TWI583368B - Sitting personal transport vehicle - Google Patents

Description

Seated personal transport vehicle

The present invention relates to a transport vehicle, and more particularly to a seated personal transport vehicle that can be used in two or three rounds.

A prior art personal transport vehicle, as shown in FIG. 10, includes a chassis 91, two wheels 92, a support structure 93, a support actuator 94, a seat 95, an auxiliary wheel arm 96, and an auxiliary device. The wheel 97 is disposed on the left and right sides of the chassis 91. The support structure 93 is pivoted on the chassis 91 and forms a parallel four-bar linkage with the chassis 91. The support actuator 94 is disposed on the chassis 91 and the support structure. Between 93, the seat 95 is disposed on the top surface of the support structure 93; one end of the auxiliary wheel arm 96 is pivoted with the support structure 93; and the auxiliary wheel 97 is disposed at the other end of the auxiliary wheel arm 96.

In use, the auxiliary wheel 97 can form a three-wheel mode against the ground for use on a poor road surface and achieve the effect of stabilizing the body and improving safety; please refer to FIG. 11 or the auxiliary wheel 97 can leave the ground. The two-wheel mode is formed to improve flexibility and maneuverability when the vehicle is running smoothly.

Please refer to FIG. 10 and FIG. 11. However, although the aforementioned personal transportation vehicle can be switched into two modes, during the switching process, if the user is still sitting on the seat, danger may occur; in three-wheel mode. Switching to the two-wheel mode is an example. When switching, the support actuator 94 pulls the support frame 93 forward, and the support structure 93 pulls the auxiliary wheel arm 96 obliquely upward to make the auxiliary wheel 97 off the ground; In the three-wheel mode, the center of gravity of the seat 95 is located behind the axle, and as the support actuator 94 pulls the support structure 93, the center of gravity of the seat 95 gradually moves forward until the final center of gravity moves above the axle to stabilize. The two-wheel state; however, in the foregoing process, when the support actuator 94 pulls the support frame 93 forward, the auxiliary wheel 97 will immediately leave the ground, but the center of gravity is still at a distance from the axle, so if the user is at this time Still sitting in the seat, the user's weight will immediately produce a great backward torque, which may cause the car to tilt back; this is also the case when switching from two-wheel mode to three-wheel mode.

Therefore, when the aforementioned personal transportation vehicle is in the switching mode, the user must first stand up and wait for the seat to be seated, and this will cause inconvenience in use.

In view of the foregoing shortcomings and deficiencies of the prior art, the present invention provides a seated personal transport vehicle that allows a user to sit on a seat switch mode.

In order to achieve the above object, the technical means adopted by the present invention is to design a seated personal transport vehicle comprising: a chassis having a wheel on each side of the chassis; and a support structure disposed on the top of the chassis a front link group, a rear link set and a support platform, the support platform and the chassis are parallel to each other, and the chassis, the front link set, the rear link set and the support platform form a four-bar linkage mechanism; The actuator has a chassis and a support structure respectively disposed at two ends thereof; a seat disposed on the support platform; a combined frame disposed on the top surface of the chassis; and an auxiliary wheel structure disposed on the combined frame The utility model comprises an upper connecting rod group, a lower connecting rod group and an auxiliary wheel arm, wherein the auxiliary wheel arm and the coupling frame are located on opposite sides, and the combination frame, the upper link group, the lower link group and the auxiliary wheel arm form a four-link The auxiliary wheel actuator has a support structure and an auxiliary wheel structure at two ends thereof, and an auxiliary wheel which is disposed on the auxiliary wheel arm.

The invention has the advantages that when switching from the three-wheel mode to the two-wheel mode, the center of gravity movement and the auxiliary wheel movement are divided into two different stages. First, when the center of gravity moves, the supporting actuator pushes the four-bar linkage of the support structure to move. The center of gravity of the seat, while the auxiliary wheel actuator pushes the auxiliary wheel structure to hold the auxiliary wheel against the ground; after the frame to be supported is moved to the position, then the support actuator is not moved, and the auxiliary wheel actuator pulls the auxiliary wheel structure In order to retract the auxiliary wheel; when the center of gravity is moved, the auxiliary wheel still abuts against the ground, so that even if the user rides on the seat, the center of gravity can be stably moved, and when the auxiliary wheel leaves the ground, the seat The center of gravity has been adjusted to the top of the axle and remains stationary, thereby preventing the user's weight from causing excessive torque and causing the invention to overturn; the present invention thereby allows the user to ride on the seat without having to get up during the switching mode. Stand and be easy to use.

The technical means adopted by the present invention for achieving the intended purpose of the invention are further described below in conjunction with the drawings and preferred embodiments of the invention.

1 and 2, the seated personal transport vehicle of the present invention includes a chassis 10, two wheels 21, a support structure 30, a support actuator 41, a combination frame 50, and an auxiliary wheel structure 60. An auxiliary wheel actuator 42, an auxiliary wheel 22, a seat 71, a backrest 72 and two armrests 73.

Referring to FIG. 1 to FIG. 3, the chassis 10 is a rectangular plate body, and a control unit 80 is disposed on the top surface of the chassis 10. The control unit 80 includes a gyroscope, an accelerometer, an electronic compass, and a complex encoder. An electronic device and a driving device such as a main controller, a left hub motor driver and a right hub motor driver, the gyroscope, the accelerometer, the electronic compass, and the encoder can output signals to the main controller, and after the main controller processes, The signals are then output to components such as the support actuator 41, the auxiliary wheel actuator 42, the left hub motor driver, and the right hub motor driver.

The two wheels 21 are respectively disposed on two sides of the chassis 10, and are respectively connected with a left hub motor driver and a right hub motor driver, and the axles of the two wheels 21 are coaxially disposed.

As shown in FIG. 1 , FIG. 2 and FIG. 4 , the support structure 30 is disposed on the top surface of the chassis 10 and includes a support platform 33 , a front link set 31 and a rear link set 32 ; and the support platform 33 . The front link group 31 includes two front links 311 and two front cross bars 312. The two front links 311 are parallel to each other and laterally spaced apart, and the front ends of the front links 311 are respectively pivoted. The chassis 10 and the support platform 33 are disposed, and the front cross bar 312 is disposed between the two front links 311 to strengthen the structure; the rear link group 32 is spaced apart from the rear of the front link group 31, and the rear link group 32 includes two The rear connecting rod 321 and the rear cross rod 322 are arranged parallel to each other and laterally spaced apart. The two ends of each rear connecting rod 321 respectively pivot the chassis 10 and the supporting platform 33, and the rear cross rod 322 is disposed at two rear links. Between the rods 321 , the reinforcing structure; the chassis 10 , the front link set 31 , the rear link set 32 and the support platform 33 form a four-bar linkage mechanism; and regardless of how the four-bar linkage mechanism is actuated, the support platform 33 , the chassis 10 and The ground will remain parallel to each other (as shown in Figures 4 to 8).

The two ends of the support actuator 41 respectively pivot the chassis 10 and the support structure 30, and the support actuator 41 can be a prior art electric cylinder, a hydraulic cylinder, a pneumatic cylinder or a motor with a reduction gear mechanism, etc., and the support is actuated. The device 41 can provide a degree of freedom of relative movement between the chassis 10 and the support structure 30. In the embodiment, the support actuator 41 is an electric cylinder and includes a cylinder 411 and a fixed rod 412, which are actuated. The rod 412 is movably disposed in the cylinder block 411. The end of the cylinder block 411 is pivotally disposed on the chassis 10, and the end of the actuating rod 412 is pivotally disposed on the rear crossbar 322 of the rear link set 32 (as shown in FIG. 2). When the actuating lever 412 is extended or retracted relative to the cylinder 411, the support structure 30 can be moved.

The combination frame 50 is disposed on the top surface of the chassis 10. In the embodiment, the combination frame 50 includes two vertical frames 51. The two vertical frames 51 are laterally spaced apart from the rear side of the chassis 10.

The auxiliary wheel structure 60 is disposed on the coupling frame 50 and includes an auxiliary wheel arm 63, an upper link group 61 and a lower link group 62; the auxiliary wheel arm 63 and the coupling frame 50 are located on opposite sides; the upper link The group 61 includes two upper links 611 and an upper cross bar 612. The two upper links 611 are parallel and laterally spaced apart from each other, and one of the upper ends 51 and the auxiliary wheel arms 63 are respectively disposed at two ends of each of the upper links 611. Each upper link 611 is a bent rod body, and the upper cross bar 612 is disposed between the two upper links 611 to strengthen the structure; the lower link group 62 is spaced apart from the lower link group 61, and the lower link The group 62 includes two lower links 621, and the two lower links 621 are parallel to each other and laterally spaced apart. One end of each of the lower links 621 is pivotally disposed with one of the vertical frames 51 and the auxiliary wheel arms 63; The rod set 61, the lower link set 62, and the auxiliary wheel arm 63 form a four-bar linkage mechanism.

The two ends of the auxiliary wheel actuator 42 respectively pivot the support structure 30 and the auxiliary wheel frame 50, and the auxiliary wheel actuator 42 can be a prior art electric cylinder, hydraulic cylinder, pneumatic cylinder or motor with a reduction gear mechanism, etc. The auxiliary wheel actuator 42 can provide a degree of freedom of relative movement between the support structure 30 and the auxiliary wheel frame 50; in the present embodiment, the auxiliary wheel actuator 42 is an electric cylinder and includes a cylinder block 421. And the actuating rod 422 is movably disposed in the cylinder block 421. The end of the cylinder block 421 is pivotally mounted on the support platform 33, and the end of the actuating rod 422 is pivotally disposed on the upper link set 61. The upper crossbar 612 (shown in FIG. 1); when the actuating lever 422 is extended or retracted relative to the cylinder block 421, the auxiliary wheel frame 50 can be moved.

The aforementioned auxiliary wheel 22 is provided at the end of the auxiliary wheel arm 63.

Referring to FIG. 1 and FIG. 2, the aforementioned seat 71 is disposed on the support platform 33. The aforementioned backrest 72 is provided on the rear side of the seat 71. The aforementioned two armrests 73 are respectively disposed above both sides of the seat 71.

Referring to FIG. 1 to FIG. 3 and FIG. 9 , in the present embodiment, the present invention further includes a control lever 74 disposed on the top surface of the chassis 10 and including a lower control lever 741 and an upper control lever 742 . Two grips 743; the lower lever 741 is pivoted on the chassis 10; the bottom end of the upper lever 742 is pivoted at the top end of the lower lever 741, so that the upper lever 742 forms a rocker relative to the lower lever 741; The grips 743 are respectively disposed at two sides of the top end of the upper control lever 742, and the grip 743 is provided with a digital button and a switch, and the digital button and the switch are connected to the main controller in the chassis 10, and are used to control the mode of the present invention. Switching and other actions; in use, the user pushes the upper control lever 742 to adjust the speed and the forward and backward movement direction of the present invention, and rotates the upper control lever 742 to the left and right to achieve the turning effect; in addition, the grip 743 or the armrest The LCD screen and speaker can be further configured on the 73.

In other embodiments, the joystick 74 can also be disposed on one of the handrails 73. The digital button and the switch can be similarly disposed on the handles 743 of the joystick 74 or can be modified on the two handrails 73.

Referring to FIG. 4 and FIG. 5, when the present invention is used, when switching from the three-wheel mode to the two-wheel mode, the center of gravity of the seat 71 is first moved, and the actuating lever 412 supporting the actuator 41 is extended to push the support structure forward. The four-bar linkage mechanism 30, in turn, moves the support platform 33, while the auxiliary wheel actuator 42 pivoting the support platform 33 moves with the support platform 33, but its actuation rod 422 simultaneously elongates to push the auxiliary wheel structure 60, The auxiliary wheel 22 is kept against the ground; as shown in FIG. 5 and FIG. 6, when the front link group 31 and the rear link group 32 of the structure 30 to be supported are perpendicular to the chassis 10, the center of gravity of the seat 71 is located on the axle. Above, the support actuator 41 is then immobilized, and the actuating lever 422 of the auxiliary wheel actuator 42 is retracted to pull the auxiliary wheel frame 60 and thereby retract the auxiliary wheel 22.

Referring to FIG. 4 and FIG. 5, when the center of gravity of the seat 71 is moved, the auxiliary wheel 22 still abuts against the ground. Therefore, even if the user rides on the seat 71 during the process, the three wheels can also pass through. The bodies 21, 22 are firmly moved to the center of gravity against the ground; please refer to FIG. 5 and FIG. 6, and when the auxiliary wheel 22 is to be off the ground, the seat 71 and the user's center of gravity have been adjusted to the upper side of the axle. That is, the position has been adjusted to the two-wheel mode, and remains stationary, so that the effect of the auxiliary wheel 22 leaving the ground at this time has been greatly reduced; thereby, the user can sit all the way when switching from the three-wheel mode to the two-wheel mode. On the seat 71.

Referring to FIG. 5 and FIG. 6 , when switching from the two-wheel mode to the three-wheel mode, the above operation is reversed. First, the auxiliary wheel actuator 42 abuts the auxiliary wheel 22 against the ground. As shown in FIG. 5, the support actuator 41 is then moved in conjunction with the auxiliary wheel actuator 42 to move the center of gravity of the seat 71; since the center of gravity moves, the present invention has passed through the three wheel bodies 21, 22 against the ground, It is possible to prevent the user's weight on the seat 71 from generating excessive torque and causing overturning.

The invention makes it possible for the user to ride on the seat without standing up and to maintain the overall balance during the switching mode, thereby facilitating the use.

In addition, in addition to the manual switching mode, the present invention can also be set to automatically switch, that is, when the vehicle speed is higher than the set value, the two-wheel mode will be automatically switched to the three-wheel mode, thereby improving the stability and safety of the exercise; In addition to high-speed driving, it can also be used in poor condition roads, insufficient power, power saving mode or large speed changes, or the three-wheel mode can also be used when the vehicle is not driving. It can be stably placed in an upright state; in the case of better road conditions or in a narrower space, a two-wheel mode with better flexibility and maneuverability can be used.

Please refer to FIG. 6, FIG. 7 and FIG. 9. In addition, since the stability of the two-wheel mode is not as good as that of the three-wheel mode, the two-wheel mode is further provided with a buffering mechanism to improve stability, as follows: When the present invention is advanced by a digital button or by pushing the lever 74, the support actuator 41 causes the support frame 30 and the seat 71 to move slightly forward, and then the whole body begins to move forward by letting the seat 71 and The user thereon is slightly advanced to buffer the instantaneous impulse generated by the present invention from the stationary state to the start of movement; in addition, when the support actuator 41 is actuated, the auxiliary wheel actuator 42 is also actuated simultaneously to assist The wheel 22 remains in its original position; and after the invention begins to move, the support actuator 41 and the auxiliary wheel actuator 42 move the components back into position.

Referring to Figures 6 and 8, when the present invention is intended to retreat, the same mechanism is used to first move the seat 71 and the user thereon slightly to achieve the same buffering effect.

Referring to FIG. 1 , FIG. 3 and FIG. 4 , the control flow of the present invention will be described next. When the invention is started, the main controller detects the two-wheel mode, the three-wheel mode or the parking mode, and thus performs “ Two-wheel mode control, three-wheel mode control, and end control flow.

When the "two-wheel mode control" is performed, the "forward and backward direction adjustment" and the "left and right direction adjustment" are sequentially included; the "forward and backward direction adjustment" includes "support actuator 41 adjustment" and "auxiliary wheel actuator 42" in this order. "Adjustment"; "Support actuator 41 adjustment": firstly, whether the upper control lever 742 of the control lever 74 is deviated from the neutral position in the front-rear direction, or "adjustment of the auxiliary wheel actuator 42" is performed, and if so, then Whether the deviation value is greater than the neutral position to determine whether it is forward or backward, and accordingly whether the detection of the upper limit switch or the lower limit switch is triggered respectively, and if the limit switches are triggered, the support actuator 41 is adjusted. The position of the seat 71, and the torque of the wheel 21 forward or backward is calculated by the angle adjusted by the seat 71. After the adjustment is completed, or if it is not triggered, the "auxiliary wheel actuator 42 adjustment" is performed; The wheel actuator 42 is adjusted: firstly, it is detected whether the angle of the auxiliary wheel 22 deviates from the target position. If not, the "auxiliary wheel actuator 42 adjustment" is terminated, and the "left and right direction adjustment" is performed, and if so, the detection is biased. Whether the value is greater than the target position to determine whether it is forward tilt or backward tilt, and thus detecting whether the upper limit switch or the lower limit switch is triggered respectively, and if the limit switches are triggered, the auxiliary wheel actuator 42 adjusts the auxiliary When the position of the wheel arm 63 is adjusted or not, the "auxiliary wheel actuator 42 adjustment" is ended, and "left and right direction adjustment" is performed; "left and right direction adjustment": first, the lower section of the control lever 74 is detected. Whether the joystick 741 is deviated from the neutral position in the left-right direction, or not, the "left-right direction adjustment" is ended, and the "front-back direction adjustment" is returned, and if so, whether the deviation value is greater than the neutral position is detected to determine whether it is left or right. Therefore, the torque of the wheel 21 to the left or right is calculated separately; after that, the "left-right direction adjustment" is ended, and the "front-back direction adjustment" is returned.

When the "three-wheel mode control" is performed, "forward and backward direction adjustment" and "left and right direction adjustment" are included in sequence; "forward and backward direction adjustment": first, whether the upper control lever 742 of the control lever 74 is deviated from the neutral position in the front-rear direction, If not, perform "left and right direction adjustment". If yes, check if the deviation value is greater than the neutral position to judge whether it is forward or backward, and therefore calculate the torque of the wheel 21 forward or backward separately; "Adjustment"; "Adjustment in the left and right direction": First, it is detected whether the lower lever 741 of the joystick 74 is deviated from the neutral position in the left-right direction. Otherwise, the "left-right direction adjustment" is ended, and the "front-back direction adjustment" is returned. If it is detected whether the deviation value is greater than the neutral position, to determine whether it is left or right, and thus calculate the torque of the wheel 21 to the left or right respectively; then end the "left and right direction adjustment" and return to the "front and rear direction adjustment" .

In other embodiments, the front linkage set may also include only a single front linkage, which also enables the support structure to function as a four-bar linkage mechanism, as are the rear linkage set, the upper linkage set, and the lower linkage set. .

In other embodiments, the auxiliary wheel structure may further be provided with a shock absorber, which can improve the comfort during use.

The above is only a preferred embodiment of the present invention, and is not intended to limit the scope of the present invention. Although the present invention has been disclosed in the above preferred embodiments, it is not intended to limit the invention, and A person skilled in the art can make some modifications or modifications to equivalent embodiments by using the above-disclosed technical contents without departing from the technical scope of the present invention. The present invention is not limited to any simple modifications, equivalent changes and modifications of the above embodiments.

10‧‧‧Chassis
21‧‧‧ Wheels
22‧‧‧Assistance wheel
30‧‧‧Support structure
31‧‧‧ Front linkage
311‧‧‧ front linkage
312‧‧‧ front crossbar
32‧‧‧ Rear Link Group
321‧‧‧After connecting rod
322‧‧‧ Rear rail
33‧‧‧Support platform
41‧‧‧Support actuator
411‧‧‧Cylinder block
412‧‧‧Acoustic rod
42‧‧‧Auxiliary wheel actuator
421‧‧‧Cylinder block
422‧‧‧Acoustic rod
50‧‧‧ combination frame
51‧‧‧ stand
60‧‧‧Assisted wheel architecture
61‧‧‧Upper linkage
611‧‧‧Upper link
612‧‧‧Upper rail
62‧‧‧lower link set
621‧‧‧lower connecting rod
63‧‧‧Auxiliary wheel arm
71‧‧‧ seats
72‧‧‧ Back
73‧‧‧Handrail
74‧‧‧Control lever
741‧‧‧Lower control lever
742‧‧‧Upper joystick
743‧‧‧ grip
80‧‧‧Control unit
91‧‧‧Chassis
92‧‧‧ Wheels
93‧‧‧Support structure
94‧‧‧Support actuator
95‧‧‧ seats
96‧‧‧Auxiliary wheel arm
97‧‧‧Assistance wheel

Figure 1 is a perspective view of the present invention. Figure 2 is a partial perspective view of another angle of the present invention. 3 is a schematic view of an electronic device and a driving device of the present invention. Figure 4 is a side elevational view of the three-wheel mode of some of the components of the present invention. Figure 5 is a side elevational view of mode switching of some of the components of the present invention. Figure 6 is a side elevational view of a two-wheel mode of some of the components of the present invention. Figure 7 is a side elevational view of the forward tilt of the two-wheel mode of some of the components of the present invention. Figure 8 is a side elevational view of the back tilt of the two-wheel mode of some of the components of the present invention. Figure 9 is a side elevational view of the present invention with a joystick. Figure 10 is a side elevational view of a three-wheel mode of a prior art seated personal transport vehicle. Figure 11 is a side elevational view of a two-wheel mode of a prior art seated personal transport vehicle.

10‧‧‧Chassis

21‧‧‧ Wheels

22‧‧‧Assistance wheel

30‧‧‧Support structure

31‧‧‧ Front linkage

311‧‧‧ front linkage

312‧‧‧ front crossbar

32‧‧‧ Rear Link Group

321‧‧‧After connecting rod

322‧‧‧ Rear rail

33‧‧‧Support platform

41‧‧‧Support actuator

411‧‧‧Cylinder block

412‧‧‧Acoustic rod

42‧‧‧Auxiliary wheel actuator

421‧‧‧Cylinder block

422‧‧‧Acoustic rod

50‧‧‧ combination frame

51‧‧‧ stand

60‧‧‧Assisted wheel architecture

61‧‧‧Upper linkage

611‧‧‧Upper link

612‧‧‧Upper rail

62‧‧‧lower link set

621‧‧‧lower connecting rod

71‧‧‧ seats

72‧‧‧ Back

73‧‧‧Handrail

Claims (9)

A seated personal transport vehicle includes: a chassis having a wheel on each side of the chassis; a support structure disposed on a top surface of the chassis and including a front link set and a rear link set a supporting platform, the supporting platform and the chassis are parallel to each other, and the chassis, the front connecting rod set, the rear connecting rod set and the supporting platform form a four-bar linkage mechanism; and a supporting actuator, the two ends of which are respectively pivoted The chassis and the support structure; a seat disposed on the support platform; a combination frame disposed on the top surface of the chassis; and an auxiliary wheel structure disposed on the combination frame and including an upper connection a set of rods, a lower link set and an auxiliary wheel arm, the auxiliary wheel arm and the combination frame are located on opposite sides, and the combination frame, the upper link set, the lower link set and the auxiliary wheel arm form a quadruple connection a support mechanism, the support frame and the auxiliary wheel structure are respectively disposed at two ends thereof; the auxiliary wheel actuator is an electric cylinder, and comprises a cylinder body and a fixed moving rod, the auxiliary wheel The actuating lever of the actuator is movably disposed through the auxiliary wheel actuator The cylinder; an auxiliary wheel, which is provided on the auxiliary wheel arm. The seated personal transport vehicle of claim 1, wherein the support actuator is pivotally disposed to the rear linkage of the support structure. The seated personal transport vehicle of claim 1, wherein the two ends of the auxiliary wheel actuator are respectively pivoted to the support platform of the support structure and the upper link set of the auxiliary wheel structure. The seated personal transport vehicle of claim 1, wherein: the front link set of the support structure comprises two front links and at least one front cross bar, the two front links are arranged in parallel, the front cross a rod is disposed between the two front links; The rear link set of the support structure comprises two rear links and a rear cross bar, the two rear links are arranged in parallel, and the rear cross bar is disposed between the two rear links. The seated personal transport vehicle of claim 1, wherein: the upper link set of the auxiliary wheel structure comprises two upper links and an upper cross bar, the upper links are arranged in parallel, the upper horizontal The rod is disposed between the two upper links; the lower link set of the auxiliary wheel structure includes two lower links, and the two lower links are arranged in parallel. The seated personal transport vehicle of claim 1, further comprising a control lever disposed on the top surface of the chassis, and including a lower control lever, an upper control lever and two grips; The lever is pivotally disposed on the chassis; the upper control lever and the lower control lever are mutually pivoted; the two grips are respectively disposed on two sides of the upper control lever. The seated personal transport vehicle of claim 1 further comprising a backrest and two armrests; the backrest being disposed on a rear side of the seat; the two armrests being respectively disposed above the sides of the seat. The seated personal transport vehicle of claim 1, wherein the support actuator is an electric cylinder and includes a cylinder and an actuating lever, the actuating lever of the support actuator being movably disposed through The support is in the cylinder of the actuator. The seated personal transport vehicle of claim 1, wherein the chassis is provided with a control unit, the control unit includes a gyroscope, an accelerometer, an electronic compass, a complex encoder, a main controller, and a left A hub motor driver and a right hub motor driver, the left hub motor driver and the right hub motor driver respectively connecting the two wheels.