Personal self-propelled vehicle (versions)

FIELD: high-maneuverability vehicles used for transporting of people with limited excursion in premises and in the street.

SUBSTANCE: self-propelled vehicle has carriage with armchair fixed thereon, power source, front rotary wheel, two rear wheels, and control system. Each of said rear wheels is equipped with drive for independent rotation around vertical axis. Each of said drives is fixed on rear part of carriage and connected to wheel support having vertical axis of rotation. Wheel rotation drives are designed for enabling at least two modes of movement. First mode of movement is mode of rotating rear wheels in synchronism with and through angle equal to that of front wheel. At second mode of movement for rear wheels, projections of horizontal axes of rotation of all the wheels onto supporting surface converge to a common point which is center of rotation of vehicle. Angle between projections for rear wheels differs from zero. At second mode, center of rotation is on longitudinal axis of projection onto supporting surface of longitudinal plane of symmetry of vehicle and is spaced from vertical plane of rotation of front wheel by distance L defined by interval of from L=0.1H to L=0.9H, where H is wheel base.

EFFECT: improved maneuverability and minimized vehicle turning area.

15 cl, 19 dwg

 

The invention relates to highly maneuverable vehicles and can be used to move people with limited mobility indoors and outdoors. The objects of the invention are variant vehicle with three wheels and a variant with four wheels.

As a prototype for the first option selected three-wheeled personal vehicle company BRUNO model of THE REGAL CUB [operating instructions BRUNO INDEPENDENT LIVING AIDS, INC S/N 98120200122. 1998]. On the supporting structure of the vehicle is fixed seat, steering column with a front rotary sprocket wheel and remote control. Axis of the rear wheels mounted on the supporting structure still. The drive is running from the battery attached under the seat. The device is compact enough, but not sufficiently maneuverable. Parking to the wall or the pavement is carried out in the traditional way, i.e. turn the front wheel, drive up to the desired position and maneuvering, occupy the desired position. When the rear wheels do only rotational movement, following the arc trajectories for the front wheel, or remain in place. Such a maneuver requires a fairly large space.

A turn of the vehicle is also carried out in the traditional way - by turning the front wheel. For minimizes the square and turn the front wheel rotate 90° and turn carry around a center lying in the middle between the rear wheels. The minimum turning radius equal to the wheelbase of the vehicle.

As a prototype for the second variant of the invention selected four-wheeled self-propelled vehicle Meyra model 3.420 [Catalog company Wilhelm Meyer GmbH&Co., No. 3/95 DC, str]. The vehicle has a load-bearing structure on which are fixed seat, two front-wheel drive, the actuator which is powered by a battery, mounted under the seat. The two rear wheels are non-driven rotatable, they are mounted on poles in the form of forks with a vertical axis of rotation and connected "steering trapeze". The remote control is on the side of the seat and has a joystick. This design has the same drawbacks as described above is insufficient maneuverability, i.e. Parking and turning are done by traditional methods and require considerable space.

The basis of the invention is the task of increasing mobility, namely the creation of a design, allowing to minimize the area to turn and Parking the vehicle.

The task in the first embodiment decides that the personal self-propelled vehicle comprises a load-carrying structure, on which are fixed the chair, the source of power, front swivel wheel, two rear wheels and control system. The prototype vehicle is characterized by the fact that each rear wheel is equipped with a drive providing it independent of the other wheels rotate around the vertical axis. Each rear drive wheel fixed to the rear part of the supporting structure and is connected to a support wheel having a vertical axis of rotation. Drives rotation of the wheels is made with the possibility of implementing at least two driving modes, namely the first mode of rotation of the rear wheels synchronously and at the same angle with the front wheel, and a second mode of rotation of the rear wheels, in which the horizontal projection of the axes of rotation of all wheels on the supporting surface converge at a single point which is the center of rotation of the vehicle. In this case the angle between the projections to the rear wheels is different from zero.

In the second mode the center of rotation is located on the projections on the base surface of the longitudinal plane of symmetry of the vehicle and separated from the vertical axis of rotation of the front wheel by a distance L, which is determined by the interval from L=0,1H up to L=0,9H, where N is the wheelbase. The best result for the second mode is achieved when the centre of rotation is located on the projections on the base surface of the longitudinal plane of symmetry of the TRANS is Ortego means and separated from the vertical axis of rotation of the front wheel by a distance L, which is defined as L=(0,4-0,6)N, where N is the wheelbase.

This lead can be both front wheel and rear, all-wheel.

In the second variant of the invention the problem is solved in that the personal self-propelled vehicle comprises a load-carrying structure, on which are fixed seat, power supply, two front and two rear wheels, and control system. From the prototype of the proposed vehicle differs in that each wheel is equipped with a drive providing it independent of the other wheels rotate around the vertical axis. Each actuator mounted on the supporting structure and is connected to a support wheel, which has a vertical axis of rotation. Drives rotation of the wheels is made with the possibility of implementing at least two driving modes, namely the first mode of rotation of the rear wheels synchronously and at the same angle with the front wheels, and the second mode of rotation of the rear wheels, in which the horizontal projection of the axes of rotation of all wheels on the supporting surface converge at a single point which is the center of turning of the vehicle, and the angle between these projections to the rear wheels is different from zero. In the second mode the center of rotation is located on the projections on the base surface of the longitudinal plane of symmetry of the Tr is Sportage means and is separated from the location of the vertical plane of the axes of rotation of the front wheels at a distance M, which is determined by the interval from M=0,1 h to M=0,N, where N is the wheelbase.

The best result for the second mode is achieved when the centre of rotation is located on the projections on the base surface of the longitudinal plane of symmetry of the vehicle and is separated from the location of the vertical plane of the axes of the front wheels at a distance M, which is defined as M=(0,4-0,6)N, where N is the wheelbase. While leading may be the front wheels and the rear or diagonally located wheels. The drive wheels can be all four wheels.

In both embodiments of the invention bearing wheels can be made in the form of a fork, or stand, or bracket.

In more detail, the invention disclosed in the following implementation examples and illustrated by the drawings, on which: Figure 1 is a three-wheeled vehicle, General view, Figure 2 - motor-wheel drive, 3 - three-wheeled vehicle, movement sideways, Figure 4 - three-wheeled vehicle, turning on the spot, 5 is a four-wheeled vehicle, General view, 6 - four-wheeled vehicle, movement sideways, Fig.7. a four - wheeled vehicle, turning on the spot, Fig - three-wheeled vehicle, the scheme of rotation of the wheels to move forward the Board (move "crab"), Fig.9 - h is trehalase vehicle, scheme of rotation of the wheels for movement "crab", Figure 10 is a three-wheeled vehicle, the scheme of the wheels to steer the vehicle, 11 four - wheeled vehicle, the scheme of the wheels to steer the vehicle, Fig - three-wheeled vehicle, the possible positions of the center of rotation, Fig - three-wheeled vehicle, changing the position of the center of rotation to turn on the spot, Fig - position IV on Fig, increased Fig - position V on Fig, increased Pig four - wheeled vehicle, changing the position of the center of rotation, Fig - position IV on Fig, increased, Fig - position V on Fig, increased Pig is an explanatory drawing for the determination of the dependency of the angle of rotation of three-wheeled vehicles.

Three-wheeled vehicle comprises a frame supporting structure 1 with steps 2, pillar 3 of the steering column 4, mounted with capability of changing the angle of its inclination. On the steering column 4 has a 5 remote control vehicle. The front wheel 6 is fixed on a support, which is made in the form of a fork 7 with a vertical or near vertical axis of rotation. The front wheel may be a leading and made in the form, for example, the motor-wheel. On a supporting structure mounted seat 8, under siderastrea are sources of power actuators the battery 9. On the rear part of the structure on the bracket 10 is fixed drives rotation of the rear wheels 11, 12 around the vertical axes 13 and 14, respectively. Supports rear wheels can serve as racks 15, 16, made in the form of an l-shape curved plates or beams, a horizontal shelf each of which is still connected to the vertical output shaft of his gear 17 to rotate, driven by a motor 18. On the vertical shelf each rack fixed wheel: either its axis, if the wheel is not the lead or motor wheel, if the wheel is the leading, i.e. the motor-wheel. Thus, between the drive rotation of each rear wheel has a swivel connection with a support wheel having a vertical axis of rotation. Support each rear wheel may be made in the form of a fork, for example, as for the front wheel, or in the form of a bracket, or any other reasonable construction. The front wheel 6 may not have the steering column, and be controlled from the remote control, for example, using a joystick mounted on the armrest of his chair.

Four-wheeled vehicle comprises a frame supporting structure 19 with footrest 20. On a supporting structure mounted seat 21, under the seat which are the batteries 22. The vehicle has two front the x wheel 23, 24 and two rear wheels 25, 26. Supports front and rear wheels can serve as a stand, made in the form of an l-shape curved plates, just as described above and presented in figure 2. A horizontal shelf each stationary plate connected to the vertical output shaft of the gearbox rotate this wheel. The shaft is driven by a corresponding motor. On the vertical shelf each rack fixed wheel: either its axis, if the wheel is not the lead or motor wheel, if the wheel is leading. Thus, between the drive rotation of each wheel is connected with a support wheel having a vertical axis of rotation. Bearing wheels can be made in the form of a fork, or in the form of a bracket, or any other reasonable construction. In four-wheel vehicle driving wheels may be the front wheels or rear wheels, or diagonally located wheels or all wheels. The control wheel is carried out from the remote control, for example, is equipped with a joystick. The unit can be mounted on the arm of his chair.

The operation of the device and the possibility of implementing two modes, allowing to minimize the area to turn and Parking of the vehicle described below and illustrated Fig-Fig.

Vehicle (both) on which allows the user for example a person with limited mobility, to navigate both indoors and outdoors. The motion path can be straight and with turns as in a traditional front - or zadneprovskis and polnoupravlyaemye tool. Management in a three-wheeled vehicle is provided from the steering column or on the console, for example, a joystick, four-wheel - from the console. However, Parking may apply driving Board (crab). To implement this motion all-wheel by means of the actuator are rotated around their vertical axes simultaneously at the same angle. In a three-wheeled vehicle α123in four-wheel respectively β1234(see Fig and Fig.9), the motion is in a straight line. When turning the wheels at an angle of 90° possible sideways movement. The driving mode is most useful when Parking the vehicle when it has been placed, for example, along the wall between the existing scooters, cars, etc. and in other similar situations.

The second mode (see Figure 10), which increases the maneuverability of the vehicle - rotation mode. When this control system periodically reads the information from the master organ (specify wheel having a manual actuator, joystick and other), calculates the rotation angles of the steered wheels and generates the control signals to the respective actuators. The point About the center of rotation. Mathematically the relationship between the driven wheels three-wheeled vehicles can be described as follows:

where x is the distance of the center of rotation from the projections on the base surface of the longitudinal plane of symmetry of the vehicle,

y - distance of the center of rotation along the projections on the base surface of the longitudinal plane of symmetry from the projection on the bearing surface plane location of the vertical axis of rotation of the rear wheels (figure 10 - horizontal and vertical,respectively)

α2- the angle of rotation of the wheel, traveling in an arc of larger radius (outer wheel),

α3- the angle of rotation of the wheel traveling along the arc of a smaller radius (inner wheel),

k1- length honey axes of rotation of the rear wheels,

α32.

As the wheels move each by its radius (R1≠R2that≠R3), the moments on the drive wheels and the angular speed are different, it is also to be taken into account in the management system.

For four-wheeled vehicles (see 11) of the inner front wheel is the chief corner is the β 1, outer front wheel - β2, the inner rear wheel - β3, outer rear wheel - β4. All angles are different from each other (β12that β34,), their values are expressed dependencies:

where x is the distance of the center of rotation from the projections on the base surface of the longitudinal plane of symmetry of the vehicle,

y - distance of the center of rotation along the projections on the base surface of the longitudinal plane of symmetry from the projection on the bearing surface plane location of the vertical axis of rotation of the rear wheels (figure 11 - horizontal and vertical,respectively)

k2- the distance between the axes of rotation of the front wheels ("gauge" of the front wheels),

k3- the distance between the axes of rotation of the rear wheels ("gauge" rear wheels).

For a performance management system needs to address the uncertainty relation between the rotation angles of the wheels, consisting in the fact that when you turn the front wheels (four-wheel means - when turning the front wheels) for a certain angle of the rear wheels can have multiple values of the rotation angles, which correspond to p is lichnye position of the center of rotation (for example, centers O1and O2on Fig).

This ambiguity is solved by the introduction of such concepts as "trajectory" of the center of rotation. The trajectory of the center of rotation is the geometric place of the points of location of the center of rotation for different rotation angles of the vehicle. She may look, for example, as broken and broken In on Fig and Fig. The trajectory of the center of rotation may vary depending on the speed and/or other parameters. Each point of the curve corresponds to a certain radius of rotation for each wheel, as illustrated in the footnotes, schematically depicting a typical position of the wheels of the vehicle. Position II-IV are intermediate move from "straight" to rotation around the center Ominlying on the projections on the base surface of the longitudinal plane of symmetry of the vehicle and equidistant from the vertical axis of rotation of the front wheels (four-wheel means is equidistant from the projection on the bearing surface plane location of the vertical axis of rotation of the front wheels) and the projection on the bearing surface plane location of the vertical axis of rotation of the rear wheels, namely:

The position of the I - motion in a straight line, the centre of rotation at infinity.

Position II (the center OII) - rotation, traditional the La pridneprovskogo vehicle, - turn the front wheels (four-wheel - front wheel), rear follow him in an arc, while not rotated relative to the longitudinal plane of symmetry of the vehicle.

Sloping portion of the curve a and curve b corresponds polnoupravlyaemye the driving mode, in which the rear wheels are turning.

Position III (the center OIII- turn three wheels (four-wheel or four wheels) of the proposed drug in the second mode. Both rear wheels rotate around their vertical axes of rotation in the opposite direction than the front (for four-wheel - than front) and with different speeds. For a three-wheeled means of the inner rear wheel is rotated at a higher speed than the rear exterior. For four-wheel - front inner wheel turns faster than the front outer and rear inner - faster back outside.

Position IV (center OIV) - as position III, but on a smaller radius.

The position of the V (the center Omin- turn on the spot.

It should be noted that when turning the front wheels (four-wheel - turning front wheels) there comes a time when the inner rear wheel ( for four-wheel - inner front wheel and the inner rear wheel is set at an angle of 90° to the projection pornoloverboy longitudinal plane of symmetry of the vehicle (position IV on Fig and Fig). Then, if the front wheel (for four-wheel - front inner wheel continues to rotate further to 90°rear inner wheel (for four-wheel - inner front and inner rear wheels) is rotated by an angle greater 90°. If the centre of rotation will come in the point Ominthe linear speed of the entire apparatus will be zero, however, the angular speed of all wheels neither at that moment nor at any other previous point in time should not be zero, i.e. to switch to this mode does not require a temporary stop driving wheels of the machine.

As seen from the above illustrative examples, unlike conventional vehicles, performing the rotation, as shown in position II (the projection of the horizontal axes of rotation of all wheels on the supporting surface converge at a single point which is the center of turning of the vehicle, the angle ψ between these projections to the rear wheels is equal to zero), in the inventive device, this angle ψ different from zero. In the limiting case, when the rotation is around the center Ominangle ψ max. However, it is possible and sometimes desirable to rotate, when the center of rotation, while the projections on the base surface of the longitudinal plane of symmetry transport the CSO funds but do not coincide with the center Ominand separated from the vertical axis of rotation of the front wheel by a distance L, which is defined by an interval L=(0,1÷0,9)N, where N is the wheelbase. For four-wheeled means possible, and sometimes desirable mode when the centre of rotation is also on the projections on the base surface of the longitudinal plane of symmetry of the vehicle, but is separated from the projection on the bearing surface plane location of the vertical axis of rotation of the front wheels at a distance M, which is defined as the ratio M=(0,1÷0,9)N, where N is the wheelbase

This is explained by the individual characteristics of the vehicle structure, in particular the location of the armchairs.

In the inventive device, the control system sets the rotation angle of the wheels depending on the driving mode (straight, rotation, movement "crab") and the provisions of the master body (the angle of rotation of the front wheel, the angle of deflection of the joystick handle and so on) For three-wheeled vehicles if the master item is the front wheel, the rotation of the two rear wheels α2that α3determined by the angle of rotation of the front wheel α1and geometrical characteristics of the center of rotation. On the sections of the trajectory of the center of rotation, which description is given as segments of straight "A" on Fig and more - straight "A′" Fig, these dependencies can be expressed as

where α2- the angle of rotation of the wheel, traveling in an arc of larger radius (outer wheel),

α3- the angle of rotation of the wheel traveling along the arc of a smaller radius (inner wheel),

k1- length honey axes of rotation of the rear wheels,

N - wheelbase,

ϕ - the angle of a linear trajectory And′ the center of rotation to the projection on the bearing surface plane location of the vertical axis of rotation of the rear wheels,

l is the distance from the axis of rotation of the front wheel to the point of intersection of the trajectory And′ center of rotation projection on the base surface of the longitudinal plane of symmetry of the vehicle.

These dependencies as possible many other dependencies that describe the movement of vehicles, "incorporated" into the control system of the vehicle, and implements mechanisms for steering. This helps to give a vehicle more maneuverable, in particular to minimize the area of the reversal and Parking the vehicle.

1. Self-propelled vehicle containing load-bearing structure with a fixed seat, power supply, front chief who tym wheel, two rear wheels and the control system, wherein each rear wheel is equipped with a drive for independent rotation around the vertical axis, each actuator fixed to the rear part of the supporting structure and interconnected with a support wheel having a vertical axis of rotation, drives the rotation of the wheels is configured to implement at least two driving modes, the first mode of rotation of the rear wheels synchronously and at the same angle with the front wheel, and the second mode of rotation of the rear wheels, in which the horizontal projection of the axes of rotation of all wheels on the supporting surface converge at a single point which is the center of rotation of the vehicle while the angle between the projections to the rear wheels is different from zero, and in the second mode the center of rotation is located on the longitudinal axis of the projections on the base surface of the longitudinal plane of symmetry of the vehicle and separated from the vertical plane of rotation of the front wheel on the distance L defined by the interval from L=0,1H up to L=0,N, where N is the wheelbase.

2. The vehicle according to claim 1, wherein in the second mode the center of rotation of the front wheel is on the projections on the base surface of the longitudinal plane of symmetry of the vehicle and separated from the vertical axis of rotation of the front wheels is at a distance L, which is defined as L=(0,4-0,6)H, where H is the wheelbase.

3. The vehicle according to claim 1, characterized in that the bearing wheels are made in the form of a fork or stand or bracket.

4. The vehicle according to claim 2, characterized in that the support is executed in the form of a fork or stand or bracket.

5. Vehicle according to any one of claims 1 to 4, characterized in that the front wheel is the leading.

6. Vehicle according to any one of claims 1 to 4, characterized in that the rear wheels are driven.

7. Vehicle according to any one of claims 1 to 4, characterized in that all wheels are driven.

8. Self-propelled vehicle containing load-bearing structure with a fixed seat, power supply, two front and two rear wheels and control system, characterized in that each wheel is equipped with a drive for independent rotation around the vertical axis, each actuator mounted on the supporting structure and has a hinged connection with a support wheel having a vertical axis of rotation, the motor drives rotation of the wheels is made with the possibility of implementing at least two driving modes, the first mode of rotation of the rear wheels synchronously and at the same angle with the front wheels, and the second mode of rotation of the rear wheels, wherein the projection of the horizontal axes of rotation which all of the wheels on the supporting surface converge at one point, being the center of turning of the vehicle, and the angle between these projections to the rear wheels is different from zero, and in the second mode the center of rotation is located on the longitudinal axis of symmetry of the vehicle and is separated from the location of the vertical plane of the axes of rotation of the front wheels at a distance M, which is determined by the interval from M=0,1 h to M=0,N, where N is the wheelbase.

9. Vehicle of claim 8, wherein the centre of rotation is located on the projections on the base surface of the longitudinal plane of symmetry of the vehicle and is separated from the projection on the bearing surface plane location of the vertical axis of rotation of the front wheels at a distance M=(0,1 - 0,9)N, where N is the wheelbase.

10. Vehicle of claim 8, characterized in that the bearing wheels are made in the form of a fork or stand or bracket.

11. The vehicle according to claim 9, characterized in that the bearing wheels are made in the form of a fork or stand or bracket.

12. Vehicle according to any one of p-11, characterized in that the front wheels are driven.

13. Vehicle according to any one of p-11, characterized in that the rear wheels are driven.

14. Vehicle according to any one of p-11, characterized in that the diagonally located wheels are driven.

15. the salvage vehicle according to any one of p-11, characterized in that all wheels are driven.



 

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