CN104689559B - Driven shoes, driven shoes assembly and control method thereof - Google Patents
Driven shoes, driven shoes assembly and control method thereof Download PDFInfo
- Publication number
- CN104689559B CN104689559B CN201510096754.6A CN201510096754A CN104689559B CN 104689559 B CN104689559 B CN 104689559B CN 201510096754 A CN201510096754 A CN 201510096754A CN 104689559 B CN104689559 B CN 104689559B
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- China
- Prior art keywords
- shoe
- driven shoes
- gear
- controller
- footwear plate
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Classifications
-
- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63C—SKATES; SKIS; ROLLER SKATES; DESIGN OR LAYOUT OF COURTS, RINKS OR THE LIKE
- A63C17/00—Roller skates; Skate-boards
- A63C17/12—Roller skates; Skate-boards with driving mechanisms
-
- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63C—SKATES; SKIS; ROLLER SKATES; DESIGN OR LAYOUT OF COURTS, RINKS OR THE LIKE
- A63C17/00—Roller skates; Skate-boards
- A63C17/14—Roller skates; Skate-boards with brakes, e.g. toe stoppers, freewheel roller clutches
- A63C17/1445—Roller skates; Skate-boards with brakes, e.g. toe stoppers, freewheel roller clutches contacting the ground and one or more of the wheels
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- Footwear And Its Accessory, Manufacturing Method And Apparatuses (AREA)
Abstract
The present invention relates to a kind of driven shoes, driven shoes assembly and control method thereof, described driven shoes, including driving wheel, deflecting roller, footwear plate, steer motor and the controller being connected with steer motor are installed on described footwear plate, the first gear it is provided with on the output shaft of described steer motor, the position of described footwear plate bottom surface correspondence deflecting roller is provided with the second gear, described first gear and the engagement of the second gear, the rotating shaft two ends of described driving wheel are connected with footwear plate by driving arm respectively, and the rotating shaft two ends of described deflecting roller are connected by turning rack and the second gear respectively.Needs turn to, controller controls steer motor and rotates, drive the first pinion rotation and the second pinion rotation, make deflecting roller to the left or turn right, thus realize smoothly turning to of driven shoes, turned to by foot artificial driving electric footwear without user, it is to avoid in steering procedure, driving wheel skids or ground relatively slides laterally, and safety coefficient is high.
Description
Technical field
The present invention relates to a kind of shoes, particularly to a kind of driven shoes, driven shoes assembly and control method thereof.
Background technology
Along with the acceleration of urbanization process, city size is increasing, and widely used walking-replacing tool is mainly
The vehicles such as automobile and electric motor car, but these walking-replacing tools are difficult to carry with, and exist parking,
Occupation of land side and cause traffic congestion etc. problem, driven shoes is increasingly chased after as a kind of emerging walking-replacing tool
Holding in both hands, general has bar dicycly driven shoes/car weight and volume bigger, it has not been convenient to carry, and one-wheel type driven shoes/
Car is difficult to control to balance, shortcoming vehicle accident easily occur, and general driven shoes turns to unstable,
Operating difficulties.
Summary of the invention
Based on this, it is necessary to for the defect of prior art, it is provided that a kind of driven shoes, driven shoes assembly, no
Only volume is little, is convenient for carrying, and can realize well smoothly turning to, and safety coefficient is high.
Its technical scheme is as follows:
A kind of driven shoes, including driving wheel, deflecting roller, footwear plate, described footwear plate is provided with steer motor with
And the controller being connected with steer motor, the output shaft of described steer motor is provided with the first gear, described
The position of footwear plate bottom surface correspondence deflecting roller is provided with the second gear, described first gear and the engagement of the second gear,
The rotating shaft two ends of described driving wheel are connected with footwear plate by driving arm respectively, the rotating shaft two ends of described deflecting roller
Connected by turning rack and the second gear respectively.
Its further technical scheme is as follows:
Described driven shoes also includes two amortisseurs, and described driving arm is rotated even with footwear plate by revolving part
Connecing, described footwear front edge of board is curved in tilting upward, and described amortisseur is vertically arranged, one end of amortisseur and driving
Support connects near one end of driving wheel, and the other end of amortisseur is connected with footwear front edge of board.
Described driven shoes also includes the battery being arranged on footwear plate bottom surface, described battery respectively with controller, turn
Connecting to motor, described steer motor is arranged on footwear plate bottom surface along footwear plate length direction, described first gear,
Second gear is bevel gear, and described driving wheel is wheel hub motor, and described wheel hub motor electrically connects with controller
Connect.
Described driven shoes also includes that shoe cover, described shoe cover are arranged on footwear plate front.
Described driven shoes also includes emergency brake bar, and described emergency brake bar is arranged on footwear plate rear end, and emergency brake bar is backward
It is obliquely installed.
A kind of driven shoes assembly includes remote controller, two above-mentioned driven shoes, and two driven shoes are respectively left foot
Footwear, right shoe, described remote controller respectively with left shoe, the controller wireless connections of right shoe.
Described driven shoes assembly also includes controlling glove, and described remote controller is arranged on control glove.
Described driven shoes assembly also includes that intelligent wristwatch, voice input device, described intelligent wristwatch include micro-control
Unit and the navigation elements being connected with micro control unit, described voice input device is electrical with described navigation elements
Connecting, the front end of described left shoe and/or right shoe is provided with Laser video camera head sensor, described Laser video camera
Head sensor and micro control unit are electrically connected with, described micro control unit respectively with left shoe, the controller of right shoe
Wireless connections.
The side that described left shoe, right shoe are adjacent is equipped with distance-sensor, is used for detecting left shoe with right
Spacing between foot footwear, the controller connection that described distance-sensor is corresponding.
The control method of a kind of driven shoes assembly, it is characterised in that comprise the steps:
Spacing between distance-sensor detection left shoe and right shoe, and send detection data to controller；
The data regulation that controller transmits according to the preset pitch between left shoe and right shoe and distance-sensor
Spacing between left shoe and right shoe；
When spacing between the left shoe that distance-sensor detects in real time and right shoe is more than preset pitch,
The steer motor that controller controls to be connected with this distance-sensor rotates, and makes turn to corresponding with this steer motor
Wheel is turned inwardly toward predetermined angle, and the spacing between left shoe and the right shoe that distance-sensor detects reaches
During preset pitch, controller controls to turn to samsara just；
Between left shoe and the right shoe that distance-sensor detects in real time when being smaller than preset pitch,
The steer motor that controller controls to be connected with this distance-sensor rotates, and makes turn to corresponding with this steer motor
Wheel is outwardly turned to predetermined angle, and the spacing between left shoe and the right shoe that distance-sensor detects reaches
During preset pitch, controller controls to turn to samsara just.
Advantage or principle to preceding solution illustrate below:
Above-mentioned driven shoes and driven shoes assembly, steered wheel rotation, drive footwear plate and deflecting roller to travel forward, drive
Driving wheel is connected with footwear plate by the driving arm of the left and right sides, and described deflecting roller is propped up by turning to of the left and right sides
Frame and the second gear connect, and make whole driven shoes gravity's center control in the middle of footwear plate, it is ensured that it is in running
Steady, and volume is little, easy to carry, if desired turns to, and controller controls steer motor and rotates, band
Dynamic first pinion rotation and the second pinion rotation, make deflecting roller to the left or turn right, thus realizing electronic
Smoothly turning to of footwear, it is not necessary to user is turned to by foot artificial driving electric footwear, it is to avoid driving wheel in steering procedure
Skidding or ground relatively slides laterally, safety coefficient is high.
The control method of above-mentioned driven shoes assembly, by automatic recognition shoes spacing, makes two driven shoes automatic mutuals
Coordinate spacing, it is to avoid user is in use excessive or too small because of spacing and falls down, and has good safety
Performance.
Accompanying drawing explanation
Fig. 1 is the schematic side view of the driven shoes described in the embodiment of the present invention；
Fig. 2 is the schematic diagram of the shoe cover described in the embodiment of the present invention.
Description of reference numerals:
10, driving wheel, 110, driving arm, 120, revolving part, 20, deflecting roller, 210, turning rack,
30, footwear plate, 40, steer motor, the 410, first gear, the 420, second gear, 50, controller, 60,
Amortisseur, 70, battery, 80, shoe cover, 810, installing hole, 90, emergency brake bar.
Detailed description of the invention
As it is shown in figure 1, a kind of driven shoes, including driving wheel 10, deflecting roller 20, footwear plate 30, described footwear plate
Steer motor 40 and the controller 50 being connected with steer motor 40, described steer motor 40 are installed on 30
Output shaft on be provided with the first gear 410, the position of described footwear plate 30 bottom surface correspondence deflecting roller 20 is provided with
Second gear 420, described first gear 410 engages with the second gear 420, the rotating shaft of described driving wheel 10
Two ends are connected with footwear plate 30 by driving arm 110 respectively, and the rotating shaft two ends of described deflecting roller 20 lead to respectively
Cross turning rack 210 to be connected with the second gear 420.
Driven shoes described in the present embodiment, is rotated by deflecting roller 20, drives footwear plate 30 and deflecting roller 20 forward
Motion, driving wheel 10 is connected with footwear plate 30 by the driving arm 110 of the left and right sides, described deflecting roller 20
It is connected with the second gear 420 by the turning rack 210 of the left and right sides, makes whole driven shoes gravity's center control exist
In the middle of footwear plate 30, it is ensured that its steady in running, and volume is little, easy to carry, if desired turns
To, controller 50 controls steer motor 40 and rotates, and drives the first gear 410 to rotate and the second gear 420
Rotate, make deflecting roller 20 to the left or turn right, thus realize smoothly turning to of driven shoes, it is not necessary to user
Artificial driving electric footwear turn to, it is to avoid in steering procedure, driving wheel 10 skids or ground relatively slides laterally,
Safety coefficient is high.
Described driven shoes also include two amortisseurs 60, be arranged on the battery 70 of footwear plate 30 bottom surface, shoe cover 80,
Emergency brake bar 90, described driving arm 110 is rotationally connected with footwear plate 30 by revolving part 120, described footwear plate
30 front ends are curved in tilting upward, and described amortisseur 60 is vertically arranged, one end of amortisseur 60 and driving arm
110 connect near one end of driving wheel 10, and the other end of amortisseur 60 is connected with footwear plate 30 front end；Described
Battery 70 is connected with controller 50, steer motor 40 respectively, and described steer motor 40 is along footwear plate 30 length
Direction is arranged on footwear plate 30 bottom surface, and described first gear the 410, second gear 420 is bevel gear, described
Driving wheel 10 is wheel hub motor, and described wheel hub motor is electrically connected with controller；Described shoe cover 80 is arranged on
Footwear plate 30 front；Described emergency brake bar 90 is arranged on footwear plate 30 rear end, and emergency brake bar 90 tilts backwards setting.
By arranging amortisseur 60 in driving wheel 10 left and right sides, when road surface is uneven, driving wheel 10 is upwards
Or downwards, driving arm 110 rotates with the motion of driving wheel 10 with revolving part 120 for axis of rotation, perpendicular
Can stretch up and down to the amortisseur 60 arranged, it is to avoid footwear plate 30 is shaken, improve stationarity and comfort level, institute
State revolving part 120 for bearing or connecting shaft；Battery 70 is rechargeable battery, for steer motor 40, driving wheel
10 provide electric energy, and the distance of distance deflecting roller 20 bottom, battery 70 bottom surface is about 5cm, it is to avoid during upward slope
Interfere with ground, steer motor 40 be arranged on footwear plate 30 bottom surface along footwear plate 30 length direction, conveniently install,
And described first gear the 410, second gear 420 is set to bevel gear, will be along along footwear plate 30 length direction
Rotation, be converted to vertical rotation, it is achieved the steering operation to deflecting roller 20, simple in construction, operation side
Just, driving wheel 10 is set to wheel hub motor, is different from traditional driving motor and is carried by power transmission shaft, chain
The structure that dynamic roller rotates, structure is simpler, and noise is little, maintains easier；Described shoe cover 80 passes through waist
The installing hole 810 of shape is connected with footwear plate 30, is fixed by shoe cover 80 for wearing oneself footwear, wear with
Take off and be quite convenient to, and the user being suitable for different footwear code uses；By emergency brake bar 90, when being in an emergency
Time, footwear have been stood on tiptoe forward by user, make emergency brake bar 90 and ground friction, it is achieved emergency brake, and emergency brake bar 90
Tilt backwards setting, it is provided that firm support, it is to avoid in brake process, user swings back and falls down；Described footwear plate 30
The distance of distance deflecting roller 20 bottom is 12-20cm, preferably 14cm, makes footwear plate 30 and ground can keep closing
Suitable spacing, it is ensured that driven shoes can be climbed smoothly.Described footwear plate 30 use composite, carbon fibre material and
A small amount of metal material is made, and volume is little, and footwear body is slim and graceful, is convenient for carrying.
A kind of driven shoes assembly, including remote controller, two above-mentioned driven shoes, two driven shoes are respectively left foot
Footwear, right shoe, described remote controller respectively with left shoe, controller 50 wireless connections of right shoe.By distant
Activate switch reserved on control device or driven shoes realizes being turned on or off of driven shoes, easy and simple to handle.
Described driven shoes assembly also includes intelligent wristwatch, voice input device, control glove, and described remote controller is pacified
It is contained on control glove；Described intelligent wristwatch includes micro control unit and the navigation list being connected with micro control unit
Unit, described voice input device is electrically connected with described navigation elements, described left shoe and/or the front end of right shoe
Being provided with Laser video camera head sensor, described Laser video camera head sensor is electrically connected with micro control unit, described
Micro control unit respectively with left shoe, the controller wireless connections of right shoe.Voice input device described in the present embodiment
For bluetooth earphone, for human-computer interaction, remote controller is arranged on control glove, remote controller can not only be risen
To protective action, and dressing conveniently, remote controller includes rocking bar, transforming gear button, right-hand rotation button, stops
Car and retard button, left-hand rotation button, night lamp switch button, accelerate to press, directly power knob down by electricity
Source switch starts；The functions such as intelligent wristwatch has navigation, footwear start, accelerate, slow down, turn, brake,
Traffic information is passed to micro control unit by described Laser video camera head sensor in real time, and navigation elements provides navigation to refer to
Draw, user can be led to arrive at smoothly.
Driven shoes assembly described in the present embodiment, the side that its left shoe, right shoe are adjacent is equipped with distance perspective
Answer device, for detecting the spacing between left shoe and right shoe, the control that described distance-sensor is corresponding
Device 50 connects.By arranging range sensor, it is achieved being automatically adjusted of ground footwear spacing, two footwear are made to keep optimal
Operation spacing run, make user both feet in running, be in the most comfortable state, it is to avoid fall down.Described
Range sensor is infrared ray sensor or ultrasonic sensor, for detecting road conditions further, improves safety
Performance, described left shoe, the surrounding of right shoe be mounted on infrared ray sensor or ultrasonic sensor,
Infrared ray sensor or ultrasonic sensor and described Laser video camera head sensor coordinated operation, or also exist
Left shoe, the surrounding of right shoe arrange the radar being electrically connected with controller, it is achieved the detection to roadblock.
The control method of a kind of driven shoes assembly, comprises the steps:
Spacing between distance-sensor detection left shoe and right shoe, and send detection data to controller
50；
The data that controller 50 transmits according to the preset pitch between left shoe and right shoe and distance-sensor are adjusted
Spacing between joint left shoe and right shoe；
When spacing between the left shoe that distance-sensor detects in real time and right shoe is more than preset pitch,
The steer motor 40 that controller 50 controls to be connected with this distance-sensor rotates, and it is right with this steer motor 40 to make
The deflecting roller 20 answered is turned inwardly toward predetermined angle, between left shoe and the right shoe that distance-sensor detects
Spacing when reaching preset pitch, controller 50 is just controlling deflecting roller 20 times；
Between left shoe and the right shoe that distance-sensor detects in real time when being smaller than preset pitch,
The steer motor 40 that controller 50 controls to be connected with this distance-sensor rotates, and it is right with this steer motor 40 to make
The deflecting roller 20 answered is outwardly turned to predetermined angle, between left shoe and the right shoe that distance-sensor detects
Spacing when reaching preset pitch, controller 50 is just controlling deflecting roller 20 times.
The control method of the driven shoes assembly described in the present embodiment, by automatic recognition shoes spacing, makes two electricity
Dynamic footwear automatic mutual coordinates spacing, it is to avoid user is in use excessive or too small because of spacing and falls down, and has
Good security performance.
Each technical characteristic of embodiment described above can combine arbitrarily, for making description succinct, the most right
The all possible combination of each technical characteristic in above-described embodiment is all described, but, if these skills
There is not contradiction in the combination of art feature, is all considered to be the scope that this specification is recorded.
Embodiment described above only have expressed the several embodiments of the present invention, and it describes more concrete and detailed,
But therefore can not be interpreted as the restriction to the scope of the claims of the present invention.It should be pointed out that, for this area
Those of ordinary skill for, without departing from the inventive concept of the premise, it is also possible to make some deformation and
Improving, these broadly fall into protection scope of the present invention.Therefore, the protection domain of patent of the present invention should be with appended
Claim is as the criterion.
Claims (9)
1. a driven shoes, it is characterised in that include driving wheel, deflecting roller, footwear plate, described footwear plate is pacified
Equipped with steer motor and the controller that is connected with steer motor, the output shaft of described steer motor is provided with
First gear, the position of described footwear plate bottom surface correspondence deflecting roller is provided with the second gear, described first gear with
Second gear engagement, the rotating shaft two ends of described driving wheel are connected with footwear plate by driving arm respectively, described turn
Being connected by turning rack and the second gear respectively to the rotating shaft two ends of wheel, described driven shoes also includes two
Amortisseur, described driving arm is rotationally connected with footwear plate by revolving part, and described footwear front edge of board is upturned
Shape, described amortisseur is vertically arranged, and one end of amortisseur is connected near one end of driving wheel with driving arm,
The other end of amortisseur is connected with footwear front edge of board, and described driven shoes also includes emergency brake bar, and described emergency brake bar is pacified
It is contained in footwear plate rear end.
2. driven shoes as claimed in claim 1, it is characterised in that it also includes being arranged on footwear plate bottom surface
Battery, described battery is connected with controller, steer motor respectively, and described steer motor is along footwear plate length direction
Being arranged on footwear plate bottom surface, described first gear, the second gear are bevel gear, and described driving wheel is wheel hub electricity
Machine, described wheel hub motor is electrically connected with controller.
3. driven shoes as claimed in claim 2, it is characterised in that it also includes shoe cover, and described shoe cover is pacified
It is contained in footwear plate front.
4. driven shoes as claimed in claim 3, it is characterised in that described emergency brake bar tilts backwards setting.
5. a driven shoes assembly, it is characterised in that include remote controller, two such as Claims 1-4 appoint
One described driven shoes, two driven shoes are respectively left shoe, right shoe, described remote controller respectively with a left side
Foot footwear, the controller wireless connections of right shoe.
6. driven shoes assembly as claimed in claim 5, it is characterised in that it also includes controlling glove, institute
State remote controller to be arranged on control glove.
7. driven shoes assembly as claimed in claim 5, it is characterised in that it also includes intelligent wristwatch, language
Sound loader, described intelligent wristwatch includes micro control unit and the navigation elements being connected with micro control unit, institute
Stating voice input device to be electrically connected with described navigation elements, the front end of described left shoe and/or right shoe is provided with
Laser video camera head sensor, described Laser video camera head sensor is electrically connected with micro control unit, described micro-control list
Unit respectively with left shoe, the controller wireless connections of right shoe.
8. the driven shoes assembly as described in any one of claim 5 to 7, it is characterised in that described left shoe,
The side that right shoe is adjacent is equipped with distance-sensor, for detecting the spacing between left shoe and right shoe,
The controller connection that described distance-sensor is corresponding.
9. the control method of a driven shoes assembly as claimed in claim 8, it is characterised in that include as
Lower step: the spacing between distance-sensor detection left shoe and right shoe, and send detection data to control
Device processed；The data that controller transmits according to the preset pitch between left shoe and right shoe and distance-sensor are adjusted
Spacing between joint left shoe and right shoe；The left shoe detected in real time when distance-sensor and right shoe it
Between spacing more than preset pitch time, controller control be connected with this distance-sensor steer motor rotation,
The deflecting roller corresponding with this steer motor is made to be turned inwardly toward predetermined angle, when the left foot that distance-sensor detects
When spacing between footwear and right shoe reaches preset pitch, controller controls to turn to samsara just；When distance perspective should
Between left shoe and right shoe that device detects in real time when being smaller than preset pitch, controller control with should
The steer motor that distance-sensor connects rotates, and makes the deflecting roller corresponding with this steer motor be outwardly turned to preset
Angle, when the spacing between the left shoe that distance-sensor detects and right shoe reaches preset pitch, control
Device processed controls to turn to samsara just.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510096754.6A CN104689559B (en) | 2015-03-04 | 2015-03-04 | Driven shoes, driven shoes assembly and control method thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510096754.6A CN104689559B (en) | 2015-03-04 | 2015-03-04 | Driven shoes, driven shoes assembly and control method thereof |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN104689559A CN104689559A (en) | 2015-06-10 |
| CN104689559B true CN104689559B (en) | 2017-01-04 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201510096754.6A Expired - Fee Related CN104689559B (en) | 2015-03-04 | 2015-03-04 | Driven shoes, driven shoes assembly and control method thereof |
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| CN106390428B (en) | 2016-11-01 | 2019-03-05 | 爱柯迪股份有限公司 | A kind of bionical electric-powered shoes |
| CN106842994B (en) * | 2016-12-27 | 2018-07-03 | 广东开放大学（广东理工职业学院） | Control method and control system of electric shoes |
| US20200129843A1 (en) | 2017-07-08 | 2020-04-30 | Nimbus Robotics, Inc. | A Method and Device for Control of a Mobility Device |
| CN107261473B (en) * | 2017-07-27 | 2023-10-27 | 纳恩博（北京）科技有限公司 | Roller skate device, roller skate system and steering control method |
| CN108238531B (en) * | 2018-03-26 | 2023-12-05 | 滨州职业学院 | Stair climbing system and operation method thereof |
| CN108837487A (en) * | 2018-08-29 | 2018-11-20 | 辽宁省交通高等专科学校 | A kind of electric walk instead skidding pedal |
| WO2020146680A1 (en) | 2019-01-09 | 2020-07-16 | Nimbus Robotics, Inc. | A method and device for control of a mobility device using an estimated gait trajectory |
| US11826634B2 (en) | 2020-10-21 | 2023-11-28 | Shift Robotics, Inc. | Power-driven shoe device wheel configuration with combined translational and rotational hinge mechanism and integrated gear-bushing assembly |
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| Publication number | Publication date |
|---|---|
| CN104689559A (en) | 2015-06-10 |
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