A hoverboard

Abstract

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Description

Technical Field

[0001] This invention relates to self-balancing scooters, and more particularly to an air-cushioned self-balancing scooter. Background Technology

[0002] Self-balancing scooters (electric self-balancing scooters), also known as hoverboards, scooters, or self-balancing vehicles, are mainly available in unicycle and two-wheeled versions. Their operating principle is based on a fundamental principle called "dynamic stabilization." They utilize gyroscopes and accelerometers inside the scooter to detect changes in the scooter's posture and employ a servo control system to precisely drive the motor to make corresponding adjustments, maintaining the system's balance. They are a new type of green and environmentally friendly product used by modern people for transportation and leisure. Existing self-balancing scooters have the following shortcomings: insufficient comfort when standing on the platform; balancing action is only triggered when the platform is unbalanced (tilted) relative to the frame system. When the frame system and the platform are not tilted, but the scooter itself is tilted (due to the tilt of the road surface), the platform cannot remain level. However, due to the small surface area of ​​the scooter, when the scooter is tilted, the user's center of gravity will be outside the scooter, causing the user to fall off. In this case, the user needs to maintain balance to avoid falling. Therefore, existing self-balancing scooters require a high level of skill from the user, requiring multiple practice sessions before they can use them. In other words, existing self-balancing scooters have high technical requirements, and not everyone can ride them just by standing on them; when there is standing water on the road, the platform can easily be submerged, wetting the user's shoes, indicating poor wading ability. Summary of the Invention

[0003] The first objective of this invention is to provide an air-cushioned self-balancing scooter that offers good comfort when standing, thus solving the problem of poor comfort when standing on existing self-balancing scooters.

[0004] The second objective of this invention is to provide an air cushion balance vehicle that can return to its original position when a person tilts, thus solving the problem that existing balance vehicle platforms and frames cannot return to their original position when tilted.

[0005] The third objective of this invention is to provide an air cushion balance vehicle with a platform that can be raised and lowered, which solves the problem of poor water wading ability caused by the inability of existing balance vehicle platforms to be raised and lowered.

[0006] The above technical problems are solved by the following technical solution: an air-cushioned self-balancing vehicle, comprising a frame, wheels supporting the frame, a standing platform connected to the frame, and a power system for driving the wheels to rotate. The standing platform includes a base plate, an inflatable cushion located on the base plate, and a top plate connected to the inflatable cushion. The top plate and the base plate are parallel. The wheels include front wheels and rear wheels. A balancing system is provided between the standing platform and the frame to maintain the standing platform in a horizontal state. The area of ​​the standing platform is less than 0.15 square meters. The inflatable cushion on the standing platform improves shock absorption and standing comfort.

[0007] Preferably, the inflatable pad is connected to the main port of a three-way valve, the first port of the three-way valve is connected to an air pump, and the second port of the three-way valve is located outside the airbag. The air pump can inflate the inflatable pad, and the second port can deflate it, thereby changing the air pressure of the inflatable pad and the softness of a steel plate standing on the top plate.

[0008] Preferably, the balancing system includes an imbalance reset mechanism and an imbalance position detection mechanism. The imbalance reset mechanism includes a central column and several platform lifting cylinders. The lower end of the central column is fixed to the vehicle frame, and the upper end is spherically hinged to the lower surface of the base plate. The platform lifting cylinders are distributed on a circle centered on the central column, with the lower end of each cylinder fixed to the vehicle frame and the upper end hinged to the base plate. The imbalance position detection mechanism is used to detect the tilt angle and tilt direction of the base plate. When the imbalance position detection mechanism detects that the base plate is tilted, the platform lifting cylinders located below the plane that passes through the centerline of the central column and is perpendicular to the plane defined by the tilt direction line of the base plate and the centerline of the central column extend, while the platform lifting cylinders above retract, restoring the base plate to a balanced state. The plane that passes through the centerline of the central column and is perpendicular to the plane defined by the tilt direction line of the base plate and the centerline of the central column is called the interface. When tilt is detected, the platform lifting cylinders extend and retract, thereby adjusting the standing platform to be level.

[0009] Preferably, the imbalance position detection mechanism includes a pendulum and an angle sensor. One end of the pendulum has a connecting sleeve that is fitted onto the central column and can rotate on the central column. The other end has a sliding hole extending radially along the central column. A load cell and a weight ball are installed in the sliding hole. The load cell is located on the side of the weight ball away from the central column and is used to detect the force of the weight ball rolling away from the central column. The angle sensor is used to detect the angle A of the pendulum rotating about the central column. The method to restore the base plate to horizontal is as follows: the platform lifting cylinder located below the interface extends by a distance H, and the platform lifting cylinder located above the interface retracts by a distance H. H = R*sin(DA)*tan(arcsinW / G)H = L*tanB, where D is the initial value of the angle between the plane of the platform lifting cylinder and the central column and the interface, that is, the angle between the plane where the platform lifting cylinder is located and the interface when A is 0°, W is the weight detected by the load cell, and G is the weight of the weight ball. This provides a new technical solution for detecting tilt angle, namely, obtaining the tilt angle by weighing. It allows for easy identification of the tilt direction and corresponding adjustments to maintain the platform's level. Adjustments can be made regardless of a 360° tilt.

[0010] Preferably, the frame is equipped with a base, and the base plate is connected to the base via a lifting system. The power system includes a drive motor and a power supply for the drive motor. The drive motor is connected to the frame and is a waterproof motor. The power supply is located on the standing platform and is connected to the drive motor via an electrical wire. When there is water, the lifting system raises the standing platform, preventing it from being submerged and thus improving the self-balancing scooter's water-crossing capability.

[0011] Preferably, the lifting system includes a vertical positioning rod, several horizontally slidably connected racks on the frame, gears meshing on the racks, an inclination adjustment motor driving the gears, and several rows of height adjustment cylinders. The upper end of the vertical positioning rod is fixed to the base plate, and the lower end passes through a vertical sliding hole on the frame. The height adjustment cylinders are parallel to each other and of equal length. A row of height adjustment cylinders is connected to one rack. The upper end of each cylinder is hinged to the base plate via an upper hinge shaft, and the lower end is hinged to the rack via a lower hinge shaft. The upper and lower hinge shafts are parallel, and the lower hinge shaft is perpendicular to the rack. The inclination adjustment motor is fixed to the frame. This reduces the increase in the height of the standing platform caused by the installation of height adjustment cylinders. The frame of the self-balancing scooter is very low off the ground, insufficient to install lifting cylinders. When lifting directly by lowering the cylinders, the standing platform is raised by at least the length of the lifting cylinder, resulting in a high center of gravity when not wading through water, making it difficult to maintain balance. This technical solution can ensure a low center of gravity when not wading through water, and can also increase the depth of water that can be waded through by using a long cylinder.

[0012] Preferably, the frame is equipped with several support blocks, and when the lifting system lowers the floor to its lowest position, the floor rests on the support blocks. When not in water, the support blocks prevent the height adjustment cylinder from operating for extended periods, which would shorten its lifespan.

[0013] Preferably, the lifting system drives the base plate to rise as follows: the inclination adjustment motor drives the gear to rotate, the gear drives the rack to translate, and when the rack translates, it drives the height adjustment cylinder to swing upward. When the height adjustment cylinder swings to a vertical position, it extends. The lifting system drives the base plate to descend as follows: the height adjustment cylinder retracts to its shortest position, then the inclination adjustment motor drives the gear to rotate, the gear drives the rack to translate, and when the rack translates, it drives the height adjustment cylinder to swing downward. This minimizes the rack's translation distance when the lifting distance is constant, thus facilitating large-amplitude lifting within a small space.

[0014] The present invention has the following advantages: the inflatable cushion can improve the comfort when standing on the platform; the stiffness of the inflatable cushion can be adjusted; it can be balanced when tilted in any direction of 360°, and the overall tilt caused by the inward tilt can be adjusted to maintain the level of the platform; and it has good wading ability. Attached Figure Description

[0015] Figure 1 This is a schematic diagram of Embodiment 1 of the present invention; the pendulum arm in the drawing is in its initial state (i.e., the rotation angle is 0° and the standing platform is horizontal);

[0016] Figure 2 for Figure 1 A magnified view of a portion of point A in the middle;

[0017] Figure 3 for Figure 1 Schematic diagram of B-B section;

[0018] Figure 4 This is a schematic diagram of Example 2;

[0019] Figure 5 for Figure 4 A magnified view of a portion at point C;

[0020] Figure 6 This is a side view schematic diagram of Example 2.

[0021] In the diagram: 1. Frame; 2. Wheels; 3. Standing platform; 4. Base plate; 5. Inflatable cushion; 6. Top plate; 7. Three-way valve; 8. First support port; 9. Air pump; 10. Second support port; 11. Front wheels; 12. Rear wheels; 13. Central column; 14. Platform lifting cylinder; 15. Interface; 16. Swing rod; 18. Connecting sleeve; 22. Bearing; 19. Sliding hole; 20. Weighing sensor; 21. Weight ball; 24. Base support; 25. Vertical positioning rod; 26. Rack; 27. Gear; 28. Incline adjustment motor; 29. ​​Height adjustment lifting cylinder; 30. Upper hinge shaft; 31. Lower hinge shaft; 32. Support block; 33. Shaft of inclination adjustment motor. Detailed Implementation

[0022] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0023] See Figures 1 to 3 An air cushion balance vehicle includes a frame 1, wheels 2 supporting the frame, a standing platform 3 connected to the frame, and a power system for driving the wheels. The power system includes a drive motor and a power supply for the drive motor. The power supply is connected to the drive motor via wires. The standing platform includes a base plate 4, an inflatable cushion 5 located on the base plate, and a top plate 6 connected to the inflatable cushion, with the top plate and base plate parallel. The air cushion is connected to the main port of a three-way valve 7. The first port 8 of the three-way valve is connected to an air pump 9, and the second port 10 of the three-way valve is located outside the air cushion. In use, when the hardness of the inflatable cushion needs to be increased, the first port is connected to the main port (while the second port is disconnected from the main port), and air is pumped in. When the hardness of the inflatable cushion needs to be decreased, the second port is connected to the main port (while the first port is disconnected from the main port), and air is released to the desired level. The wheels include front wheels 11 and rear wheels 12. A balance system is provided between the standing platform and the frame to keep the standing platform in a horizontal state. The area of ​​the standing platform (including the area of ​​the top plate) is less than 0.15 square meters.

[0024] The balancing system includes an imbalance reset mechanism and an imbalance position detection mechanism. The imbalance reset mechanism includes a central column 13 and sixteen platform lifting cylinders 14. The lower end of the central column is fixed to the frame, and the upper end is spherically hinged to the lower surface of the base plate. The platform lifting cylinders are distributed on a circle centered on the central column (i.e., the center of the circle defined by the platform lifting cylinders is the central column). The lower end of the platform lifting cylinder is fixed to the frame, and the upper end is hinged to the base plate. The imbalance position detection mechanism is used to detect the tilt angle and tilt direction of the base plate. When the imbalance position detection mechanism detects that the base plate is tilted, the platform lifting cylinders located below the plane that passes through the center line of the central column and is perpendicular to the plane defined by the tilt direction line of the base plate and the center line of the central column extend, and the platform lifting cylinders above retract, so that the base plate returns to a balanced state. The plane that passes through the center line of the central column and is perpendicular to the plane defined by the tilt direction line of the base plate and the center line of the central column is called the interface 15.

[0025] Specifically, the imbalance position detection mechanism includes a pendulum 16 and an angle sensor. One end of the pendulum is provided with a connecting sleeve 18 (connected to the central column via a bearing 22) that is sleeved on the central column and can rotate on the central column. The other end is provided with a sliding hole 19 extending radially along the central column. A load cell 20 and a ball 21 are provided in the sliding hole. The load cell is located on the side of the ball away from the central column and is used to detect the force of the ball rolling away from the central column. The angle sensor is used to detect the rotation of the pendulum about the central column. The method to restore the base plate to horizontal at angle A is as follows: the platform lifting cylinder below the interface extends by a distance H, and the platform lifting cylinder above the interface retracts by a distance H. H = R * sin(DA) * tan(arcsinW / G), C = DA, D is the initial value of the angle between the plane passing through the platform lifting cylinder and the central column and the interface, that is, the angle between the plane where the platform lifting cylinder is located and the interface when A is 0°, W is the weight detected by the weighing sensor, G is the weight of the ball, and R is the radius of the circle formed by the platform lifting rod. Figure 3 When the central pendulum rotates clockwise, the rotation of the angular pendulum increases, and vice versa. Therefore, the platform lifting cylinders located within ±90° of the pendulum's rotation angle (i.e., its current position) are those below the interface, and the rest are those above the platform interface. The tilt angle of the standing platform is B = arcsinW / G. The required lifting distance for each platform lifting cylinder (i.e., the distance required to keep the standing platform horizontal) is H = L * tanB, L = R * sin(DA), where R is the radius of the circle defined by the platform lifting cylinder.

[0026] Example 2 differs from Example 1 in the following ways:

[0027] The chassis is equipped with a base support 24. The lower ends of the center column and platform lifting rod are fixed to the base support. The base support is connected to the chassis via a lifting system. The center column and platform lifting cylinder are connected to the bracket. The drive motor is connected to the chassis; the drive motor is waterproof, and the power supply is located on the base support. The lifting system includes a vertical positioning rod 25, two racks 26 slidably connected to the frame in the front-rear direction, two gears 27 meshing one-to-one with the two racks, an inclination adjustment motor 28 (the inclination adjustment motor is a double-headed motor, with the two gears connected to the shaft 33 of the inclination adjustment motor) that drives the gears, and several rows of height adjustment lifting cylinders 29. The upper end of the vertical positioning rod is fixed to the base, and the lower end passes through a vertical sliding hole in the frame. The height adjustment lifting cylinders are parallel to each other and of equal length. A row of height adjustment lifting cylinders is connected to one rack (there are 10 cylinders in a row). The upper end of the lifting cylinder is hinged to the base through an upper hinge shaft 30, and the lower end is hinged to the rack through a lower hinge shaft 31. The upper and lower hinge shafts are parallel, and the lower hinge shaft is perpendicular to the rack. The inclination adjustment motor is fixed to the frame. Several support blocks 32 are provided on the frame. When the lifting system lowers the bottom plate to its lowest position, the bottom plate is supported on the support blocks. The lifting system drives the base plate to rise as follows: the inclination adjustment motor drives the gear to rotate, the gear drives the rack to move horizontally, and when the rack moves horizontally, it drives the height adjustment cylinder to swing upwards. When the height adjustment cylinder swings to a vertical position, it extends. The lifting system drives the base plate to fall as follows: the height adjustment cylinder retracts to its shortest position, then the inclination adjustment motor drives the gear to rotate, the gear drives the rack to move horizontally, and when the rack moves horizontally, it drives the height adjustment cylinder to swing downwards.

[0028] Finally, it should be noted that the above descriptions are merely preferred embodiments of the present invention and are not intended to limit the present invention. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions described in the foregoing embodiments or make equivalent substitutions for some of the technical features. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. An air-cushioned self-balancing scooter, comprising a frame, wheels supporting the frame, a standing platform connected to the frame, and a power system for driving the wheels to rotate, characterized in that, The standing platform includes a base plate, an inflatable cushion on the base plate, and a top plate connected to the inflatable cushion. The top plate and base plate are parallel. The wheels include front wheels and rear wheels. A balancing system is provided between the standing platform and the frame to maintain the standing platform in a horizontal state. The area of ​​the standing platform is less than 0.15 square meters. The inflatable cushion is connected to the main port of a three-way valve. The first port of the three-way valve is connected to an air pump, and the second port of the three-way valve is located outside the airbag. The balancing system includes an imbalance reset mechanism and an imbalance position detection mechanism. The imbalance reset mechanism includes a central column and several platform lifting cylinders. The lower end of the central column is fixed to the frame, and the upper end is spherically hinged to the lower surface of the base plate. The platform lifting cylinders are distributed on a circle centered on the central column. The lower end of each platform lifting cylinder is fixed to the frame, and the upper end is hinged to the base plate. The imbalance position detection mechanism is used to detect the tilt angle and tilt direction of the base plate. The imbalance position detection mechanism detects when the base plate tilts. At this time, the platform lifting cylinder below the plane defined by the plane passing through the center line of the central column and perpendicular to the inclined direction line of the base plate and the center line of the central column extends, and the platform lifting cylinder above retracts, so that the base plate returns to a balanced state. The plane defined by the plane passing through the center line of the central column and perpendicular to the inclined direction line of the base plate and the center line of the central column is called the interface. The imbalance position detection mechanism includes a swing arm and an angle sensor. One end of the swing arm is provided with a connecting sleeve that is sleeved on the central column and can rotate on the central column. The other end is provided with a sliding hole extending radially along the central column. A load cell and a ball are provided in the sliding hole. The load cell is located on the side of the ball away from the central column. The load cell is used to detect the force of the ball rolling away from the central column. The angle sensor is used to detect the angle A of the swing arm rotating about the central column as an axis. The method to restore the base plate to horizontal is: the platform lifting cylinder below the interface extends by a distance H, and the platform lifting cylinder above the interface retracts by a distance H, where H = R*sin(DA) *tan(arcsinW / G) R is the radius of the circle, D is the initial value of the angle between the plane and the interface between the platform lifting cylinder and the central column, that is, the angle between the plane where the platform lifting cylinder is located and the interface when A is 0°. The plane between the platform lifting cylinder and the central column is called the plane where the platform lifting cylinder is located. R is the radius of the circle, W is the weight detected by the weighing sensor, and G is the weight of the ball. The lifting system includes a vertical positioning rod, several horizontally slidably connected racks on the frame, gears meshing on the racks, an inclination adjustment motor driving the gears, and several rows of height adjustment cylinders. The upper end of the vertical positioning rod is fixed to the base, and the lower end passes through a vertical sliding hole on the frame. The height adjustment cylinders are parallel to each other and of equal length. A row of height adjustment cylinders is connected to one rack. The upper end of each height adjustment cylinder is hinged to the base via an upper hinge shaft, and the lower end is hinged to the rack via a lower hinge shaft. The upper and lower hinge shafts are parallel, and the lower hinge shaft is perpendicular to the rack. The inclination adjustment motor is connected to the rack. The frame is fixed together. The lifting system drives the base plate to rise as follows: the inclination adjustment motor drives the gear to rotate, the gear drives the rack to move horizontally, and when the rack moves horizontally, it drives the height adjustment cylinder to swing upwards. When the height adjustment cylinder swings to a vertical position, it extends. The lifting system drives the base plate to fall as follows: the height adjustment cylinder retracts to its shortest position, then the inclination adjustment motor drives the gear to rotate, the gear drives the rack to move horizontally, and when the rack moves horizontally, it drives the height adjustment cylinder to swing downwards. When the lifting distance is constant, the horizontal movement distance of the rack is minimized, thus facilitating large-scale lifting in small spaces.

2. The air-cushioned self-balancing scooter according to claim 1, characterized in that, It also includes a base, which is connected to the frame via a lifting system. The power system includes a drive motor and a power supply for the drive motor. The drive motor is connected to the frame and is a waterproof motor. The power supply is located on the base and is connected to the drive motor via wires.

3. A self-balancing air cushion vehicle according to claim 1 or 2, characterized in that, The frame is provided with several support blocks. When the lifting system lowers the bottom plate to its lowest position, the bottom plate is supported on the support blocks.

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