阅读说明：本技术 一种后轮辅助转向代步车结构及控制方法 (Structure and control method of rear wheel auxiliary steering scooter ) 是由 聂春 王喜军 张明 于 2018-08-20 设计创作，主要内容包括：本发明涉及一种后轮辅助转向代步车结构,其特征在于：包括前端车体与后端车体；前端车体包括：转向把立、左前轮、左摇臂、左转向轴、电位器、转向凸轮、转向横拉杆、右前轮、右转向轴、右摇臂；其中转向把立下端与电位器的半轴用定位螺丝固定,转向把立和转向凸轮通过贯穿螺丝相连接；电位器通过螺丝固定在前车架上；转向凸轮穿过转向横拉杆上的开孔；横拉杆分别与左摇臂和右摇臂通过螺丝连接；当转动转向把立时,带动电位器和转向凸轮旋转；转向凸轮带动转向横拉杆,转向横拉杆带动左摇臂和右摇臂,使左前轮和右前轮转动相应角度。本发明优点在于通过理论计算得到代步车在不同转弯角度下的安全速度,并通过电路进行智能控制,当速度超过安全速度时使代步车主动刹车减速,避免了转弯倾侧的发生。(The invention relates to a rear wheel auxiliary steering scooter structure, which is characterized in that: comprises a front end vehicle body and a rear end vehicle body; the front end vehicle body includes: the steering handle vertical, the left front wheel, the left rocker arm, the left steering shaft, the potentiometer, the steering cam, the steering tie rod, the right front wheel, the right steering shaft and the right rocker arm; the lower end of the steering handle vertical end is fixed with a half shaft of the potentiometer through a positioning screw, and the steering handle vertical end is connected with the steering cam through a through screw; the potentiometer is fixed on the front frame through screws; the steering cam passes through an opening on the steering tie rod; the transverse pull rod is respectively connected with the left rocker arm and the right rocker arm through screws; when the steering handle is rotated, the potentiometer and the steering cam are driven to rotate; the steering cam drives a steering tie rod, and the steering tie rod drives the left rocker arm and the right rocker arm to enable the left front wheel and the right front wheel to rotate by corresponding angles. The invention has the advantages that the safe speed of the scooter under different turning angles is obtained through theoretical calculation, intelligent control is carried out through a circuit, the active brake of the scooter is decelerated when the speed exceeds the safe speed, and the turning and tilting are avoided.)

1. The utility model provides a rear wheel assists turns to car structure of riding instead of walk which characterized in that: comprises a front end vehicle body and a rear end vehicle body; the front end vehicle body includes: the steering handle vertical, the left front wheel, the left rocker arm, the left steering shaft, the potentiometer, the steering cam, the steering tie rod, the right front wheel, the right steering shaft and the right rocker arm; the lower end of the steering handle vertical end is fixed with a half shaft of the potentiometer through a positioning screw, and the steering handle vertical end is connected with the steering cam through a through screw; the potentiometer is fixed on the front frame through screws; the steering cam passes through an opening on the steering tie rod; the transverse pull rod is respectively connected with the left rocker arm and the right rocker arm through screws; the steering handle is internally provided with an intelligent controller circuit.

2. The structure of a scooter with auxiliary steering of the rear wheels as claimed in claim 1, wherein: the rear-end vehicle body comprises a rear frame, a damping spring, a rear wheel connecting frame, a steering engine module, a steering engine shaft, a bearing seat, a rear wheel bracket and a rear wheel; the rear frame is connected with the damping spring and the rear wheel connecting frame through bolts; the steering engine module is fixed on the upper part of the rear wheel connecting frame by bolts, and the bearing seat is fixed on the lower part of the rear wheel connecting frame by bolts; the rear wheel bracket is fastened with a bearing in the bearing seat through a positioning screw; the steering engine shaft penetrates into a half shaft hole at the top of the rear wheel support; the rear wheel bracket is connected with the rear wheel through screws.

3. A control method of a rear wheel auxiliary steering scooter is characterized by comprising the following steps:

301. the steering handle is vertically rotated;

302. driving the potentiometer and the steering cam to rotate;

303. the steering cam drives the steering tie rod, and meanwhile, an electric signal of the potentiometer is output to the rear wheel steering engine module through the controller;

304. the steering tie rod drives the left rocker arm and the right rocker arm, and meanwhile, the steering engine module drives a steering engine shaft to rotate by corresponding angles according to corresponding electric signals;

305. the left rocker arm and the right rocker arm respectively drive the left front wheel and the right front wheel to rotate by corresponding angles, and the steering engine shaft drives the rear wheel bracket and the rear wheel to rotate;

306. when the vehicle speed is lower than the safe speed, normally driving according to the current operation; when the speed of a vehicle is higher than the safe speed, the intelligent controller actively provides a braking signal, and the vehicle decelerates.

4. The structure of claim 2, wherein the rear wheel connecting frame is a Hall DC drive motor with rated voltage of 36V and rated power of 350W, three Hall position sensors are arranged in the motor, the rated voltage of the steering engine module is 24V, and the maximum torque is 11 Nm.

5. The structure of claim 1, wherein the potentiometer is RV24YN20F, the shaft-out mode is B103, and the resistor is 10K.

Technical Field

The invention relates to the field of automobiles, in particular to a structure of a scooter with auxiliary steering of rear wheels and a control method.

Background

At present, the development of vehicles such as automobiles and the like causes urban roads to be particularly crowded, the generated automobile exhaust is also an important factor for the change of environmental climate and the warming of global temperature, the purposes of delaying blockage, ensuring smoothness, saving energy, reducing emission and building good living environment are the targets pursued by governments and citizens of various cities, and therefore the small-sized vehicle which is environment-friendly, efficient, safe and comfortable also becomes an important research and development direction.

At present, the multi-steering mechanism of the three-wheeled portable travel tool is the front wheel steering. The steering of the vehicle mainly comprises the steering of double front wheels, a rotating handle is connected with a transmission mechanism, and the steering of the two front wheels is driven by the transmission mechanism. The steering angle of the front wheel is large, the center of the front wheel is close to the fixed point of the regular triangle, and the front wheel is easy to turn over when turning, so that the travel tools of the type mainly use low speed as <10 km/h; the scooter of the reverse three-wheel structure turns smoothly, risks still exist when the speed is higher to the heeling is improved to some extent, and the turning radius that the two front wheels of the reverse three-wheel turned to is bigger than that of the regular three-wheel, can't realize turning in narrow space.

The reverse three-wheel scooter has good maneuverability and stable running performance, but has larger turning radius due to the adoption of a trapezoidal turning principle, and has the danger of side turning under the action of turning centrifugal force.

Disclosure of Invention

In order to solve the problems, the invention discloses a rear wheel auxiliary steering scooter structure, wherein a steering engine is used for controlling the rear wheel of a reverse three-wheel scooter, and the steering engine is used for controlling the rear wheel to steer to play a role in auxiliary steering in the steering process. The turning radius of the reverse three-wheel scooter can be greatly reduced by the aid of the rear wheel auxiliary steering and the active intelligent control circuit, meanwhile, the intelligent control module can implement active braking in the turning process according to the turning angle and real-time speed feedback, and the turning rollover danger is reduced.

The utility model provides a rear wheel assists turns to car structure of riding instead of walk which characterized in that: comprises a front end vehicle body and a rear end vehicle body; the front end vehicle body includes: the steering handle vertical, the left front wheel, the left rocker arm, the left steering shaft, the potentiometer, the steering cam, the steering tie rod, the right front wheel, the right steering shaft and the right rocker arm; the lower end of the steering handle vertical end is fixed with a half shaft of the potentiometer through a positioning screw, and the steering handle vertical end is connected with the steering cam through a through screw; the potentiometer is fixed on the front frame through screws; the steering cam passes through an opening on the steering tie rod; the transverse pull rod is respectively connected with the left rocker arm and the right rocker arm through screws; the steering handle is internally provided with an intelligent controller circuit.

The rear-end vehicle body comprises a rear frame, a damping spring, a rear wheel connecting frame, a steering engine module, a steering engine shaft, a bearing seat, a rear wheel bracket and a rear wheel; the rear frame is connected with the damping spring and the rear wheel connecting frame through bolts; the steering engine module is fixed on the upper part of the rear wheel connecting frame by bolts, and the bearing seat is fixed on the lower part of the rear wheel connecting frame by bolts; the rear wheel bracket is fastened with a bearing in the bearing seat through a positioning screw; the steering engine shaft penetrates into a half shaft hole at the top of the rear wheel support; the rear wheel bracket is connected with the rear wheel through screws.

A control method of a rear wheel auxiliary steering scooter is characterized by comprising the following steps:

301. the steering handle is vertically rotated;

302. driving the potentiometer and the steering cam to rotate;

303. the steering cam drives the steering tie rod, and meanwhile, an electric signal of the potentiometer is output to the rear wheel steering engine module through the controller;

304. the steering tie rod drives the left rocker arm and the right rocker arm, and meanwhile, the steering engine module drives a steering engine shaft to rotate by corresponding angles according to corresponding electric signals;

305. the left rocker arm and the right rocker arm respectively drive the left front wheel and the right front wheel to rotate by corresponding angles, and the steering engine shaft drives the rear wheel bracket and the rear wheel to rotate;

306. when the vehicle speed is lower than the safe speed, normally driving according to the current operation; when the speed of a vehicle is higher than the safe speed, the intelligent controller actively provides a braking signal, and the vehicle decelerates.

The rear wheel connecting frame is a Hall direct current driving motor with rated voltage of 36V and rated power of 350W, three Hall position sensors are arranged in the motor, the rated voltage of the steering engine module is 24V, and the maximum torque is 11 Nm.

The potentiometer is of the type RV24YN20F, the output shaft mode is B103, and the resistance is 10K.

The working principle of the invention is as follows: and the critical speed Vcr corresponding to the side inclination of the electric vehicle under different turning angles can be obtained through mechanical calculation by combining the size and the gravity center position of the electric vehicle. The intelligent controller automatically acquires an analog signal A1 of a potentiometer in a circuit system in the running process of the electric vehicle, converts the analog signal A1 into a digital signal D1 and outputs the digital signal D1 to a steering engine module, and drives a steering engine to drive a rear wheel to steer; collecting Hall brake element analog signals A2 and converting the signals into digital signals D2 through a controller to control the braking of the brushless direct current motor; collecting Hall acceleration element analog signals A3 and converting the signals into digital signals D3 through a controller to control the acceleration of the brushless direct current motor; the pulse signal P1 of the Hall position sensor in the brushless DC motor is collected and converted into the speed V1 of the electric vehicle through the controller. In the driving process, when V1< Vcr, no side-tipping danger exists, digital signals of a potentiometer, a Hall brake element and a Hall acceleration element converted by a controller are consistent with analog signals, and can be directly output to a steering engine module and a brushless direct current motor, namely D1= A1, D2= A2 and D3= A3; when V1 is larger than or equal to Vcr, the roll risk exists, the controller sets the digital signal corresponding to the Hall acceleration element to 0, and simultaneously outputs brake signals according to different grades to reduce the vehicle speed, namely D1= A1, D2= f (V1) and D3= 0.

Compared with the prior art, the invention has positive and obvious effect. The invention has the advantages of simple structure and low manufacturing cost, and is suitable for turning of the scooter and the minicar with the reverse tricycle structure. The turning radius of the scooter can be greatly reduced by the auxiliary mechanism of the rear wheels through the turning of the front wheels. Because the centrifugal force exists in the riding and turning process, if the centrifugal force is too large, the bicycle is easy to incline, the invention obtains the safe speed of the scooter under different turning angles through theoretical calculation, and carries out intelligent control through a circuit, when the speed exceeds the safe speed, the scooter is driven to brake and decelerate, and the occurrence of turning and inclining is avoided.

Drawings

FIG. 1 is a schematic front end vehicle body construction of the present invention;

FIG. 2 is a schematic rear end vehicle body construction of the present invention;

FIG. 3 is a flow chart of a method of the present invention;

fig. 4 is a circuit diagram of the intelligent controller of the present invention.

Detailed Description

The invention is described in detail below with reference to the figures and specific embodiments.

As shown in FIG. 1, a structure of a scooter with auxiliary steering of rear wheels is characterized in that: comprises a front end vehicle body and a rear end vehicle body; the front end vehicle body includes: the steering wheel comprises a steering handle stand 1, a left front wheel 2, a left rocker arm 3, a left steering shaft 4, a potentiometer 5, a steering cam 6, a steering tie rod 7, a right front wheel 8, a right steering shaft 9 and a right rocker arm 10; the lower end of the steering stem 1 is fixed with a half shaft of a potentiometer 5 by a set screw, and the steering stem 1 is connected with a steering cam 6 by a through screw; the potentiometer 5 is fixed on the front frame through screws; the steering cam 6 passes through an opening on the steering tie rod 7; the tie rod 7 is respectively connected with the left rocker arm 3 and the right rocker arm 10 through screws; the steering handle is internally provided with an intelligent controller circuit.

As shown in fig. 2, the rear-end vehicle body comprises a rear vehicle frame 1, a damping spring 2, a rear wheel connecting frame 3, a steering engine module 4, a steering engine shaft 5, a bearing seat 6, a rear wheel bracket 7 and a rear wheel 8; the rear frame 1 is connected with the damping spring 2 and the rear wheel connecting frame 3 through bolts; the steering engine module 4 is fixed on the upper part of the rear wheel connecting frame 3 by bolts, and the bearing seat 6 is fixed on the lower part of the rear wheel connecting frame 3 by bolts; the rear wheel bracket 7 is fastened with a bearing in the bearing seat 6 through a positioning screw; the steering engine shaft 5 penetrates into a half shaft hole at the top of the rear wheel bracket 7; the rear wheel bracket 7 is connected with the rear wheel 8 through screws.

As shown in fig. 3, a method for controlling a rear-wheel assisted steering scooter is characterized by comprising the following steps:

301. the steering handle is vertically rotated;

302. driving the potentiometer and the steering cam to rotate;

303. the steering cam drives the steering tie rod, and meanwhile, an electric signal of the potentiometer is output to the rear wheel steering engine module through the controller;

304. the steering tie rod drives the left rocker arm and the right rocker arm, and meanwhile, the steering engine module drives a steering engine shaft to rotate by corresponding angles according to corresponding electric signals;

305. the left rocker arm and the right rocker arm respectively drive the left front wheel and the right front wheel to rotate by corresponding angles, and the steering engine shaft drives the rear wheel bracket and the rear wheel to rotate;

306. when the vehicle speed is lower than the safe speed, normally driving according to the current operation; when the speed of a vehicle is higher than the safe speed, the intelligent controller actively provides a braking signal, and the vehicle decelerates.

The rear wheel connecting frame is a Hall direct current driving motor with rated voltage of 36V and rated power of 350W, three Hall position sensors are arranged in the motor, the rated voltage of the steering engine module is 24V, and the maximum torque is 11 Nm.

The potentiometer is of the type RV24YN20F, the output shaft mode is B103, and the resistance is 10K.

It is to be understood that the above description is not intended to limit the present invention, and the present invention is not limited to the above examples, and those skilled in the art may make modifications, alterations, additions or substitutions within the spirit and scope of the present invention.