WO2020142055A1

WO2020142055A1 - Self-balancing electric skateboard

Info

Publication number: WO2020142055A1
Application number: PCT/UA2019/000143
Authority: WO
Inventors: Александр Владимирович ВЛАЩИНСКИЙ
Original assignee: Александр Владимирович ВЛАЩИНСКИЙ
Priority date: 2019-01-02
Filing date: 2019-11-14
Publication date: 2020-07-09

Abstract

A self-balancing electric skateboard consists of an elongate platform (1) with two support regions (2) for accommodating a user's feet. In the centre portion of the platform between the support regions two electric motor/wheels (3) are coaxially arranged, each of which is mounted on an independent suspension (4) with a spring (5) of an electromagnetic shock absorber (6), wherein the axles of the wheels are oriented perpendicular to the longitudinal axis of the platform. The electric skateboard also comprises at least one electric motor/wheel controller (7), one electromagnetic shock absorber controller (8), and two modules for sensing the orientation of the platform, namely an orientation sensing module (9) capable of determining the tilt of the platform relative to an axle of an electric motor/wheel, and an orientation sensing module (10) capable of determining the tilt of the platform relative to its longitudinal axis.

Description

SELF-BALANCING ELECTROSKATE

Technical field

The invention relates to small individual electric vehicles mainly for entertainment or sports.

State of the art

Known designs of electric self-balancing vehicles, which are an oblong platform, in the center of which is a pair of coaxial wheels. In this case, the axles of the wheels are oriented perpendicular to the longitudinal axis of the platform. The user places the feet on the edges of the platform approximately parallel to the axles of the wheels and, deflecting its own center of gravity, controls the change in vehicle movement [1-5].

The disadvantages of the above vehicles are the complexity of the design, the high cost, the movement only on relatively flat surfaces (i.e. the impossibility of traveling on impassable roads).

Closest to the proposed invention is the design of a self-balancing electric vehicle [6], containing an elongated platform with two supporting platforms for placing the user's feet between which there are two coaxial electric motor wheels, each of which is mounted on an independent suspension with a spring shock absorber, and the wheel axles oriented perpendicular to the longitudinal axis of the platform. The vehicle also includes at least one orientation sensor module with the possibility of detecting the inclination of the platform relative to the axes of the electric motor wheels and at least one electric motor wheel controller configured to control them based on the output signal of the orientation sensor module .

The disadvantages of this vehicle design are the impossibility of automatic balancing (stabilization) relative to the longitudinal axis of the platform, the use of shock absorbers with imperfect damping characteristics. Disclosure of invention

The objective of the invention is the expansion of functional and operational capabilities, improving the cushioning properties. This is achieved by adding active suspension to the vehicle structure by introducing additional controllable electromagnetic shock absorbers, as well as by improving the suspension elements.

Brief Description of the Drawings

Figure 1 shows a axonometric view of the electroskate (first option); figure 2 is a side view of the electroskate of the first embodiment; on Fig.Z is a top view of the electroskate of the first embodiment; figure 4 is a section aa of fig.Z; Figures 5 and 6 show a detail of a section A-A (views B and C); Fig.7 is a perspective view of an electroskate when turning; on Fig is a rear view of the electric skate when turning; figure 9 is a perspective view of an electroskate (second option); figure 10 is a side view of the electric skateboard of the second embodiment; figure 1 1 is a top view of the electroskate of the second embodiment; in Fig.12 is a perspective view of an electric skateboard (third embodiment) with transport rollers; in Fig.13 is a side view of the electric skate of the third embodiment; on Fig is a top view of the electric skate of the third option; in FIG. 15 to 17 show a detail of FIGS. 12 and 13 (views G, D, E); in Fig.18 is a perspective view of an electroskate during its transportation; on Fig - stages of operation of the electroskate; in Fig.20 is a structural diagram of an electric skate.

The implementation of the invention

The self-balancing electro-skate (hereinafter electro-skate) consists of an oblong-shaped platform 1 with two supporting platforms 2 for placing the user's feet. In the central part of the platform 1, between the supporting platforms 2, there are two coaxial electric motor wheels 3, each of which is mounted on an independent suspension 4 with spring 5 and electromagnetic 6 shock absorbers, and the axles of the wheels Yi and Yi are oriented perpendicular to the longitudinal axis X of the platform 1. Also, the electric skate includes at least one controller 7 of the electric motor-wheels 3, one controller 8 of electromagnetic shock absorbers 6 and two module-orientation sensors of the platform: the first module is the orientation sensor 9 with the possibility of determining the inclination of the platform relative to the axes Yi and Y2 electric motor-wheels 3, the second module is an orientation sensor 10 with the ability to determine the inclination of the platform relative to its longitudinal axis X.

The electric motor-wheel 3 is a wheel 11 with a pneumatic tire 12 and a brushless electric motor 13 built into the hub. The axis 14 of the electric motor-wheel 3 has two points of support and is fixed in the vertical brackets 15 of the suspension 4. In the joint housing with the engine, a power transmission (for example, a planetary gearbox) and a controller can be placed. In this design of the electric skate, the controller 7 is moved outside the motor 13 and connected to it by a flexible electric wire 16. The outer diameter D of the electric motor-wheel 3 can be in the range of 9 "<D <16" (228.6 mm <D <406.4 mm).

The platform 1 is a rectangular frame 17 with rounded corners 18. The frame 17 can be made of high-quality hollow or special metal profile. In this case, the design of the frame of a rectangular pipe is described.

The extreme parts 19 of the frame 17 are bent upwards by about 1/4 in relation to its length. The bending angle a relative to the plane of the frame 17 may be in the range from 165 ° to 180 °.

On top of the bent parts 19 of the frame 17 are supporting platforms 2 with a non-slip surface for placing the feet of the user, and below - protective covers 20. Inside the bent parts 19, between the supporting platforms 2 and the casings 20, there is an electric skateboard: batteries 21, controllers 7, 8 , sensors 9, 10, etc.

Bottom of the rounded corners 18 of the frame 17 are fixed elastic support (for example, rubber) elements 22 for supporting the electro-skate on the ground, which can also be used during additional or emergency braking.

Each independent suspension 4 of the electric motor-wheel 3 is a U-shaped elongated bracket 23, each of the ends of the straight sections (inner — 24, outer — 25) of which is connected to the platform 1 by means of a cylindrical hinge 26. The bracket 23 is connected to the opposite side from the hinge 26 with platform 1 by means of spring 5 and electromagnetic 6 shock absorbers. In addition, the lower radius part 27 of the bracket 23 is based on elastic buffers (chippers) 28 shock absorbers 5, 6.

From the bottom of the bracket 23, on each of its rectilinear sections 24, 25 (approximately in the middle), there is one vertical bracket 15, opposite each other, having through grooves 29 that are directed perpendicularly downward relative to the plane of the bracket 23. In the through grooves 29 of the brackets 15 there is an axis 14 electric motor-wheels 3, which can move freely along them. The axis 14 is fixed in the position required by the length of the grooves 29 by the fixing elements 30. In this way, the protrusion of the electric motor-wheel 3 relative to the lower surface of the platform 1 is regulated. The stops 31 prevent the axis 14 from falling out of the brackets 15 in case of its unreliable fixation.

On top of each bracket 23, above the electric motor-wheel 3, is a protective shield 32 (on some sketches one of the shields is not shown).

The spring shock absorber 5 is a cylindrical rod 33 with a thread extending perpendicular to the plane of the bracket 23 through one of its two straight sections — the inner 24 or the outer 25, and is connected to the platform 1 using a double hinge 34 on which the buffer 28 is fixed. On the opposite ( from the hinge 34) to the side of the rod 33 is a threaded elasticity regulator 35, between which and a straight section of the bracket 23, wrapping the rod 33, there is a twisted compression spring 36.

The electromagnetic shock absorber 6 is a linear tubular electromagnetic motor 6a, in which the primary element is the stator 37, containing a series of ring-shaped electromagnetic coils, creating an electromagnetic field with its linear movement along the axis of the tubular body of the stator 37. The electromagnetic field forces the secondary motor element to move - the armature 38 , coaxially located inside the stator 37. Anchor 38 is made in the form of a cylindrical tube, inside of which there are permanent magnets based on rare-earth elements.

The electromagnetic shock absorber 6 is located similarly to the spring shock absorber 5 on the inner 24 or outer 25 straight portion of the bracket 23. In the first embodiment of the electroskate, the spring shock absorber 5 is located on the inner rectilinear section 24 of the bracket 23, and the electromagnetic shock absorber 6 on the outer 25. The stator 37 is rigidly mounted on top of the bracket 23, perpendicular to its plane, on one of its two rectilinear sections - 24 or 25, and the anchor 38, like the rod 33 of the spring shock absorber 5 passes through a straight section of the bracket 23 and is connected to the platform 1 by means of a double hinge 34, on which a buffer 28 is fixed.

Other options for the location of shock absorbers in the design of the electric skate are also possible. The second variant of the electric skate (Fig. 9 - 1 1) provides for the placement of the spring shock absorber 5 on the inner rectilinear section 24 of the bracket 23, while the electromagnetic shock absorber 6 is located on the outer rectilinear section 25 of the bracket 23 at an acute angle relative to its plane. The stator 37 is pivotally connected to the bracket 23 by means of a low bracket 39 located near the upper radius portion 40 of the bracket 23, and the armature 38 is pivotally connected to the platform 1 by means of a high bracket 41 fixed to the frame 17 of the platform 1 next to the cylindrical hinge 26.

The third variant of the electroskate (Figs. 12-14) provides for the combination of spring 5 and electromagnetic 6 shock absorbers in one common unit 42 with their parallel functioning. That is, the compression spring 36, entwining the stator 37 of the linear motor 6a, relies at one end on the elasticity regulator 35 located on the stator 37, and at the other end the spring 36 rests on the thrust washer 43, mounted on the end of the armature 38. Such an assembly 42 is located on the external rectilinear section 25 of the bracket 23 at an acute angle relative to its plane. The stator 37 is pivotally connected to the bracket 23 by means of a low bracket 39 located near the upper radius portion 40 of the bracket 23, and the armature 38 is pivotally connected to the platform 1 by means of a high bracket 41 fixed to the frame 17 of the platform 1 next to the cylindrical hinge 26.

The orientation sensor module 9 or 10 is a combination of two types of inertial sensors (motion sensors) in one housing - a gyroscope and an accelerometer based on microelectromechanical systems (MEMS). Gyroscope - a sensor measuring angular velocity, an accelerometer - a sensor measuring linear acceleration. Also, both sensors are inclinometers, i.e. measure tilt angles. The orientation sensor module has the ability to measure the change in position of an object in three spatial dimensions simultaneously. Therefore, for complete measurements in similar vehicles with an automatic balancing system, it is the orientation sensor module that is used.

Automatic balancing of the electric skate relative to the axes Yi and Ug of the electric motor-wheels 3 is based on a feedback system. That is, the feedback creates a closed loop: the controller 7 supplies a control signal to the electric motor-wheels 3 proportional to the sum / difference between the current value of the position of the electric skate (generated by the first orientation sensor module 9) and the set value so that this amount / difference decreases.

The movement of the electroskate is controlled by the transfer of the center of gravity of the user relative to the conditional center of the electroskate. By deflecting the center of gravity of the body, for example, to the left, the electro-skate is gaining speed, to the right - it slows down or changes the direction of movement.

The electric skate control provides two modes: passive and active (or mixed). With passive control, the user, moving his own center of gravity forward or backward, tilts the platform 1 relative to its longitudinal axis X, respectively, tilts to the sides of the electric motor-wheel 3 and turns the electroskate. In this case, the rotation speed of the electric motor-wheels 3 is the same, and the turning arc is smooth. With active control, differential control of the electric motor-wheels 3 is added. That is, in the case of the inclination of the platform 1 relative to its longitudinal axis X, the second orientation sensor module 10 senses such position changes and corrects the output signal of the electric motor-wheel controller 7 so that the angular velocity COi one electric motor-wheel differs from angular speed

0) 2 of the other, and the electroskate then turns in an arc with a smaller radius than with passive control of the turns. In this case, there is a proportional dependence of the difference in angular velocities 0) i and 0) 2 of the electric motor-wheels 3 on the inclination angle b of the platform 1, as well as on the speed V of the electroskate itself. The greater the lateral angle of inclination b of platform 1, the greater the difference in the angular speeds of COi and 0) 2 of the electric motor-wheels 3. The faster the movement of the electric skate, the smaller the difference in angular speeds of 0) i and 0) 2 of the electric motor-wheels 3.

The user can change the control modes of turns with a switch (not shown) located directly on the electric skateboard or remotely from the remote control, or a smartphone (as an option).

The independent suspension 4 of the electric motor-wheels 3 gives an additional degree of freedom to the platform 1 - tilts relative to its longitudinal axis X. It is advisable to balance such mobility before starting the movement of the electroskate.

Introduction to the design of the suspensions 4 additional controlled electromagnetic shock absorbers 6 solves the aforementioned task. The automatic stabilization of platform 1 relative to its longitudinal axis X is also based on a feedback system and is similar to the scheme of automatic balancing of an electric skate relative to the Yi and Y2 axes of the electric motor wheels 3. Namely, the feedback creates a closed loop: the controller 8 supplies the electromagnetic shock absorbers 6 with a proportional control signal the sum / difference between the flow value of the position of the platform 1 (generated by the second module-orientation sensor 10) and the set value so that this amount / difference is reduced.

Another option is also possible to stabilize the platform 1 relative to its longitudinal axis X before the start of the movement of the electroskate. After turning on the power of the electroskate, the electromagnetic shock absorbers 6 immediately acquire maximum rigidity, respectively, practically immobilize the platform 1 relative to its longitudinal axis X. Small mobility will remain within the elasticity of the tires 12 of the electric motor-wheels 3. The user stands on the electroskate and, as soon as it initiates its forward movement or backward, electromagnetic shock absorbers 6 go into automatic control mode and begin to fulfill their main function - shock absorption. In the active suspension mode, the controller 8 of the electromagnetic shock absorbers 6 may be guided by the output signals of the first sensor module 9, the second sensor module 10 or both at the same time. Sensitive to vibration accelerometers, which are part of the module-sensors 9 and 10, automatically adjust the signal to change the stiffness of the electromagnetic shock absorbers 6.

Additionally, electromagnetic shock absorbers 6 in the process of lateral inclinations of the platform 1 can reinforce such inclinations. For this, the controller 8 of the electromagnetic shock absorbers 6 uses the output signal of the second sensor module 10. That is, the user initiates only a change in the direction of the lateral inclination of the platform 1, and the electromagnetic shock absorbers 6 are used as levers for tilting the platform 1.

With a low charge of the batteries 21, when further movement on the electric skateboard will be impossible or it will be necessary to move the electric skateboard in public places (for example, the metro), there is a need for additional structural elements. Such elements can be transport rollers, handles, belts, etc. In this design of the electric skate, platform 1 at one of its ends 1a, at rounded corners 18, contains a pair of transport rollers 44. Each roller 44 is located on a rotary support 45, the axis of rotation 02 which is directed along the platform 1 and is intersecting with an angle of 90 ° relative to the axis Oi of the roller 44. The pivot bearing 45 together with the roller 44 rotates around its axis 02 by 360 ° and has four fixed positions every 90 °. On the other side of the platform 1, opposite from the rollers 44, there is a handle 46 for holding the electro skate during its transportation.

Also, the transport rollers 44 may be removable. When there is no need to use rollers 44, they can be easily removed and placed inside the bent parts of the frame 19.

Sources of information taken into account:

1. US patent Ha 7.81 1.217 B2 2010.10.12.

2. Japan Application Ha JP 2018-12492 A 2018.1.25.

3. Application of China a CN 106237606 A 2016.12.21.

4. China Patent "CN 205924930 U 2017.02.08.

5. Chinese patent a CN 207060253 U 2018.03.02.

6. Application US Ha US 2018/0111039 A1 2018.04.26. IPC (2006.01): A 63 C 17/12.

Claims

CLAIM

1. Self-balancing electroskate containing an elongated platform with two supporting platforms for placing the user's feet, between which are two coaxial electric motor wheels, each of which is mounted on an independent suspension with a spring shock absorber, and the wheel axes are oriented perpendicular to the longitudinal axis of the platform; the first module is an orientation sensor located on the platform, with the possibility of determining its inclination relative to the axes of the electric motor wheels; at least one controller of the electric motor-wheels, configured to control them based on the output signal of the first orientation sensor module, characterized in that each independent suspension of the electric motor-wheel is additionally equipped with an electromagnetic shock absorber with the possibility of its parallel operation with a spring shock absorber.

2. Self-balancing electroskate, according to claim 1, characterized in that the electromagnetic shock absorber is a linear electromagnetic motor.

3. The self-balancing electro-skate according to claim 1, characterized in that it is additionally equipped with a second module-orientation sensor located on the platform, with the possibility of determining the inclination of the platform relative to its longitudinal axis.

4. Self-balancing electroskate, according to claims 1, 2, characterized in that it is equipped with at least one controller of electromagnetic shock absorbers with the ability to control them.

5. The self-balancing electroskate according to claim 4, characterized in that the electromagnetic damper controller is configured to control them based on the output signal of the second orientation sensor module.

6. The self-balancing electroskate according to claim 4, characterized in that the electromagnetic damper controller is configured to control them based on the output signal of the first orientation sensor module.

7. Self-balancing electroskate, according to claim 4, characterized in that the controller of electromagnetic shock absorbers is configured to control them based on the output signals of the first and second module-orientation sensors simultaneously.

8. The self-balancing electroskate, according to claims 1, 3, characterized in that the electric motor-wheel controller is configured for differential control based on the output signal of the second orientation sensor module.

9. The self-balancing electric skate according to claim 1, characterized in that the control of the turns of the electric skate includes two modes: passive - provided only lateral inclinations of the electric motor wheels and active (or mixed) - in which the passive one is complemented by differential control of the electric motor wheels.

10. The self-balancing electric skate according to claim 1, characterized in that each independent suspension of the electric motor wheel is a U-shaped elongated bracket, each of the ends of the straight sections of which is connected to the platform by means of a cylindrical hinge, and the bracket opposite to the hinge is connected to the platform by means of shock absorbers, while the lower radial part of the bracket rests on the elastic buffer of the shock absorbers, and the electric motor-wheel is fixed with its axis inside the bracket in vertical brackets.

11. The self-balancing electric skate according to claim 1, characterized in that the outer diameter D of the electric motor-wheel is in the range of 9 "<D <16" (228.6 mm <D <406.4 mm).

12. Self-balancing electroskate, according to claim 1, characterized in that the platform at one of its ends, at rounded corners, contains a pair of conveyor rollers.

13. The self-balancing electro-skate according to claim 12, characterized in that each transport roller is located on a pivot bearing, the pivot axis of which is directed along the platform and is crossed relative to the roller axis with an angle of 90 °, while the pivot bearing together with the roller rotates around its axis 360 ° and has four fixed positions every 90 °.

14. Self-balancing electroskate, according to PP.12,13, characterized in that the transport rollers are removable.