Motorcycle and methods for stabilizing the motorcycle

Abstract

Motorcycle (1) with drive train (4), the drive machine (2) of which is at least indirectly mounted on a frame (3) and comprises a transmission device (5) via which a torque generated by the drive machine (2) can be transmitted to a rear axle (6) of the motorcycle (1), wherein the drive machine (2) is adjustable relative to the frame (3) by means of an actuator device, wherein the drive machine (2) has a rotor with an axis of rotation, wherein the drive machine (2) is pivotally mounted on the frame (3) and is pivotable relative to the frame (3) about at least one associated pivot axis by means of the actuator device, characterized in that a torque axis, which characterizes an axis of rotation of the generated torque of the drive machine (2), has an angle adjustable to the drive axis of a rear wheel of the motorcycle (1) having the rear axle (6).

Description

[0001] The invention relates to a motorcycle according to the preamble of claim 1 and to a method for stabilizing the motorcycle.

[0002] Such a motorcycle is already known from DE 10 2005 047 145 A1. The motorcycle comprises a drive motor attached to a main shaft. Furthermore, the motorcycle includes means for detecting vehicle oscillations and one or more actuators which can be controlled depending on signals from the means for detecting vehicle oscillations. The one or more actuators can counteract any occurring vehicle oscillation or high-speed oscillation. One of the actuators can be in the form of a throttle valve or an ignition timing adjuster to regulate the engine power of the drive motor.

[0003] Furthermore, a method for stabilizing the driving of a motorized two-wheeler is known from DE 10 2013 200 020 A1. The motorized two-wheeler comprises two gyroscopes arranged side by side with parallel axes of rotation, each gyroscope being rotatable about a pivot axis perpendicular to its axis of rotation. These gyroscopes are rotationally symmetric bodies that rotate continuously at a constant speed while the motorized two-wheeler is in motion. If unstable driving behavior of the two-wheeler is detected, the two gyroscopes are pivoted about their respective pivot axes, with their pivot directions being opposite to each other. This stabilizes the motorized two-wheeler.

[0004] Furthermore, a method for eliminating or reducing a pendulum motion in a motorcycle is known from DE 10 2008 011 575 A1. In this method, a roll angle and / or roll rate of the motorcycle are first determined and then evaluated to detect a pendulum motion. Upon detection of a pendulum motion, a control of the motorcycle's drive torque is implemented to eliminate or reduce the pendulum motion.

[0005] The object of the present invention is to create a motorcycle which is particularly easy to stabilize.

[0006] This problem is solved according to the invention by a motorcycle and by a method for stabilizing the motorcycle with the features of the independent claims. Advantageous embodiments of the invention are the subject of the dependent claims and the description.

[0007] A first aspect of the invention relates to a motorcycle with a drivetrain, wherein the drivetrain may be electrically powered. This drivetrain comprises a drive motor, which may be electrically powered and is mounted at least indirectly on the frame of the motorcycle. Furthermore, the drivetrain comprises a transmission device via which torque generated by the drive motor, in particular an electric one, can be transmitted to a rear axle of the motorcycle. Alternatively, instead of the electric drive motor, the drivetrain may include an internal combustion engine mounted at least indirectly on the frame. To enable particularly simple stabilization of the motorcycle, the invention provides that the drive motor is pivotally mounted on the frame and is adjustable about at least one associated pivot axis by means of an actuator.In other words, the drive unit can be aligned relative to the frame by pivoting it about its associated pivot axis relative to the frame and about a joint that secures the drive unit to the frame. Thus, a torque axis, which characterizes the axis of rotation of the drive unit's generated torque, has an adjustable angle relative to the drive axis of a rear wheel of the motorcycle. This means that the torque axis can be adjusted at different angles relative to the drive axis to compensate for roll, pitch, and / or yaw movements of the motorcycle and thus stabilize it. For particularly advantageous stabilization, the torque of the drive unit can also be adjusted. This torque depends on the rotational speed of the drive unit, which is adjustable via a gearbox in the motorcycle's drivetrain.Consequently, the torque generated by the drive motor can be used to stabilize the motorcycle particularly advantageously against rolling, pitching and / or yaw movements.

[0008] In a further development of the invention, the transmission device comprises a movable bevel gear with interlocking gear elements whose relative angle is adjustable by means of the actuator. The angle of the torque axis relative to the drive axis is adjustable by means of the movable bevel gear. The movable bevel gear ensures power transmission from the drive engine to the rear axle of the motorcycle regardless of the angle between the torque axis and the drive axis. The movable bevel gear enables continuous power transmission from the drive engine to the rear axle of the motorcycle in any configuration of the torque axis relative to the drive axis, thus ensuring reliable propulsion of the motorcycle.

[0009] Furthermore, it has proven advantageous to provide a detection device by means of which the stabilization requirement of the motorcycle can be determined, wherein the orientation of the drive motor relative to the frame can be adjusted depending on the stabilization requirement. In other words, the orientation of the motorcycle can be determined by means of the detection device, and the stabilization requirement of the motorcycle can be determined based on the orientation of the motorcycle. If a corresponding stabilization requirement of the motorcycle is determined, the actuator can be controlled such that the motorcycle is stabilized according to the stabilization requirement by adjusting the drive motor relative to the frame.

[0010] It has also proven advantageous if the actuator assembly has at least one electrical and / or hydraulic and / or pneumatic actuator by means of which the drive machine can be adjusted in its orientation relative to the frame. In other words, the actuator assembly comprises at least one actuator, which can be operated electrically and / or hydraulically and / or pneumatically. This actuator allows the drive motor, and thus its torque axis, to be adjusted at its angle relative to the drive axis of the rear axle. This enables particularly simple and precise alignment of the drive motor relative to the frame.

[0011] In a further embodiment of the invention, the drive motor is connected to the rear axle via a universal joint and / or a multi-plate clutch and / or a constant velocity joint. Both the universal joint and the constant velocity joint allow for an angled arrangement of the torque axis relative to the drive axle, thus enabling a non-linear power transmission from the drive motor to the rear axle of the motorcycle. In particular, the universal joint and / or the constant velocity joint allow the drive motor to be positioned at different angles relative to the rear axle. The multi-plate clutch allows for a particularly secure connection between a drive shaft and an output shaft of the drive train. This advantageously makes the motorcycle particularly safe to operate.

[0012] In a further advantageous embodiment of the invention, the drive machine is designed as an electric machine comprising a stator and a rotor, which is arranged on the frame with the axis of rotation of its rotor parallel to a transverse direction of the motorcycle and is pivotable about a vertical axis of the motorcycle relative to the frame to generate a rolling moment. This means that the electric machine is arranged on the motorcycle frame such that the axis of rotation of the rotor can be aligned parallel to the rear axle or is aligned in its initial position, with the electric machine being pivotable in a first plane defined by the transverse direction and a longitudinal direction of the motorcycle. This allows an additional rolling moment of the motorcycle to be generated, thereby stabilizing externally acting rolling moments, such as those occurring when cornering.

[0013] In an alternative advantageous embodiment of the invention, the drive machine is designed as an electric machine comprising a stator and a rotor, which is arranged on the frame with the axis of rotation of its rotor parallel to the longitudinal direction of the motorcycle and is pivotable about a vertical axis of the motorcycle relative to the frame to generate a pitching moment. In other words, the electric machine can be aligned with its axis of rotation parallel to the longitudinal direction of the motorcycle, or aligned in its initial position, and pivotable in the first plane defined by the longitudinal and transverse directions of the vehicle. This allows the pitching moment to be generated, which can prevent the motorcycle from tipping forward or backward.

[0014] In a further alternative advantageous embodiment of the invention, the drive machine is designed as an electric machine comprising a stator and a rotor, which is arranged on the frame with the axis of rotation of its rotor parallel to the vehicle's vertical direction of travel. The electric machine is pivotable about the vehicle's transverse axis relative to the frame to generate a pitching moment, and about the vehicle's longitudinal axis relative to the frame to generate a rolling moment. In other words, the electric machine can be aligned with its axis of rotation parallel to the vehicle's vertical direction of travel, or aligned in its initial position. Furthermore, the electric machine is pivotable in a second plane defined by the vehicle's longitudinal and vertical directions, and in a third plane defined by the vehicle's transverse and vertical directions.When pivoting in the third plane defined by the vehicle's transverse and vertical directions, a rolling moment about the longitudinal axis of the motorcycle can be generated. When pivoting the electric motor in the second plane defined by the vehicle's longitudinal and vertical directions, a pitching moment about the motorcycle's transverse axis can be generated to compensate for external pitching moments. For combined compensation of rolling and pitching moments, the drive motor can be pivoted in both the longitudinal and transverse directions of the vehicle, such that the drive motor moves within a conical volume whose central axis passes through the articulated mounting of the drive motor to the frame and along the vehicle's vertical direction.

[0015] Consequently, the drive motor can be installed transversely, longitudinally or vertically in the motorcycle and, by means of the drive motor, rolling moments and / or pitching moments and / or yaw moments of the motorcycle can be compensated by means of a corresponding pivoting of the drive motor about the vehicle vertical direction, the vehicle transverse direction and / or the vehicle longitudinal direction in order to stabilize the motorcycle particularly advantageously.

[0016] The invention further relates to a method for stabilizing a motorcycle, in which a drive motor, pivotally mounted on a frame of the motorcycle and by means of which the motorcycle can be driven, in particular electrically, is adjusted in its orientation about at least one associated pivot axis relative to the frame by means of an actuator during operation of the motorcycle. This means that the drive motor is pivoted by means of the actuator during operation of the motorcycle about a vertical direction and / or a transverse direction and / or a longitudinal direction relative to the frame in order to generate a rolling moment and / or a pitching moment and / or a yaw moment, by means of which external rolling moments and / or pitching moments and / or yaw moments can be compensated. This allows the motorcycle to be stabilized particularly advantageously.

[0017] The advantages and advantageous embodiments of the motorcycle according to the invention are to be regarded as advantages and advantageous embodiments of the method according to the invention. For this reason, the advantages and advantageous embodiments of the method according to the invention are not described again here.

[0018] Further features of the invention will become apparent from the claims, the figures, and the description of the figures. The features and combinations of features mentioned above in the description, as well as the features and combinations of features mentioned below in the description of the figures and / or shown in the figures alone, are not only usable in the combinations specified, but also in other combinations or on their own.

[0019] The invention will now be explained in more detail with reference to a preferred embodiment and the drawings. The drawings show: Fig. 1 a schematic top view of a motorcycle in a first embodiment with a transversely installed electric machine which is pivotally mounted on a frame of the motorcycle and can be pivoted about a vehicle vertical direction of the motorcycle relative to the frame; Fig. 2. A schematic top view of the motorcycle in a second, alternative embodiment, in which the electric machine, which is pivotally mounted on the frame, is installed lengthwise along the motorcycle and can thus be aligned parallel with its axis of rotation to the longitudinal direction of the motorcycle and pivoted about a vertical direction of the motorcycle relative to the frame; and Fig. 3 a schematic side view of the motorcycle in a third, alternative embodiment in which the electric machine, which is pivotally mounted on the frame, is installed vertically, and thus its torque axis can be aligned parallel to the vehicle's vertical direction and pivoted about the vehicle's transverse direction and / or the vehicle's longitudinal direction relative to the frame.

[0020] In the Fig. 1 to Fig. 3 is a motorcycle 1 The motorcycle is shown in schematic views in different embodiments. 1 It could be an electric motorcycle or a hybrid motorcycle.

[0021] The motorcycle 1 includes a powertrain 4 with an electric machine 2 , which are at least indirectly connected to a framework 3 of the motorcycle 1 is stored. By means of the electric machine 2is the motorcycle 1 It can be powered by electrical energy. Furthermore, the drivetrain includes 4 a transmission device 5 , via which a by the electric machine 2 generated torque to a rear axle 6 of the motorcycle 1 is transferable. Here, the electric machine is involved. 2 articulated via a driveshaft 7 , in this case a cardan joint on the frame 3 The electric machine is mounted by means of an actuator device (not shown in the figures) comprising at least one electrical and / or hydraulic and / or pneumatic actuator. 2 in their orientation relative to the frame 3 around at least one associated articulation axis, in particular a longitudinal direction of the vehicle x and / or a vehicle transverse direction y and / or a vehicle lifting mechanism z adjustable.

[0022] The motorcycle1 It also includes a recording device. 8 , by means of which a stabilization requirement of the motorcycle 1 can be determined. The recording device 8 is connected to the actuator unit to provide the determined stabilization requirement for the actuator unit. The electric machine is controlled by means of the actuator unit. 2 in their orientation relative to the frame 3 adjustable depending on the determined stabilization requirement. In other words, the detection device is used. 8 the stabilization requirement of the motorcycle 1 The data is determined and transmitted to the actuator. The actuator then controls the electric machine. 2 depending on the stabilization needs relative to the framework 3 aligned around the motorcycle 1 to stabilize.

[0023] To transmit power from the electric machine2 on the rear axle 6 in any relative arrangements of the electric machine 2 to the framework 3 to ensure the drive shaft 7 provided. As an alternative to the cardan joint, a constant velocity joint or a multi-plate clutch may be provided. In another alternative, the transmission device 5 It comprises a movable bevel gear with interlocking gear elements. The mutual angle of the interlocking gear elements can be adjusted by means of the actuator to control the electric machine. 2 at different angles relative to the frame 3 to order.

[0024] In Fig. 1 is the motorcycle 1 in a first embodiment, in which the electric machine 2 across the motorcycle 1 is installed. This refers to the transverse installation of the electric machine.2 to understand that in its initial position it is arranged in such a way that a torque axis 9 of the torque of the electric machine 2 parallel to the vehicle's transverse direction y of the motorcycle 1 extends from this starting point, the electric machine 2 to raise the vehicle z in a direction traversed by the longitudinal direction of the vehicle x and the vehicle's transverse direction y The first plane is pivotable due to the transverse installation of the electric machine. 2 can be done using the driveshaft 7 about the respective setting of the electric machine 2 relative to the framework 3 A rolling moment is generated, by means of which externally acting rolling moments, especially when cornering the motorcycle, are counteracted. 1 They can be stabilized. The electric machine is used for this stabilization of the externally acting rolling moments.2 to raise the vehicle z of the motorcycle 1 tipped over.

[0025] In the Fig. 2 second embodiment of the motorcycle shown 1 is the electric machine 2 longitudinally installed. This means that in the initial position of the electric machine 2 whose torque axis 9 parallel to the longitudinal direction of the vehicle x of the motorcycle 1 extends. From this starting point, the electric machine 2 to raise the vehicle z in the longitudinal direction of the vehicle x and the vehicle's transverse direction y The first plane is pivoted. This is achieved through the longitudinal installation of the electric machine. 2 can be done using the driveshaft 7 by adjusting the electric machine 2 relative to the framework 3A pitching moment is generated, which can be used to stabilize an externally acting pitching moment. This prevents the motorcycle from tipping over. 1 forwards or the motorcycle tipping over 1 Backwards movement, especially during a wheelie, should be avoided. This helps stabilize the motorcycle. 1 will the electric machine 2 thus around the vehicle's upward direction z of the motorcycle 1 tipped over.

[0026] In the schematic side view in Fig. 3 is the motorcycle 1 in a third, alternative embodiment, in which the electric machine 2 perpendicular to the motorcycle 1 is installed. This refers to the vertical installation of the electric machine. 2 in the motorcycle 1 to understand that the electric machine 2 in their initial position with their torque axis 9parallel to the vehicle's upward direction z of the motorcycle 1 is aligned. From this starting point, the electric machine 2 relative to the framework 3 to the vehicle transverse direction y and / or around the vehicle's longitudinal direction x tiltable. Thus, the electric machine is 2 both in a longitudinal direction of the vehicle x and the vehicle lifting direction z second level spanned as well as in one through the vehicle transverse direction y and the vehicle lifting direction z The third plane can be pivoted. The electric machine 2 can then be adjusted both around the vehicle's longitudinal direction x as well as around the vehicle's transverse direction y be swivelled so that the electric machine 2 within a direction of travel along the vehicle's vertical direction zThe clamping cone can be pivoted. The electric machine can be used in this way. 2 It can be pivoted along a conical surface and / or within the cone. This is achieved through the vertical installation of the electric machine. 2 Combinations of rolling and pitching moments can be absorbed or stabilized. The electric machine can be used for this purpose. 2 both around the vehicle's transverse direction y as well as the longitudinal direction of the vehicle x of the motorcycle 1 be tipped over.

[0027] The flexible mounting of the electric machine 2 on the frame 3 as well as the adjustability of the electric machine 2 relative to the framework 3 have the advantage that pitching moments and / or rolling moments of the motorcycle 1These impacts can be absorbed and thus stabilized. This active stabilization system results in particularly advantageous stability for the motorcycle. 1 accessible. Furthermore, active control systems such as ABS and traction control can be supported by vehicle stabilization even at the limit. Moreover, no additional flywheel masses are required to stabilize the motorcycle. 1 necessary, which results in a particularly low weight for the motorcycle. 1 leads.

[0028] By means of the in Fig. 1. Arrangement of the electric machine shown 2 Alternatively or additionally to the rolling moments, yaw moments can be generated to compensate for external yaw moments by adjusting the electric machine in the transverse direction of the vehicle. y and the vehicle lifting direction z The third level is pivoted.

[0029] The motorcycle described in connection with the figures 1 The underlying principle is that motorcyclists are aware of the effect that, above a certain speed, gyroscopic forces from the motorcycle's wheels become a factor. 1 sufficient to power the motorcycle 1 to stabilize to such an extent that hands can be removed from the handlebars of the motorcycle. 1 This effect is known as the gyroscopic effect. It is not just a stabilization of the motorcycle. 1 Not only is the rotation due to a moment of inertia, but dynamic processes also occur which generate reaction torques when the wheels' axes of rotation are disturbed. More generally, this means that any force acting perpendicular to an axis around which the wheel rotates will produce a reaction torque. 1When executed, a force is generated whose vector is perpendicular to both the axis and a vector of the initiating force. A return to a stable state is not always achieved, so the effect of the gyroscopic effect is limited.

[0030] Modern motorcycles 1 They feature intelligent driver assistance systems such as anti-lock braking systems (ABS) and traction control, designed to support the rider on poor surfaces. In current technology, these active systems are not supported by flywheel systems to ensure particularly advantageous motorcycle stability. 1 especially to ensure safe cornering. New motorcycles 1 They have sensors for lean angle detection, whereby a detected lean angle can be used by active control systems to adjust the motorcycle. 1to make braking maneuvers manageable while leaning, particularly by individually adjusting the build-up of brake pressure. A disadvantage of this is that it involves flywheel masses in the drivetrain. 4 of the motorcycle 1 They cannot be used for vehicle stabilization. Furthermore, the stabilization systems used so far are particularly complex. Disadvantages of separate flywheels for stabilizing the motorcycle include... 1 are their additional weight, which makes a motorcycle particularly heavy.

[0031] The motorcycle explained in connection with the figures 1 Stabilization is achieved by utilizing the gyroscopic forces of the electric machine. 2 The electric machine 2 is located via the driveshaft 7 connected to a gearbox. The driveshaft 7 enables a twisting of the electric machine 2in space at a small angle, while still drawing power from the electric machine 2 to the wheels, especially the rear axle 6 , can be delivered. The driveshaft 7 enables adjustment of the position of the electric machine 2 in space by electric, pneumatic, or hydraulic actuators. Through the driveshaft. 7 Can deflections of the electric machine 2 between 5 degrees and 30 degrees from a normal installation position, in this case the starting position, relative to the torque axis 9 in the starting position. However, the respective deflection angle is not limited to this specified range.

[0032] By changing the position of the electric machine 2 In space, an external moment can be absorbed or stabilized, thereby actively influencing the motorcycle. 1This can occur during cornering. Depending on the installation position of the electric motor. 2 in the motorcycle 1 Stabilization occurs in different directions, in particular pitch stabilization and / or roll stabilization. This is achieved through the deflection of the electric machine. 2 From its normal installation position, a rolling moment and / or pitching moment induced by external influences is absorbed. This enables particularly advantageous stabilization of the motorcycle. 1 . Reference symbol list 1 motorcycle 2 electric machine 3 frames 4 Powertrain 5 Transmission device 6 Rear axle 7 Cardan shaft 8 Recording device 9 Torque axis x Vehicle longitudinal direction y vehicle transverse direction z Vehicle lifting direction QUOTES INCLUDED IN THE DESCRIPTION

[0000] This list of documents cited by the applicant was automatically generated and is included solely for the reader's convenience. The list is not part of the German patent or utility model application. The DPMA accepts no liability for any errors or omissions. Cited patent literature

[0000] DE 102005047145 A1

[0002] DE 102013200020 A1

[0003] DE 102008011575 A1

[0004]

Claims

[1] Motorcycle (1) with drive train (4) of which the drive motor (2) is at least indirectly mounted on a frame (3) and includes a transmission device (5) via which a torque generated by the drive motor (2) can be transmitted to a rear axle (6) of the motorcycle (1), characterized by , that the drive machine (2) is articulatedly mounted on the frame (3) and is adjustable by means of an actuator about at least one associated articulating axis. [2] Motorcycle (1) according to claim 1, characterized by , that the transmission device (5) comprises a movable angle gear with respective interlocking gear elements, the mutual angle of which can be adjusted by means of the actuator device. [3] Motorcycle (1) according to any one of the preceding claims, characterized by, that a detection device (8) is provided by means of which a stabilization requirement of the motorcycle (1) can be determined, wherein the drive motor (2) is adjustable in its orientation relative to the frame (3) depending on the stabilization requirement. [4] Motorcycle (1) according to any one of the preceding claims, characterized by that the actuator assembly has at least one electrical and / or hydraulic and / or pneumatic actuator by means of which the drive machine (2) can be adjusted in its orientation relative to the frame (3). [5] Motorcycle (1) according to any one of the preceding claims, characterized by , that the drive motor (2) is connected to the rear axle (6) via a cardan joint (7) and / or via a multi-plate clutch and / or via a constant velocity joint. [6] Motorcycle (1) according to any one of the preceding claims, characterized by, that the drive machine is designed as an electric machine (2) comprising a stator and a rotor, which is arranged on the frame (3) with an axis of rotation of its rotor parallel to a transverse direction (y) of the motorcycle (1) and is pivotable about a vertical axis (z) of the motorcycle (1) relative to the frame (3) to generate a rolling moment. [7] Motorcycle (1) according to any one of claims 1 to 5, characterized by , that the drive machine is designed as an electric machine (2) comprising a stator and a rotor, which is arranged on the frame (3) with an axis of rotation of its rotor parallel to a longitudinal direction (x) of the motorcycle (1) and is pivotable about a vertical axis (z) of the motorcycle (1) relative to the frame (3) to generate a pitching moment. [8] Motorcycle (1) according to any one of claims 1 to 5, characterized by, that the drive machine is designed as an electric machine (2) comprising a stator and a rotor, which is arranged on the frame (3) with an axis of rotation of its rotor parallel to a vehicle vertical direction (z) of the motorcycle (1) and is pivotable about a vehicle transverse axis (y) of the motorcycle (1) relative to the frame (3) to generate a pitching moment and is pivotable about a vehicle longitudinal axis (x) of the motorcycle (1) relative to the frame (3) to generate a rolling moment. [9] Method for stabilizing a motorcycle (1) in which a drive machine (2) which is articulated to a frame (3) of the motorcycle (1) and by means of which the motorcycle (1) can be driven is adjusted in its orientation about at least one associated articulation axis relative to the frame (3) during operation of the motorcycle (1) by means of an actuator device.

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