Double-form switching electric skateboard and using method thereof

Abstract

The invention discloses a double-form switching electric skateboard, which comprises a chassis part, an electric skateboard body and an electric skateboard body, the control panel is arranged on the chassis part and hinged to the chassis part through a hinge; the bridge frame is hinged to the chassis part, and a driving unit is arranged on the bridge frame; wherein the driving unit comprises a brushless motor, a bevel gear set and a toothed power wheel, the brushless motor drives the bevel gear set to rotate, and the bevel gear set is connected with the toothed power wheel. The control panel is of a split type or integral type structure, the control panel is installed on the chassis part through a connecting pad, a steering sensor is arranged on the connecting pad, control boxes are arranged on the two sides of the chassis part, and the control boxes are used for receiving steering signals of the steering sensor and controlling the bridge frame to steer. And a hub assembly or a track assembly is arranged outside the toothed power wheel. Sharing of power gear teeth is achieved through the gear coupling mechanism, the driving form can be rapidly switched, and self-adaptive adjustment of the tensioning force of the crawler belt is ensured in combination with the automatic tensioning mechanism; and the practicability of the product and the user experience are improved.

Description

Technical Field

[0001] The present invention relates to the field of skateboard structures, and in particular to a dual-mode switching electric skateboard and a steering control method thereof. Background Art

[0002] Existing electric skateboards have problems such as poor adaptability to multiple terrains, cumbersome switching of drive modes, inconsistent control logic, low power transmission efficiency, and difficulty in accurately controlling track tension. Traditional single-wheel drive skateboards are prone to slipping or getting stuck on complex terrains such as grass and sand, and the control method of tracked skateboards is very different from that of traditional skateboards, so users need to adapt to it. At the same time, existing multi-mode equipment often requires disassembly of core transmission components when switching, which is complicated and time-consuming. In addition, a single drive system is difficult to take into account the power requirements of different terrains (such as high speed required for wheel mode and high torque required for track mode), and traditional track tensioning relies on manual adjustment, which is prone to slipping due to being too loose or wearing due to being too tight. Summary of the Invention

[0003] The purpose of the present invention is to provide a dual-mode switching electric skateboard to solve the above problems. The gear coupling mechanism is used to realize power gear sharing. The wheel / track drive mode can be quickly switched through the hub nut without removing the core components. The worm gear automatic tensioning mechanism and torque feedback control are combined to ensure adaptive adjustment of the track tension. At the same time, a unified control logic based on the center of gravity offset is designed. Through the hinge limit and sensor fusion, the mechanical steering of the skateboard mode and the differential steering of the track mode share the same operating interface. The helical gear train is used to intelligently adapt to the reduction ratio requirements of different modes, which solves the problems of low power efficiency and poor control consistency in multiple terrains, and improves the practicality and user experience of the product.

[0004] To achieve the above objectives, the present invention provides the following technical solutions: a dual-mode switching electric skateboard, comprising: chassis components, used to provide support; A control panel is provided on the chassis member and is hinged to the chassis member via a hinge; A bridge frame is hinged to the chassis, and a drive unit is provided on the bridge frame; The driving unit includes a brushless motor, a helical gear set and a toothed power wheel. The brushless motor drives the helical gear set to rotate, and the helical gear set is connected to the toothed power wheel.

[0005] As a further improvement of the above technical solution: The control panel is a split or integral structure, and is installed on the chassis through a connecting pad. A steering sensor is provided on the connecting pad. Control boxes are provided on both sides of the chassis. The control boxes are used to receive the steering signal of the steering sensor and control the steering of the bridge.

[0006] A hub assembly or a track assembly is arranged outside the toothed power wheel.

[0007] A support member is provided on the chassis member, and the support member includes a worm gear adjustment rod, a swing arm is provided on the worm gear adjustment rod, a worm engaged with the worm gear adjustment rod is provided on the worm gear adjustment rod, and support wheels are provided on both the swing arm and the worm gear adjustment rod.

[0008] A lithium battery pack is arranged inside the chassis.

[0009] The control panel is provided with a fastener for fixing the control panel and the chassis.

[0010] A method for using a dual-mode switchable electric skateboard, comprising: Converting from skateboard mode to track mode: remove the wheel hub assembly, insert the track assembly into the toothed power wheel, start the small motor in the board, drive the worm gear adjustment rod through the worm, lower the swing arm to tension the track assembly, remove the fasteners, and allow the control board to swing relative to the chassis; Convert from track mode to skateboard mode: run the small motor in reverse, drive the worm gear adjustment rod through the worm, swing the swing arm, loosen the track assembly, remove the track assembly, install the hub assembly back to the toothed power wheel, and lock the control panel and the chassis with the fasteners.

[0011] Skateboard mode steering: The control panel is rigidly locked to the chassis. The driver's center of gravity shifts through the control panel and chassis to drive the bridge frame to deflect, achieving mechanical steering. The power is driven by the brushless motor, helical gear set, and toothed power wheel to drive the hub assembly to rotate. Track mode steering: the control panel swings relative to the chassis through the hinge, the steering sensor detects the swing angle signal and transmits it to the control box, the control box calculates the differential ratio of the left and right tracks according to the swing angle, controls the speed of the left and right brushless motors, and realizes track differential steering. The helical gear set amplifies the torque and keeps the track assembly taut through the support wheel.

[0012] Compared with the prior art, the present invention has the following beneficial effects: 1. Breakthrough in multi-terrain adaptability: From "single mode" to "full-scene coverage", adopting a dual-mode drive system.

[0013] Existing technology: Pure wheel skateboards are only suitable for flat roads (the pass rate on complex terrain is less than 30%), and pure track skateboards have a 30% drop in road endurance and exceed noise standards (≥80dB).

[0014] The present invention achieves efficient gliding on highways (speed of 25 km / h, 15% improvement in endurance) and stable navigation on complex terrain (climbing angle ≥ 15°, 80% improvement in muddy / sandy passability) through dual-mode switching of wheels / tracks. Applicable scenarios include urban commuting, campus transportation, and light off-road driving (existing technologies only cover a single scenario).

[0015] 2.Power gear sharing design: Existing technology: The wheeled and tracked drive systems are independent, resulting in a chassis weight increase of more than 20% and low power transmission efficiency (gear meshing loss ≥ 15%).

[0016] The present invention: The internal gear of the wheel hub and the tooth hole of the rubber track share the same power gear teeth, without the need to disassemble the core transmission components. When switching, only the drive module (wheel / track) needs to be replaced, the weight is reduced by 10%, and the power transmission efficiency is increased to more than 90%.

[0017] 3. Upgraded operating experience: from "cumbersome switching" to "switch and use" Existing technology: Multi-mode switching requires removing 8-10 bolts (taking ≥10 minutes), relies on specialized tools, and is difficult to align (switching success rate <70%).

[0018] The present invention: locks / unlocks the control panel through fasteners, the wheel hub fixes the nut (quickly installs and removes the wheel, and the worm gear of the support wheel is automatically tensioned (tensioning force adjustment time ≤ 30 seconds), the overall switching time is ≤ 2 minutes, no tools are required, and the user operation success rate is ≥ 95%.

[0019] 4. Unified center of gravity control logic Existing technology: The control interfaces of wheeled mechanical steering and tracked remote-controlled differential steering are separated, and the user error rate is ≥15%.

[0020] The present invention: Both modes trigger steering through center of gravity offset (skateboard mode uses mechanical linkage steering, track mode uses electronic differential steering). The steering sensor collects the swing angle in real time (accuracy of ±0.5°), and the controller automatically switches the control strategy. The PU pad simulates a uniform foot feel (damping force 5-10N), reducing the learning cost by 80% and achieving control consistency of over 90%.

[0021] 5. Reliability and maintenance optimization: from "manual intervention" to "intelligent adjustment" Existing technology: Manual screw adjustment of tension (accuracy ±2mm), which cannot adapt to temperature changes (tension fluctuation ±15%), resulting in a 25% shortening of track life.

[0022] The present invention: a drive motor drives the worm to engage with the worm wheel, automatically calibrates the tensioning force (fluctuation ≤ 5%) through torque feedback, automatically compensates the tensioning force by 10% at low temperatures (-10°C), and relaxes it by 5% at high temperatures (40°C), extending the track life by 30% and requiring no manual maintenance.

[0023] 6. Mechatronic intelligent control Existing technology: Power distribution relies on a fixed reduction ratio, the risk of motor overload is high (current exceeds the rated value by 15%), and the steering response delay is ≥ 0.5 seconds.

[0024] The present invention: The controller monitors the motor torque and sensor signals in real time, dynamically adjusts the differential ratio of the left and right tracks (range 0-30%), reduces the minimum turning radius to 1.2m (existing technology ≥2m), and intelligently matches the torque output through the helical gear train (torque in track mode is increased by 50%), reducing the risk of motor overload to 0, and improving the safety of complex terrain control by 60%.

[0025] 7. Modular design reduces costs Existing technology: Wheeled and tracked types are developed independently, mold costs increase by 40%, and component commonality is less than 50%.

[0026] The present invention: core transmission components (motor, helical gear train, power gear teeth) are shared in dual modes, with component commonality reaching over 80%, mold costs reduced by 30%, and quick replacement of wearing parts (such as wheels and tracks) is supported, reducing maintenance costs by 50%. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0028] Figure 1 This is one of the structural diagrams of the crawler mode of the present invention; Figure 2 This is the second structural diagram of the crawler mode of the present invention; Figure 3 This is one of the schematic diagrams of the skateboard mode structure of the present invention; Figure 4 This is the second schematic diagram of the skateboard mode structure of the present invention.

[0029] The description of the accompanying drawings is as follows: 1. Chassis part; 11. Support wheel; 12. Worm; 13. Swing arm; 14. Adjustment rod with worm gear; 15. Steering sensor; 16. Control box; 2. Control panel; 3. Bridge; 4. Hinge; 5. Fastener; 6. Connecting pad; 7. Brushless motor; 8. Helical gear set; 9. Toothed power wheel. DETAILED DESCRIPTION

[0030] To make the objectives, technical solutions, and advantages of the present invention more clear, the technical solutions of the present invention will be described in detail below. Obviously, the embodiments described are only some embodiments of the present invention, not all embodiments. Based on the embodiments of the present invention, all other implementations obtained by ordinary technicians in this field without making any creative work are within the scope of protection of the present invention.

[0031] like Figures 1 to 4 As shown, the dual-mode switching electric skateboard of this embodiment includes: Chassis 1 provides support and is made of stainless steel. A lithium battery pack is housed within it. Control boxes 16 are located on either side of chassis 1. The 48V / 10Ah lithium battery pack is connected to the control box 16 via wires.

[0032] The control panel 2 is provided on the chassis 1 and is hinged to the chassis 1 through two sets of hinges 4 equipped with bearings; The bridge 3 is hinged to the chassis 1 at its middle portion, and a drive unit is provided on the bridge 3; The drive unit includes a brushless motor 7, a helical gear set 8, and a toothed power wheel 9. The brushless motor 7 drives the helical gear set 8 to rotate, and the helical gear set 8 is connected to the toothed power wheel 9. The brushless motor 7 is provided with a small driving tooth, which is a helical tooth and meshes with the helical gear set 8. The helical gear set 8 has at least two helical gears, one of which is connected to the toothed power wheel 9, driving the toothed power wheel 9 to rotate.

[0033] The control panel 2, which can be split or integrated, is mounted on the chassis 1 via a connecting pad 6. A steering sensor 15 is mounted on the connecting pad 6. A control box 16 receives the steering signal from the steering sensor 15 and controls the steering of the bridge 3. The connecting pad 6 is affixed to the gap between the control panel 2 and the chassis 1. It is 10 mm thick and has a hardness of 70 Shore A, and is used to simulate steering feel.

[0034] A hub assembly 10 or a track assembly 17 is provided outside the toothed power wheel 9 .

[0035] The chassis 1 is equipped with a support structure comprising a worm gear adjustment rod 14, a swing arm 13 attached to the worm gear adjustment rod 14, and a worm 12 meshing with the worm gear adjustment rod 14. Both the swing arm 13 and the worm gear adjustment rod 14 are equipped with a support wheel 11. The support wheel 11 is rotatably mounted on the worm gear adjustment rod 14 and the swing arm 13. The worm 12 is connected to a drive motor, which drives the worm 12, which in turn rotates the worm gear adjustment rod 14, adjusting the position of the swing arm 13 and thus the track tension. The drive motor is laterally fixed to a groove in the center of the chassis 1, and its output shaft is connected to the worm gear 12 (module 1.5, number of teeth 2). The support wheel 11 (80 mm diameter, rubber-coated) is coaxially fixed to the worm gear adjustment rod 14 (module 1.5, number of teeth 40). The worm gear and worm gear mesh with each other, with a center distance of 31.5 mm. In the initial state, the vertical distance between the support wheel 11 and the toothed power wheel 9 is 120 mm, ensuring that the support wheel 11 is separated from the track when switching to the skateboard mode.

[0036] The control panel 2 is provided with fasteners 5 for securing the control panel 2 to the chassis 1. The control panel 2 includes both mechanical and inductive control. Mechanical control directly controls the steering through the control panel 2. In this case, the control panel 2 must be secured with fasteners 5, integrating the control panel 2 with the chassis 1. Inductive control controls the rotation of the bridge 3 by converting the rotation angle of the control panel 2 through a steering sensor 15 to angle control information of the control box 16.

[0037] The electric skateboard of this embodiment includes two modes: a skateboard mode and a track mode. The method for using the dual-mode switchable electric skateboard of this embodiment includes: Switch from skateboard mode to track mode: remove the wheel hub assembly 10, loosen the four wheel fixing nuts, pull the wheel outward, and separate the gear inside the wheel hub from the toothed power wheel 9. The whole process takes about 30 seconds.

[0038] Slide the track assembly 17 onto the toothed power wheel 9. The small motor inside the control panel is activated, driving the worm gear adjustment lever 14 via the worm gear 12, lowering the swing arm 13 and tensioning the track assembly 17. Remove the fastener 5, allowing the control panel 2 to swing relative to the chassis 1. Unroll the rubber track, aligning the inner tooth holes with the toothed power wheel 9. Manually stretch the track until it covers both the toothed power wheel 9 and the support wheel 11. The track is now in a relaxed state. Press and hold the mode switch button on the control box 16 for 3 seconds to activate the drive motor. The worm gear 12 rotates the drive gear adjustment lever 14 clockwise, driving the swing arm 13 vertically downward. When the drive motor current feedback reaches 0.8A (corresponding to a torque of 1.6N·m, the preset tension threshold), the controller automatically stops the motor. At this point, the vertical distance between the support wheel 11 and the toothed power wheel 9 is shortened to 100mm, and the track sag in the middle is ≤10mm, indicating that the tension is met.

[0039] Track-mode steering: Control panel 2 swings relative to chassis 1 via hinge 4. Fastener 5 at the front of control panel 2 must be removed. Control panel 2 swings freely via bearing hinge 4 at the rear end. Mechanical limiters limit its swing angle to within ±15°. Steering sensor 15 detects the swing angle signal and transmits it to control box 16. Control box 16 calculates the differential speed ratio of the left and right tracks based on the swing angle and controls the speed of the left and right brushless motors 7 to achieve differential track steering. Helical gear set 8 amplifies torque, maintaining tension on the track assembly via support wheels 11.

[0040] When the driver tilts control panel 2 to the left, steering sensor 15 detects a +10° swing signal, which is then transmitted to control box 16 after noise reduction using a Kalman filter algorithm. The controller calculates the differential ratio based on preset logic: differential ratio = swing angle × 0.02 (i.e., 10° corresponds to a 20% differential ratio). The controller then reduces the left motor's speed to 80% of the right's.

[0041] Brushless motor 7 uses PWM signals to regulate speed, reducing the left motor's speed from 1500 to 1200 rpm while maintaining 1500 rpm on the right. After torque is amplified by a helical gear train (total reduction ratio 15:1), the left track's linear speed reaches 1.2 m / s, while the right track's speed reaches 1.5 m / s, creating a 0.3 m / s speed difference. This enables leftward steering, and the gyroscope's real-time monitoring indicates a minimum turning radius of 1.2 m.

[0042] Convert track mode to skateboard mode: Run the small motor in reverse to drive the worm gear adjusting rod 14 through the worm 12 to rotate the swing arm 13, loosen the track assembly, remove the track assembly, install the hub assembly back to the toothed power wheel 9, and lock the control panel 2 and the chassis 1 with the fastener 5.

[0043] Skateboard mode steering: The control board 2 is rigidly locked with the chassis 1. The driver's center of gravity shifts through the control board 2 and chassis 1 to drive the bridge 3 to deflect, achieving mechanical steering. The power is driven by the brushless motor 7, the helical gear set 8, and the toothed power wheel 9 to drive the hub assembly to rotate; Performance test verification: (1) Battery life test In skateboard mode (wheel mode), the vehicle travels at a speed of 50km / h on a flat asphalt road, with a measured range of 30km. In track mode, the vehicle travels at a speed of 30km / h on sand (particle size 2-5mm), with a measured range of 25km, significantly better than the 12km range of similar equipment.

[0044] (2) Steering response time test By applying a 15° step swing signal and measuring with an oscilloscope, it was found that the time from the output of the steering sensor 15 to the speed change of the motor 7 was 0.15 seconds, which was significantly improved compared with the 0.5-second response time of the prior art.

[0045] (3) Track tension stability test By simulating 1,000 shape switching operations in an environment of -10°C to 40°C, it was found through torque sensor monitoring that the track tension fluctuation range was ≤4%, which is far better than the ±15% fluctuation range of manual adjustment with existing technology.

[0046] Within the technical scope disclosed by the present invention, any changes or substitutions that can be easily imagined should be included in the protection scope of the present invention. Therefore, the protection scope of the present invention should be based on the protection scope of the claims.

Claims

1. A dual-mode switching electric skateboard, characterized in that: include: A chassis member (1) for providing support; A control panel (2) is arranged on the chassis (1) and is hinged to the chassis (1) via a hinge (4); A bridge frame (3) is hinged to the chassis member (1), and a drive unit is provided on the bridge frame (3); The driving unit includes a brushless motor (7), a helical gear set (8) and a toothed power wheel (9); the brushless motor (7) drives the helical gear set (8) to rotate, and the helical gear set (8) is connected to the toothed power wheel (9).

2. The dual-mode switchable electric skateboard according to claim 1, characterized in that: The control panel (2) is of a split or integral structure. The control panel (2) is mounted on the chassis (1) via a connecting pad (6). A steering sensor (15) is provided on the connecting pad (6). Control boxes (16) are provided on both sides of the chassis (1). The control boxes (16) are used to receive a steering signal from the steering sensor (15) and control the steering of the bridge (3).

3. The dual-mode switching electric skateboard according to claim 2, characterized in that: A hub assembly (10) or a crawler assembly (17) is provided outside the toothed power wheel (9).

4. The dual-mode switchable electric skateboard according to claim 1, characterized in that: A support member is provided on the chassis member (1), the support member comprising a worm gear adjustment rod (14), a swing arm (13) provided on the worm gear adjustment rod (14), a worm (12) meshing with the worm gear adjustment rod (14), and a support wheel (11) provided on both the swing arm (13) and the worm gear adjustment rod (14).

5. The dual-mode switchable electric skateboard according to claim 1, characterized in that: A lithium battery pack is arranged inside the chassis component (1).

6. The dual-mode switching electric skateboard according to claim 1, characterized in that: The control panel (2) is provided with a fastener (5) for fixing the control panel (2) and the chassis (1).

7. A method for using a dual-mode switchable electric skateboard, characterized in that: include: Converting from skateboard mode to track mode: remove the wheel hub assembly, insert the track assembly into the toothed power wheel (9), start the small motor in the board, drive the worm gear adjustment rod (14) through the worm (12), lower the swing arm (13) to tighten the track assembly, remove the fastener (5), and allow the control board (2) to swing relative to the chassis (1); Converting from track mode to skateboard mode: Run the small motor in the reverse direction to drive the worm gear adjustment rod (14) through the worm (12) to swing the swing arm (13), loosen the track assembly, remove the track assembly, install the hub assembly back on the toothed power wheel (9), and lock the control panel (2) and the chassis (1) with the fastener (5).

8. The method for using the dual-mode switchable electric skateboard according to claim 7, characterized in that: include: Skateboard mode steering: the control panel (2) and the chassis (1) are rigidly locked, and the driver's center of gravity shifts through the control panel (2) and the chassis (1) to drive the bridge (3) to deflect, thereby achieving mechanical steering, and the power drives the hub assembly to rotate through the brushless motor (7), the helical gear set (8), and the toothed power wheel (9); Track mode steering: the control panel (2) swings relative to the chassis (1) via the hinge (4), the steering sensor (15) detects the swing angle signal and transmits it to the control box (16), the control box (16) calculates the differential ratio of the left and right tracks based on the swing angle, controls the rotation speed of the left and right brushless motors (7), and realizes track differential steering, the helical gear set (8) amplifies the torque, and keeps the track assembly taut via the support wheel (11).

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