Riding apparatus with steering motor and steering control method thereof

Abstract

The application discloses a riding equipment with a steering motor and a steering control method thereof, and belongs to the technical field of riding equipment, and aims to overcome the defect that the manual steering resistance of the existing bicycle with a front fork motor is large. The riding equipment comprises a vehicle body, a steering motor, a handle and a front support, the rear end of the vehicle body is provided with a rear wheel, the steering motor comprises a stator and a rotor, the stator is fixed on the vehicle body, the handle is fixed on the rotor, and the front support is fixed on the rotor and is provided with a front wheel. The rotor of the steering motor is fixedly connected with the handle and the front support, when the riding equipment is manually controlled to steer, the force of the hand acting on the handle can be transmitted to the front support through the rotor, so that the force is prevented from being used to overcome the movement of the synchronous belt and other transmission components, and the smoothness of manual steering is improved.

Description

TECHNICAL FIELD

[0001] The present application belongs to the technical field of riding equipment, and relates to a riding equipment with a steering motor. BACKGROUND

[0002] A Chinese patent document discloses an invention patent of "autonomous balance riding bicycle mechanical power system and multi-rigid body dynamics model thereof", authorized publication number CN109492318B, which includes a mechanical system and an electrical control system. The mechanical system includes a vehicle body, a rear wheel, a front fork and a front wheel. The electrical control system includes an industrial computer, a direct current power supply and an electronic gyroscope. The front fork tail trace adjusting device is arranged at the connection position of the front fork and the vehicle body. The rear wheel is provided with a servo drive motor, and the front wheel is provided with a direction adjusting servo drive motor, which are connected with the industrial computer through a bus. The front fork motor drives the front fork steering through a synchronous belt. Although the bicycle is provided with a handlebar, the steering is performed through the handlebar, which will inevitably drive the rotor of the front fork motor to rotate through the synchronous belt, and the synchronous belt will bring great resistance to the handlebar control steering. SUMMARY

[0003] The present application proposes a riding equipment with a steering motor and a steering control method to overcome the defects of the prior art, such as the large manual steering resistance of the bicycle with a front fork motor.

[0004] The present application is implemented as follows:

[0005] The riding equipment with a steering motor comprises:

[0006] A vehicle body, a rear end of the vehicle body is provided with a rear wheel;

[0007] characterized in that it further comprises:

[0008] A steering motor, the steering motor comprises a stator and a rotor, and the stator is fixed on the vehicle body;

[0009] A handlebar, the handlebar is fixed on the rotor;

[0010] A front support, the front support is fixed on the rotor, and the front support is provided with a front wheel.

[0011] Preferably, a stand is fixed on the handlebar, and an upper end of the rotor is fixed with the stand.

[0012] Preferably, a lower end of the stand has a plug-in cavity;

[0013] A fastening sleeve is fixed in the plug-in cavity, and an upper end of the rotor is in interference fit with the fastening sleeve. The fastening sleeve can make the rotor shaft cooperate with the larger plug-in cavity to realize fixation and reduce the mutual restriction of the stand and the rotor in size; or the upper end of the rotor is directly in interference fit with the stand.

[0014] Preferably, the lower end of the rotor is inserted into the front support and is in interference fit with the front support.

[0015] Preferably, the stator has a connection portion protruding outward, and a connection support is fixed on the vehicle body and is fixed on the connection portion. In this way, the risk of deformation of the matching portion of the stator and the rotor is reduced, and the stability of the operation of the steering motor is improved.

[0016] Preferably, the connection support has a fixing groove, the connection portion is embedded in the fixing groove, and the connection portion is detachably fixed to the connection support by bolts.

[0017] Preferably, the riding device is provided with a steering angle adjusting mechanism to adjust the maximum steering angle of the rotor relative to the stator.

[0018] Preferably, the steering angle adjusting mechanism comprises an adjusting drive fixed relative to the stator and a limiting structure fixed relative to the rotor, the adjusting drive is provided with a limiting piece, the adjusting drive drives the limiting piece to move to control the relative position of the limiting piece and the limiting structure, so that the maximum rotation angle of the rotor relative to the stator is increased or decreased.

[0019] Preferably, the drive is an adjusting motor, the motor shaft of the adjusting motor has a thread, the limiting structure comprises a limiting rod fixed on the rotor, the middle part of the limiting piece is connected to the motor shaft by the thread, and the two ends of the limiting piece correspond to the two ends of the limiting rod, so that when the limiting piece contacts the limiting rod, the rotation of the rotor is limited, and the lower end of the limiting piece is in sliding contact or contact by a ball with the stator. The adjusting motor is a servo motor, and the rotation and rotation angle of the adjusting motor are controlled based on pulse current.

[0020] A steering control method of a riding device, characterized in that it comprises the following steps:

[0021] detecting whether a user's hand is holding the handle by a holding detection device on the handle;

[0022] when the hand is holding the handle, the controller controls the steering motor to be powered off;

[0023] when the hand releases the handle, the controller controls the steering motor to be powered on, and controls the steering motor to rotate to control the steering of the riding device according to the information of an angle sensor on the vehicle body;

[0024] detecting the speed of the riding device and transmitting the speed information to the controller;

[0025] The controller controls the driving member to work according to the speed information, so that the greater the running speed of the riding device, the closer the limiting member is to the limiting structure, and the smaller the running speed of the riding device, the farther the limiting member is from the limiting structure.

[0026] The riding device with a steering motor and the steering control method thereof provided by the application fix the rotor of the steering motor and the handle and the front support, and when the riding device is manually controlled to steer, the force of the hand acting on the handle can be transmitted to the front support through the rotor, so that the force is not used to overcome the movement of the synchronous belt and other transmission components, and the smoothness of manual steering is improved. BRIEF DESCRIPTION OF DRAWINGS

[0027] Figure 1 It is a schematic view of the first angle structure of the scooter;

[0028] Figure 2 It is Figure 1 It is an enlarged view of the middle part A;

[0029] Figure 3 It is a schematic view of the second angle structure of the scooter;

[0030] Figure 4 It is a schematic view of the structure of the steering motor;

[0031] Figure 5 It is a schematic view of the structure of the connecting support;

[0032] Figure 6 It is a sectional view of the partial structure of the scooter.

[0033] The figure caption is explained: 100, vehicle body; 110, rear wheel; 120, connecting support; 121, fixing groove; 200, steering motor; 210, rotor; 220, stator; 221, connecting part; 300, handle;

[0034] 310, stand; 320, fastening sleeve; 330, contact sensor; 400, front support; 410, front wheel;

[0035] 510, adjusting driving member; 511, limiting member; 520, limiting structure. DETAILED DESCRIPTION

[0036] The specific embodiments of the application will be further described in detail below with reference to the accompanying drawings, so that the technical scheme of the application is easier to understand and master. It should be understood that the specific embodiments described herein are only used to explain the application and do not limit the application.

[0037] This embodiment provides an electric scooter, which is a specific application of the innovative solution of the present invention on a scooter. The innovative solution of the present invention can also be applied to riding devices such as electric bicycles and motorcycles, which include a front wheel 410 and a rear wheel 110.

[0038] like Figures 1-6 As shown, the scooter includes a frame 100, a steering motor 200, a handlebar 300, and a front support 400. A rear wheel 110 is located at the rear end of the frame 100. The steering motor 200 includes a stator 220 and a rotor 210, with the stator 220 fixed to the frame 100. The handlebar 300 is fixed to the rotor 210. The front support 400 is fixed to the rotor 210, and a front wheel 410 is mounted on the front support 400. In practical applications, the scooter can be steered by manually operating the handlebar 300 or by controlling the steering motor 200. The vehicle body 100 is equipped with an angle sensor and a controller. The angle sensor, which can be a gyroscope or a level sensor, is used to detect the left and right tilt of the vehicle body 100. The angle sensor and the controller are connected. When the scooter is steered by the steering motor 200, the user releases the handlebars 300. The controller uses the tilt information of the vehicle body 100 obtained from the angle sensor. When the vehicle body 100 tilts to the right, the larger the tilt angle, the controller controls the steering motor 200 to make the scooter turn to the right by a larger angle. When the vehicle body 100 tilts to the left, the larger the tilt angle, the controller controls the steering motor 200 to make the scooter turn to the left by a larger angle. When the user operates the handlebars 300 to steer, the controller cuts off the power to the steering motor 200 to prevent the steering motor 200 from obstructing the user's operation. In this embodiment, a contact sensor 330 is installed on the handlebars 300 and connected to the controller. When the contact sensor 330 detects a hand gripping the handlebars 300, the controller cuts off the power to the steering motor 200. When the contact sensor 330 does not detect a hand gripping the handlebars 300, the controller powers on the steering motor 200. In other alternative embodiments, the power supply to the steering motor 200 can also be controlled by setting a switch.

[0039] A column 310 is fixed to the handle 300. The upper end of the rotor 210 is fixed to the column 310, and the lower end of the column 310 has a insertion cavity. A fastening sleeve 320 is fixed in the insertion cavity, and the upper end of the rotor 210 is interference-fitted with the fastening sleeve 320. In other optional embodiments, the upper end of the rotor 210 may also be directly interference-fitted with the column 310, or the upper end of the shaft may be fixedly connected to the column 310 by bolts.

[0040] The lower end of the rotor 210 is inserted into the front bracket 400 and is interference-fitted with the front bracket 400. In other alternative embodiments, the lower end of the rotor 210 may also be fixedly connected to the front bracket 400 by bolts.

[0041] As shown in Figures 1-6 The stator 220 has a connection part 221 protruding outward, and the vehicle body 100 is fixed with a connection bracket 120, which is fixed on the connection part 221. In this way, the connection part 221 serves as the main force position of the connection, reducing the risk of deformation of other positions of the stator 220, so that the cooperation between the stator 220 and the rotor 210 better maintains accuracy. In other alternative embodiments, one end of the connection bracket 120 can also be sleeved on the stator 220, so that the force of the connection bracket 120 and the stator 220 can be evenly distributed on each face of the stator 220, avoiding excessive deformation of the stator 220 in a local area.

[0042] As shown in Figure 2 , 4 , 5, the connection bracket 120 has a fixing groove 121, the connection part 221 is embedded in the fixing groove 121, and the connection part 221 and the connection bracket 120 are detachably fixed by bolts. In other alternative embodiments, the connection part 221 can also be slotted so that the end of the connection is embedded in the slot, or the connection bracket 120 and the stator 220 are welded and fixed.

[0043] Further, the scooter is provided with a steering angle adjusting mechanism to adjust the maximum steering angle of the rotor 210 relative to the stator 220. Specifically, the steering angle adjusting mechanism includes an adjusting drive 510 fixed relative to the stator 220 and a limiting structure 520 fixed relative to the rotor 210, the adjusting drive 510 is provided with a limiting piece 511, the adjusting drive 510 drives the limiting piece 511 to move to control the relative position of the limiting piece 511 and the limiting structure 520, so that the maximum rotation angle of the rotor 210 relative to the stator 220 increases or decreases. The drive is an adjusting motor, the motor shaft of the adjusting motor has a thread, the limiting structure 520 includes a limiting rod fixed on the rotor 210, the middle part of the limiting piece 511 is connected with the motor shaft through the thread, and the two ends of the limiting piece 511 correspond to the two ends of the limiting rod, so that when the limiting piece 511 contacts with the limiting rod, the rotation of the rotor 210 is limited, and the lower end of the limiting piece 511 is in sliding contact with the stator 220. In other alternative embodiments, the limiting structure 520 can also be a flat surface provided on the rotor 210, which limits the rotation of the rotor 210 by cooperating with the limiting piece 511. The lower end of the limiting piece 511 can also be further provided with a ball, and the limiting piece 511 contacts with the stator 220 through the ball.

[0044] The adjusting driving member 510 is fixed on the stator 220 in this embodiment, and in other alternative embodiments, the adjusting driving member 510 can also be fixed on the connecting bracket 120, as long as the adjusting driving member 510 can be fixed relative to the stator 220. In other alternative embodiments, the limiting structure 520 can also be located on the structure fixed with the rotor 210, for example, the limiting structure 520 is located on the vertical rod or the front bracket 400.

[0045] The steering control method of the scooter includes the following steps:

[0046] Whether the user's hand is held on the handle 300 is detected by the holding detection device on the handle 300. The holding detection device can be a contact sensor 330 or a photoelectric sensor, and the holding detection device is connected with the controller to transmit the information of whether the user's hand is held on the handle 300 to the controller.

[0047] When the hand is held on the handle 300, the controller controls the steering motor 200 to be powered off; in this way, the user can control the steering of the scooter through the handle 300, avoiding the interference of the steering motor 200, and improving the controllability and smoothness of the steering.

[0048] When the hand is released from the handle 300, the controller controls the steering motor 200 to be powered on, and controls the steering motor 200 to rotate to control the steering of the scooter according to the information of the angle sensor on the vehicle body 100; in this way, the hands of the user can be freed, and the user only needs to control the center of gravity of the body to control the inclination of the vehicle body 100, so as to control the steering of the scooter, making the steering control more relaxed, and facilitating the balance between the user and the machine during straight-line driving.

[0049] When the steering of the scooter is controlled by the steering motor 200, the speed of the riding device is detected by the Hall element, and the speed information is transmitted to the controller; the controller controls the driving member to work according to the speed information, so that the greater the speed of the riding device, the closer the limiting member 511 to the limiting structure 520, and the smaller the speed of the riding device, the farther the limiting member 511 from the limiting structure 520. The closer the limiting member 511 to the limiting structure 520, the more likely the limiting member 511 and the limiting structure 520 to contact, and the smaller the rotatable angle of the rotor 210, so that the greater the speed, the smaller the maximum angle of the front wheel 410 to turn, avoiding high-speed large-angle steering, and improving the riding safety.

Claims

1. A riding device with a steering motor, comprising: a vehicle body (100), a rear end of the vehicle body (100) being provided with a rear wheel (110); characterized in that it further comprises: a steering motor (200), the steering motor (200) comprising a stator (220) and a rotor (210), the stator (220) being fixed on the vehicle body (100); a handlebar (300), the handlebar (300) being fixed on the rotor (210); a front support (400), the front support (400) being fixed on the rotor (210), the front support (400) being provided with a front wheel (410); the riding device being provided with a steering angle adjusting mechanism to adjust the maximum steering angle of the rotor (210) relative to the stator (220); the steering angle adjusting mechanism comprising an adjusting drive (510) fixed relative to the stator (220) and a limiting structure (520) fixed relative to the rotor (210), the adjusting drive (510) being provided with a limiting piece (511), the adjusting drive (510) driving the limiting piece (511) to move to control the relative position of the limiting piece (511) and the limiting structure (520), so that the maximum rotation angle of the rotor (210) relative to the stator (220) is increased or decreased; the adjusting drive being an adjusting motor, the motor shaft of the adjusting motor having a thread, the limiting structure (520) comprising a limiting rod fixed on the rotor (210), the middle part of the limiting piece (511) being connected with the motor shaft through the thread, the two ends of the limiting piece (511) corresponding to the two ends of the limiting rod, so that when the limiting piece (511) contacts with the limiting rod, the rotation of the rotor (210) is limited, the lower end of the limiting piece (511) being in sliding contact or contact through a ball with the stator (220); a steering control method of the riding device, comprising the following steps: detecting whether a user's hand is holding the handlebar (300) through a holding detection device on the handlebar (300); when the hand is holding the handlebar (300), the controller controls the steering motor (200) to be powered off; when the hand releases the handlebar (300), the controller controls the steering motor (200) to be powered on, and controls the steering motor (200) to rotate to control the steering of the riding device according to the information of an angle sensor on the vehicle body (100); detecting the running speed of the riding device and transmitting the speed information to the controller; the controller controls the adjusting drive to work according to the speed information, so that the greater the running speed of the riding device is, the closer the limiting piece (511) is to the limiting structure (520), and the smaller the running speed of the riding device is, the farther the limiting piece (511) is from the limiting structure (520).

2. The striding device with a turning motor according to claim 1, characterized in that, a stand (310) is fixed on the handlebar (300), and the upper end of the rotor (210) is fixed with the stand (310).

3. The striding device with a turning motor according to claim 2, characterized in that, the lower end of the stand (310) has a plug-in cavity. The plug-in cavity is fixed with a fastening sleeve (320), and the upper end of the rotor (210) is in interference fit with the fastening sleeve (320); or the upper end of the rotor (210) is directly in interference fit with the stand (310).

4. The striding device with a turning motor according to claim 1, characterized in that, The lower end of the rotor (210) is inserted into the front support (400) and is in interference fit with the front support (400).

5. The striding device with a turning motor according to claim 1, characterized in that, The stator (220) has a connection part (221) protruding outward, and the vehicle body (100) is fixed with a connection support (120), which is fixed on the connection part (221).

6. The striding device with a turning motor according to claim 5, characterized in that, The connection support (120) has a fixing groove (121), and the connection part (221) is embedded in the fixing groove (121), and the connection part (221) and the connection support (120) are detachably fixed and connected through bolts.

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