg portion 141.

FIGS. 5A to 5C are diagrams showing the leg control of the front leg moving unit and the rear leg moving unit shown in FIG. 1. FIG.

5A, when the first leg portion 155 and the fourth leg portion 141 are made to have the same leg angle and the second leg portion 151 and the third leg portion 145 are connected to the same leg The first leg portion 155 and the second leg portion 151 can be controlled to have different leg angles.

Alternatively, as shown in FIG. 5B, the first leg portion 155 and the third leg portion 145 may have the same leg angle and the second leg portion 151 and the fourth leg portion 141 may have the same leg angle The first leg portion 155 and the second leg portion 151 can be controlled to have different leg angles.

The first leg portion 155 and the second leg portion 151 may have the same leg angle and the third leg portion 145 and the fourth leg portion 141 may have the same leg angle, The first leg portion 155 and the third leg portion 145 can be controlled to have different leg angles.

As described above, the driving motors 181, 182, 183 and 184 provided in the respective legs 141, 145, 151 and 155 are individually driven and the control unit 170 drives them separately, , 145, 151, and 155 may be different from each other, and thus the optimized running can be realized by appropriately adjusting the leg angle at times.

As described above, according to one embodiment of the present invention, the moving module 130 is provided as a leg type rather than a wheel structure, so that even if there is an obstacle such as a stepped staircase, the moving module 130 can move smoothly, Thereby providing a driving force for rotation of the driver 130, thereby reducing the occupant's physical power consumption.

Hereinafter, a configuration of a leg-type bicycle according to another embodiment of the present invention will be described, but a description of parts substantially identical to those of the bicycle of the embodiment described above will be omitted.

6 is a view schematically showing the configuration of a leg-type moving part of a leg-type bicycle according to another embodiment of the present invention.

As shown in the figure, each leg member 231 of the leg-type shifting portion 230 of the bicycle of the present embodiment can be applied with a torsion spring 235 as an elastic portion. The other joint 233 with respect to one joint 232 is connected to the torsion spring 235, so that flexibility of running can be obtained. Further, driving force can be obtained when the ground surface is running or running. In other words, elastic energy is stored by compression of the torsion spring 235 when the leg member 231 touches the ground, and stored energy is used again as driving force, thereby improving driving efficiency.

7 is a view schematically showing a configuration of a leg-type moving part of a leg-type bicycle according to another embodiment of the present invention.

As shown in the figure, each of the leg members 331 of the leg-type shifting portion 330 of the bicycle of the present embodiment can be made up of three joints 332, 333, and 334, and the joints 332, 333, A torsion spring 335 may be provided between the first and second plates. The torsion springs 335 in the respective leg members 331 are staggered to improve the variety of movements of the joints 332, 333, and 334.

It will be apparent to those skilled in the art that various modifications and variations can be made in the present invention without departing from the spirit and scope of the invention. Accordingly, such modifications or variations are intended to fall within the scope of the appended claims.

100: Bridge type bicycle
110: Bicycle frame
113: Pedal
114: Brake lever
130: Moving module
140: rear leg moving part
141, 145:
150: front leg moving part
151, 155:
160: Control means
161: Pedal sensing unit
165: Lever detection unit
170:
180:
190: Break

Claims (8)

bicycle frame; And
A moving module having a front leg moving part rotatably mounted in front of the bicycle frame and a rear leg moving part rotatably mounted behind the bicycle frame;
A driving unit for driving the moving module; And
Control means for controlling the driving unit;
/ RTI >
Wherein,
A pedal sensing unit for sensing a rotational speed of a pedal that is rotatably mounted on the bicycle frame; And
A control unit for controlling a driving speed of the driving unit on the basis of information sensed by the pedal sensing unit;
/ RTI >
The front leg moving part and the rear leg moving part are respectively provided with:
A shaft mounted on the bicycle frame;
A pair of legs coupled to both sides of the shaft so as to be rotatable with respect to the shaft, the pair of legs each having a plurality of leg members for allowing movement by depressing and pushing the ground during rotation; And
And a brake mounted on the shaft for braking rotation of the leg portion,
Wherein:
A plurality of joint portions; And
And an elastic portion connecting the plurality of joint portions to allow deformation of the other joint portion with respect to one joint portion,
Wherein the driving portion includes a plurality of driving motors for individually driving the pair of leg portions of the front leg moving portion and the pair of leg portions of the rear leg moving portion.
delete The method according to claim 1,
Wherein,
Further comprising a lever sensing unit for sensing operation of a brake lever mounted on the bicycle frame and transmitting sensing information to the control unit,
A leg type bicycle in which when the occupant pulls the brake lever, the control unit operates the brake or stops the operation of the driving unit to stop driving the moving module,
The method according to claim 1,
The pair of legs are spaced along the longitudinal direction of the shaft,
Wherein each of the leg portions is disposed at equal intervals along the circumferential direction of the shaft.
delete The method according to claim 1,
Wherein:
Further comprising a non-slip pad mounted on an end of the plurality of joint portions to prevent slipping when contacting the ground.
The method according to claim 1,
Wherein the elastic portion is provided in a spring or torsion spring type.
The method of claim 3,
Wherein the driving unit includes drive motors individually mounted to the pair of legs and selectively driveable under the control of the control unit.

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