WO2008072043A1 - Apparatus of automatic balancing for the keeping in equilibrium motionless suitable for scooters and motorcycles with hybrid propulsion (thermal + electric) - Google Patents

Abstract

Apparatus suitable for scooters and motorcycles with hybrid propulsion (thermal + electric) able to provide an automatic and stable balance while the vehicle is motionless, without requiring to the driver to rest the feet to the ground. The system, provided with a static gyro unit (2) and an encoder for angular position, moves the electric battery (13) to provide a proportional balancing toward the external balance and perturbing forces. The swinging arm (10) that holds the battery while making the angular excursion by a cam system lengthens lowering the system barycentre.

Description

DESCRIPTION

of the industrial invention bearing the title

"Apparatus of automatic balancing for the keeping in equilibrium motionless suitable for scooters and motorcycles with hybrid propulsion (thermal + electric)"

Within the urban transportation the use of several different types of scooters accomplishes a very important role, both in the traffic speeding up and in the reduced environmental impact. The near introduction of a new generation of scooter with hybrid propulsion (thermal + electric) shall improve the above mentioned aspects.

Expecting the expansion of the use of such vehicles toward a different user target, it is expected to get more impact from the discriminating sides and the discomfort represented by the necessity to keep in balance the vehicle during the frequent stop at traffic lights and during the stops due to town journeys.

Particularly in bad weather conditions or with the presence of a second passenger, for several categories of users (elders, women, short of stature, handicapped) to put the feet on the ground and to keep stable the vehicle is a serious problem even for one's own safety as well as the others' safety.

From the manufacturers' point of view, the unstableness condition of a scooter is the main obstacle to adopt a full and integral fairing on the two wheels vehicles, as it is forced to leave the sides opened in order to allow putting the feet on the ground.

Consequently, both the driver and the passenger are exposed, partially or totally, to weather conditions thus limiting the use of a scooter when weather conditions are favourable.

From this obvious ascertainment rise the necessity to overtake and solve the problems related to scooters balance, and to facilitate the parking that sometimes may require remarkable efforts or may generate discomfort due to space limitation. The object of this invention solves these problems in a distinguished manner, allowing the driver to stay balanced during the stop without doing any working and to park with confidence simply pushing a button that electrically pulls out the prop-stand.

Fig. 1 shows the installation plan on a scooter of the automatic balance equipment as well as the layout and the structure of the different devices that allow the running of the automatic balance equipment.

The vehicle balance is carried out by the rotation of the swinging arm 10, that houses the electric battery 13 of the hybrid propulsion system.

Acting an angular displacement α, the assembly of arm 10 and battery 13 barycentre Go moves opposite to the perturbing and overturning external forces that act to the vehicle.

The rotation angle α and the angular speed of the arm 10 are obtained by the absolute encoder 4 that is jointed to the axis of rotation.

During the swinging α of the arm 10 there is a displacement on the vertical axis y of the whole reducer 14, that can translate along the slides 7, towards high or bottom according to the sense of rotation of the drive electric motor 5.

Consequently there is a lowering or a raising of the barycentre Go because an increasing of the length of the balancing arm r and a variation of the moment of inertia of the system take place.

The displacement along the vertical y is established by the reaction of the symmetrical profile cam 9 that is jointed to the axis and is connected to the roll 8 fixed to the frame.

The actuator 5, that could be a d-c electric motor or a step by step motor, receiving the control from the PLC system management 1, allows the automatic compensation of the opponent torques (the ones of external disturbance and the one r by Go concerning the barycentre displacement). The static gyro unit 2 (mechanical or piezoelectric or both) detects the angular variance of the scooter axis (scooter that swings on the wheels - rolling moment) and sends a signal proportional to the excursion speed.

The detecting sensor of the translation speed 3 is of functional aid to the PLC command and control unit 1 in order to disconnect the retroactivity of the static balancing equipment further a preset limit of speed (4-8 km/h) because gone over such limit the system would act negatively disturbing the normal guide of the scooter.

The PLC 1 receives all signals from the sensors (gyro unit 2, encoder 4, speedometer 3) and includes a peculiar software that reproduce a proportional, integrative, derivable adjustment system self-adjustable according to the variables of retroactivity K, Ki, Kv (constants of proportionality, integration, speed) as the conditions of scooter use (1 or 2 passengers, different weight and height of the passengers, and asset) make very variable the mathematic model of reference on which the retroactivity control is related.

Thanks to the capacities of this software it is possible to eliminate the swing status around the vertical of balance that is due to the intrinsic instability of the system and to the very low constant of softening, and in this way it is possible to have a more comfortable stop for the passengers.

Fig. 2 shows in detail the layout of the different components that allow with the only rotation of the electric motor 5, controlled by the PLC 1 with speed ω, a preset angle of swing α (by the constant ratio between the endless screw 17 and the helical wheel 16) of the shaft 18 on which the cam 9 is connected, with constant taking of roll 8 fixed to the frame 6.

The axial guides 7, also fixed to the frame 6, allow the axial sliding on the sleeves

15 connected to the box-reducer 14, on which outgoing shaft 18 it is connected the arm 10 that houses the battery 13 that with its remarkable weight gives meaningful balancing forces.

Claims

1) CLAIM 1 the devices' schematic layout of the management and control system for the scooter's balancing composed by: PLC, encoder, static gyro unit, digital speedometer.

2) AS CLAIMED IN CLAIM 1 the use of the system of retroactivity with closed ring for the scooter's static balancing (during the stops phases)controlled by PLC that has the capacity of self-adjustment to the different conditions of operative running.

3) AS CLAIMED IN CLAIM 1 the introduction of a static gyro unit (mechanical or piezoelectric) in the control circuit of the balancing system to detect the instant trim.

4) AS CLAIMED IN CLAIM 1 the use of a digital speedometer in the control circuit of the balancing system to detect the threshold speed for the control disconnection.

5) AS CLAIMED IN CLAIM 1 the use of a digital encoder in the control circuit of the balancing system to detect the instant angular position of the battery.

6) AS CLAIMED IN CLAIM 1 the use of a d-c electric motor or a step by step motor for the battery movement.

7) AS CLAIMED IN CLAIM 1 the keying on the same rotation axis of the symmetrical profile cam connected to the roll fixed to the frame with the battery holder arm shaft. 8) AS CLAIMED IN CLAIM 7 the use of an endless screw reducer (connected to the electric motor) and an helical wheel connected to arm and cam

9) AS CLAIMED IN CLAIM 8 the assembly of the reducer on sliding axial guides in a way that to any rotation corresponds a barycentre lowering.

10) AS CLAIMED IN ANY PRECEDING CLAIM the compact layout of the apparatus that can be assembled with bolts, as a kit, to the body of different types of scooters.