CN111228778A - Skateboard with steering function and adjustable posture and height - Google Patents
Skateboard with steering function and adjustable posture and height Download PDFInfo
- Publication number
- CN111228778A CN111228778A CN202010098326.8A CN202010098326A CN111228778A CN 111228778 A CN111228778 A CN 111228778A CN 202010098326 A CN202010098326 A CN 202010098326A CN 111228778 A CN111228778 A CN 111228778A
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- China
- Prior art keywords
- flat plate
- height adjusting
- steering
- height
- sliding
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Classifications
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- 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
- A63C17/01—Skateboards
- A63C17/011—Skateboards with steering 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
- A63C17/01—Skateboards
- A63C17/014—Wheel arrangements
- A63C17/015—Wheel arrangements with wheels arranged in two pairs
Abstract
The invention discloses a sliding plate with steering function and adjustable posture and height, which comprises an upper flat plate, a middle flat plate, a height adjusting device, a steering device, front wheels and rear wheels, wherein the upper flat plate is fixed on the upper flat plate; wherein, the upper flat plate is connected with the middle flat plate through a connecting hinge, so that the upper flat plate can swing left and right relative to the middle flat plate. The left side and the right side of the front part and the rear part of the middle flat plate are respectively provided with a set of height adjusting device, and the height adjusting of the upper flat plate at the position is realized by each height adjusting module so as to provide supporting force to balance the inertia force of people. Meanwhile, the front part of the middle flat plate is provided with a steering device for realizing the steering function. The sliding plate can effectively reduce the control difficulty, improve the safety of the sliding plate and enhance the road surface adaptability.
Description
Technical Field
The invention belongs to the technical field of machinery, and relates to a sliding plate, in particular to a sliding plate with a steering function and adjustable posture and height.
Background
The skateboard is popular sports equipment at present and is a common commuting tool. However, the structure of the prior sliding plate is too simple, the direction is difficult to control, and the sliding plate can be controlled by skillful skills. Meanwhile, the existing sliding plate adopts a simple flat plate structure, the steering and the balance can be controlled only by adjusting the gravity center of an operator, and danger is easy to occur under the condition of large acceleration. In addition, the existing skateboard is low in height and may be difficult to pass through when encountering obstacles and uneven roads.
Disclosure of Invention
Aiming at the problems, the invention provides the sliding plate with the steering function and the adjustable posture and height, so that the control difficulty is effectively reduced, the safety of the sliding plate is improved, and the road surface adaptability is enhanced.
The invention relates to a sliding plate with a steering function and adjustable posture and height, which comprises an upper flat plate, a middle flat plate, a height adjusting device, a steering device, front wheels and rear wheels.
Wherein, the upper flat plate is connected with the middle flat plate through a connecting hinge, so that the upper flat plate can swing left and right relative to the middle flat plate. The left side and the right side of the front part and the rear part of the middle flat plate are respectively provided with a set of height adjusting device, and the height adjustment of the upper flat plate at the position is realized by each height adjusting module; meanwhile, the front part of the middle flat plate is provided with a steering device for realizing the steering function.
The connecting hinge is composed of an upper connecting piece, a lower connecting piece and a hinge shaft. Wherein, go up the articulated shaft that fixed mounting has along left right direction setting on the connecting piece, it is articulated with lower connecting piece through this articulated shaft. The connecting surface of the upper connecting piece is fixed with the upper flat plate; the fixed articulated shaft between the connecting surface of the lower connecting piece and the middle flat plate is sleeved with a torsional spring, and two ends of the torsional spring are respectively fixed with the upper connecting piece and the lower connecting piece.
The height adjusting device consists of a linear motion unit, a height adjusting connecting rod, a gear box, a sliding block, an installing head, a hinging block and a driving motor. The linear motion unit is of a ball screw structure and is provided with a cylindrical shell, a screw and a screw sleeve. The end part of the rear end of the shell is fixedly arranged on the front side wall of the gear box, and a screw rod sleeve is coaxially arranged in the shell through a bearing, so that the screw rod sleeve can rotate. The rear end of the screw rod sleeve penetrates through the rear end face of the shell and the opening in the front side wall of the gear box and then is positioned in the gear box, and the rear end of the screw rod sleeve is fixedly sleeved with a gear A. The lead screw is arranged in the lead screw sleeve and is connected with the lead screw sleeve in a thread fit manner. Meanwhile, the front end of the screw rod is in threaded fit connection with the opening of the front end face of the shell. The driving motor is arranged on the front side wall of the gear box through a motor support, and an output shaft of the driving motor penetrates through an opening in the gear box and is positioned inside the gear box. The output shaft of the driving motor is sleeved with a gear B, and the gear B is meshed with the gear A.
The height adjusting connecting rod comprises two long connecting rods and a shock absorption rod. The two long connecting rods are arranged in bilateral symmetry, and the front ends of the two long connecting rods are respectively hinged with the left side and the right side of the hinge block at the front end of the screw rod; the shock absorption rod is a spring damper and is used for realizing rotation. The shock attenuation pole front end is fixed in the pivot, and the pivot sets up along left right direction, and both ends rotate with the interlude of long connecting rod respectively and are connected.
The steering device comprises an upper universal joint, a steering transmission rod, a lower universal joint and a steering four-bar linkage mechanism. Wherein, the upper end of the hinge connecting rod is connected with a hinged shaft which is positioned at the front part and is connected with a hinge through a universal joint; the lower end of the hinge connecting rod is connected with a rotating platform on a support arranged in the middle of a connecting rod at the rear side in the steering four-bar mechanism through a universal joint.
In the two sets of height adjusting devices at the rear, the rear ends of the height adjusting connecting rods are fixed on the rear wheel shafts arranged along the left and right directions, and one rear wheel is respectively arranged at one end positioned at the outer side of each rear wheel shaft. And in the two sets of height adjusting devices positioned on the front side, the front ends of two long connecting rods of the height adjusting connecting rods are fixedly sleeved on a middle connecting rod on the rear side in the steering four-bar mechanism.
Thereby, when the slide plate is accelerated to advance, the two height adjusting devices at the rear part are controlled to lift up to enable the slide plate to incline forwards according to the value of the acceleration detected by the acceleration sensor; when the sliding plate decelerates and advances, the acceleration sensor detects backward acceleration, and controls the two height adjusting devices at the front part to lift up to enable the sliding plate to tilt backwards; and similarly, when the vehicle turns, the sliding plate is inclined leftwards and rightwards by controlling the height adjusting devices on the left side and the right side to ascend the sliding plate.
The invention has the advantages that:
1. the invention has the advantages of steering function, adjustable posture and height, and steering device, and the front wheels can change the motion direction under the action of people, thereby realizing the steering of the skateboard.
2. The scooter has a steering function and a sliding plate with adjustable posture and height, and the upper flat plate can adjust the left and right inclination angles along with the steering of the front wheel, so that a supporting force is provided for a human body and is used as a centripetal force during steering.
3. The invention has the advantages that the steering function and the sliding plate with the adjustable posture and height are realized, the heights of the front wheel and the rear wheel can be independently adjusted through the height adjusting device, and the sliding plate can adapt to different road conditions.
4. The invention has the advantages that the sliding plate has the steering function and can adjust the posture and the height, the posture of the whole sliding plate is adjusted by independently adjusting the heights of the four wheels, the sliding plate plays a supporting role in acceleration or deceleration and provides required force.
Drawings
FIG. 1 is a side view of the overall structure of the skateboard of the present invention with steering function and adjustable posture and height.
Fig. 2 is a schematic top view of the skateboard configuration with steering function and adjustable attitude and height of the present invention.
Fig. 3 is a front view schematically showing the structure of the skateboard having the steering function and the adjustable posture and height according to the present invention.
Fig. 4 is an exploded view of the skateboard configuration with steering and adjustable attitude and height of the present invention.
Fig. 5 is a schematic structural view of a height adjusting device of the skateboard having a steering function and adjustable posture and height according to the present invention.
Fig. 6 is a schematic view of the internal structure of the height adjusting device of the skateboard having the steering function and adjustable posture and height according to the present invention.
Fig. 7 is a schematic structural view of a steering apparatus of the skateboard having a steering function and adjustable posture and height according to the present invention.
In the figure:
1-upper flat plate 2-middle flat plate 3-height adjusting device
4-steering gear 5-front wheel 6-rear wheel
7-front connecting hinge 8-rear connecting hinge 301-linear motion unit
302-height adjusting link 303-gear box 304-slider
305-mounting head 306-hinge block 307-drive motor
301 a-shell 301 b-lead screw 301 c-lead screw sleeve
302 a-long connecting rod 302 b-shock absorbing rod 401-upper universal joint
402-steering transmission rod 403-lower universal joint 404-steering four-bar linkage mechanism
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings.
The skateboard of the present invention has a steering function and an adjustable posture and height, and as shown in fig. 1 to 4, comprises an upper deck 1, a middle deck 2, a height adjusting device 3, a steering device 4, front wheels 5 and rear wheels 6.
The middle flat plate 2 is positioned under the upper flat plate 1, and the upper flat plate 1 is connected with the middle part of the front end of the middle flat plate 2 through a front connecting hinge 7; the middle parts of the rear ends of the upper flat plate 1 and the middle flat plate 2 are connected through a rear connecting hinge 8. The upper panel 1 and the middle panel 2 are in an initial state of being parallel to each other, and the upper panel 1 is allowed to swing left and right with respect to the middle panel 2 by a connection hinge.
The front connecting hinge 7 and the rear connecting hinge 8 have the same structure and installation mode, and are composed of an upper connecting piece, a lower connecting piece and a hinge shaft. Wherein, the upper connecting piece is fixedly provided with a hinged shaft arranged along the left and right direction and is hinged with the lower connecting piece through the hinged shaft; the connecting surface of the upper connecting piece is fixed with the upper flat plate through a screw; the connecting surface of the lower connecting piece is fixed with the middle flat plate 2 through screws. The articulated shaft is sleeved with a torsional spring, the two ends of the torsional spring are respectively fixed with the upper connecting piece and the lower connecting piece, the upper connecting piece and the lower connecting piece are reset after rotating around the articulated shaft, and the upper flat plate 1 has a movement trend of recovering the initial state after swinging relative to the middle flat plate 2.
The height adjusting devices 3 are four sets, have the same structure, and are composed of a linear motion unit 301, a height adjusting connecting rod 302, a gear box 303, a sliding block 304, a mounting head 305, a hinge block 306 and a driving motor 307, as shown in fig. 5 and 6. The linear motion unit 301 has a ball screw structure, and includes a cylindrical housing 301a, a screw 301b, and a screw sleeve 301 c. The rear end of the housing 301a is fixedly mounted on the front side wall of the gear box 303, and a screw sleeve 301c is coaxially mounted inside the housing 301a through a bearing, so that the screw sleeve 301c can rotate. The rear end of the screw rod sleeve 301c passes through the rear end face of the shell 301a and is positioned in the gear box 303 after the hole is formed in the front side wall of the gear box 303, and the rear end of the screw rod sleeve 301c is fixedly sleeved with the gear A. The screw rod is arranged in the screw rod sleeve and is in fit connection with the screw rod sleeve through threads; meanwhile, the front end of the lead screw 301b can penetrate through the opening in the front end face of the shell 301a, and protrusions are arranged at opposite positions in the circumferential direction at the port of the front end face of the shell and are respectively matched and slidably connected with sliding grooves which are arranged in the circumferential direction of the lead screw 301b and axially along the lead screw 301b, so that the axial rotation of the lead screw 301b is limited. The two parts are connected in a matching way through screw threads. The driving motor 307 is arranged on the front side wall of the gear box 303 through a motor bracket, and an output shaft of the driving motor 307 passes through an opening on the gear box 303 and is positioned inside the gear box 303; the output shaft of the driving motor 306 is sleeved with a gear B, and the gear B is meshed with the gear A. Therefore, the driving motor 307 outputs power, the gear A and the gear B transmit the power, the screw rod sleeve 301a is driven to rotate, and the telescopic motion of the screw rod 301B is further realized. A mounting head 305 is arranged on the rear side wall of the gear box 303, and the mounting head 305 is used for realizing the hinge connection between the height adjusting device 3 and the middle panel 2. The front end of the screw 301b is fixedly provided with a hinge block 306, the upper surface of the hinge block 306 is provided with a slide block 304, and the slide block 304 is used for being connected with the middle flat plate 2 in a sliding manner.
The height adjustment link 302 includes two long links 302a and a shock absorbing rod 302 b. The two long connecting rods 302a are provided with a front section, a middle section and a rear section, the front section and the rear section are both inclined upwards and form an included angle of 120 degrees with the middle section, so that when the height is adjusted, the middle flat plate 2 is ensured not to be too far away from the ground, and the stability of the sliding plate is ensured. The two long connecting rods 302a are arranged in bilateral symmetry, and the front ends of the two long connecting rods are respectively hinged with the left side and the right side of the front end hinge block 306 of the screw 301 b. The shock absorption rod 302b is a spring damper and is used for realizing rotation; shock-absorbing rod 302b front end is fixed in the pivot, and the pivot sets up along left right direction, and both ends rotate with the interlude of long connecting rod 302 respectively and are connected.
The four sets of height adjusting devices 3 of the above structure are respectively fixedly installed at the left front, right front, left rear and right rear of the lower surface of the middle flat plate 2 in the same way as follows:
firstly, a sliding groove is axially designed on the side wall of the shell 301a along the lead screw 301b and is used for being matched and slidably connected with a sliding way designed on the lower surface of the middle flat plate 2 along the front-back direction; meanwhile, the mounting head 308 on the back side of the gear box 303 is fixed on the root of the mounting seat designed on the middle flat plate 2; finally, the height adjusting device 3 and the middle flat plate 2 are fixed; and the shell 301a and the middle flat plate 2 adopt a sliding installation mode, so that the installation between the two is convenient. In the four sets of height adjusting devices 3 mounted in the above manner, the output ends of the lead screws 301b of the two sets of height adjusting devices 3 positioned on the left side and the two sets of height adjusting devices 3 positioned on the right side are arranged oppositely. Meanwhile, in the two sets of height adjusting devices at the rear part, the rear ends of the height adjusting connecting rods are fixed on rear wheel shafts arranged along the left-right direction, and one rear wheel is respectively arranged at one end positioned at the outer side of each rear wheel shaft.
In the process of the movement of the skateboard, the postures of the upper flat plate 1 are independently adjusted by the four sets of height adjusting devices 3 according to different movement states, so that corresponding supporting force is provided for the acceleration required by the human body.
The steering adjustment device 4 includes an upper universal joint 401, a steering transmission rod 402, a lower universal joint 403, and a steering four-bar linkage 404, as shown in fig. 7. Wherein, the upper end of the steering transmission rod 402 is connected with the articulated shaft of the front connecting hinge 7 through a universal joint; the lower end of the steering transmission rod 402 is connected with a steering four-bar linkage 404 through a universal joint.
The four-bar linkage 404 is composed of a crank 404a, an intermediate link 404b, and a bracket 404 c. Two of the cranks 404a are positioned at the left side and the right side; the front and rear ends of the two cranks 404a are hinged to the two ends of the front middle connecting rod 404b and the rear middle connecting rod 404b, respectively, to form a set of parallel four-bar mechanism.
The middle of the middle link 404b, which is located at the rear side in the above description, is designed with a holder 404c, and the holder 404c has a rotatable turntable at the top, which is connected to the lower gimbal 403 described above. Meanwhile, the front ends of the two long connecting rods 302a of the two sets of height adjusting connecting rods 302 positioned at the front side are fixedly sleeved on the middle connecting rod 404b at the rear side in the four-bar steering mechanism. The two cranks are provided with front wheels 5. Therefore, when the upper flat plate 1 inclines leftwards/rightwards relative to the middle flat plate 2, the front connecting hinge 7 rotates, the connecting shaft drives the upper universal joint 401 to rotate, the rotation is transmitted to the lower universal joint 403 through the steering transmission rod 402, the rotary table at the top of the support 404c rotates along with the upper universal joint, the middle connecting rod 404b is driven to translate, and the crank 404a swings leftwards and rightwards, so that the steering function of the front wheel is realized.
When the skateboard advances in an accelerated manner, according to the value of the acceleration detected by the acceleration sensor, the lead screw 301b is driven by the driving motor 307, so that the height adjusting device 3 is actuated, the two linear motion units 301 at the rear are shortened, the two linear motion units 301 at the front are extended, and the skateboard inclines forwards to provide a forward supporting force to balance the backward inertia force of the person; when the sliding plate is decelerated and moves forwards, the acceleration sensor detects backward acceleration (the acceleration is a negative value), at the moment, the driving motor 307 drives the screw rod 301b, the height adjusting device 3 is actuated, the two rear linear motion units are extended, the two front linear motion units are shortened, and the sliding plate is inclined backwards to provide forward supporting force to balance forward inertia force of a person; similarly, when the upper flat plate 1 is tilted left/right, the steering mechanism 4 is driven, the front wheel rotates left/right, the slide plate turns left/right, the driving motor 307 drives the screw rod 301b, the height adjusting device 3 is driven, the two linear motion units 301 on the left side extend/shorten, the two linear motion units on the right side shorten/extend, the tilt angle of the upper flat plate 1 is compensated by the left/right tilt of the middle flat plate 2, and the moment generated by the connecting line of the front connecting hinge 7 and the rear connecting hinge 8 by the inertial centrifugal force and the gravity applied to a person is balanced.
Claims (7)
1. A skateboard with steering and adjustable attitude and height, characterized in that: comprises an upper flat plate, a middle flat plate, a height adjusting device, a steering device, front wheels and rear wheels;
the upper flat plate is connected with the middle flat plate through a connecting hinge, so that the upper flat plate can swing left and right relative to the middle flat plate; the left side and the right side of the front part and the rear part of the middle flat plate are respectively provided with a set of height adjusting device, and the height adjustment of the upper flat plate at the position is realized by each height adjusting module; meanwhile, the front part of the middle flat plate is provided with a steering device for realizing the steering function.
2. A skateboard having steering function and adjustable attitude and height according to claim 1, wherein: the connecting hinge is composed of an upper connecting piece, a lower connecting piece and a hinge shaft; wherein, the upper connecting piece is fixedly provided with a hinged shaft arranged along the left and right direction and is hinged with the lower connecting piece through the hinged shaft; the connecting surface of the upper connecting piece is fixed with the upper flat plate; a torsional spring is sleeved on a fixed articulated shaft between the connecting surface of the lower connecting piece and the middle flat plate, and two ends of the torsional spring are respectively fixed with the upper connecting piece and the lower connecting piece;
the height adjusting device consists of a linear motion unit, a height adjusting connecting rod, a gear box, a sliding block, an installing head, a hinging block and a driving motor; the linear motion unit is of a ball screw structure and is provided with a cylindrical shell, a screw and a screw sleeve; the end part of the rear end of the shell is fixedly arranged on the front side wall of the gear box, and a screw rod sleeve is coaxially arranged in the shell through a bearing, so that the screw rod sleeve can rotate; the rear end of the screw rod sleeve penetrates through the rear end face of the shell and the opening on the front side wall of the gear box and then is positioned in the gear box, and the rear end of the screw rod sleeve is fixedly sleeved with a gear A; the screw rod is arranged in the screw rod sleeve and is in fit connection with the screw rod sleeve through threads; meanwhile, the front end of the screw rod is in threaded fit connection with the opening on the front end surface of the shell; the driving motor is arranged on the front side wall of the gear box through a motor bracket, and an output shaft of the driving motor penetrates through an opening on the gear box and is positioned in the gear box; a gear B is sleeved on an output shaft of the driving motor and meshed with the gear A;
the height adjusting connecting rod comprises two long connecting rods and a shock absorption rod; the two long connecting rods are arranged in bilateral symmetry, and the front ends of the two long connecting rods are respectively hinged with the left side and the right side of the hinge block at the front end of the screw rod; the shock absorption rod is a spring damper and is used for realizing rotation; the front end of the shock-absorbing rod is fixed on a rotating shaft, the rotating shaft is arranged along the left and right direction, and the two ends of the shock-absorbing rod are respectively connected with the middle section of the long connecting rod in a rotating way;
the steering device comprises an upper universal joint, a steering transmission rod, a lower universal joint and a steering four-bar linkage; wherein, the upper end of the hinge connecting rod is connected with a hinged shaft which is positioned at the front part and is connected with a hinge through a universal joint; the lower end of the hinge connecting rod is connected with a rotating table on a support arranged in the middle of a connecting rod positioned at the rear side in the steering four-bar mechanism through a universal joint;
in the two sets of height adjusting devices positioned at the rear part, the rear end of the height adjusting connecting rod is fixed on a rear wheel shaft arranged along the left-right direction, and one end positioned at the outer side of the rear wheel shaft is respectively provided with a rear wheel; and in the two sets of height adjusting devices positioned on the front side, the front ends of two long connecting rods of the height adjusting connecting rods are fixedly sleeved on a middle connecting rod on the rear side in the steering four-bar mechanism.
3. A skateboard having steering function and adjustable posture and height according to claim 2, wherein: the mounting head is designed on the rear side wall of the gear box and used for being fixed with the mounting seat on the middle flat plate; the front end of the lead screw is fixedly provided with a hinged block, the upper surface of the hinged block is provided with a sliding block, and the sliding block is used for being connected with a middle flat plate in a sliding manner.
4. A skateboard having steering function and adjustable posture and height according to claim 2, wherein: the side wall of the shell is provided with a sliding groove along the axial direction of the lead screw, and the sliding groove is in sliding connection with the lower surface of the middle flat plate along the matching of a sliding way designed in the front-back direction.
5. A skateboard having steering function and adjustable posture and height according to claim 2, wherein: the two long connecting rods are provided with a front section, a middle section and a rear section which are all inclined upwards.
6. A skateboard having steering function and adjustable posture and height according to claim 2, wherein: after the height adjusting devices are installed, the output ends of the lead screws in the two sets of height adjusting devices on the left side and the two sets of height adjusting devices on the right side are arranged oppositely.
7. A skateboard having steering function and adjustable attitude and height according to claim 1, wherein: when the sliding plate advances in an accelerating way, controlling the two height adjusting devices at the rear part to lift upwards so that the sliding plate inclines forwards according to the value of the acceleration detected by the acceleration sensor; when the sliding plate decelerates and advances, the acceleration sensor detects backward acceleration, and controls the two height adjusting devices at the front part to lift up to enable the sliding plate to tilt backwards; and similarly, when the vehicle turns, the sliding plate is inclined leftwards and rightwards by controlling the height adjusting devices on the left side and the right side to ascend the sliding plate.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010098326.8A CN111228778B (en) | 2020-02-18 | 2020-02-18 | Skateboard with steering function and adjustable posture and height |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010098326.8A CN111228778B (en) | 2020-02-18 | 2020-02-18 | Skateboard with steering function and adjustable posture and height |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN111228778A true CN111228778A (en) | 2020-06-05 |
| CN111228778B CN111228778B (en) | 2022-06-07 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010098326.8A Active CN111228778B (en) | 2020-02-18 | 2020-02-18 | Skateboard with steering function and adjustable posture and height |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20210171132A1 (en) * | 2019-12-06 | 2021-06-10 | James Matthew Underwood | Stand up vehicle |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH0910375A (en) * | 1995-06-30 | 1997-01-14 | New Technol Kenkyusho:Kk | Self-propelled roller board |
| CN1535217A (en) * | 2001-07-26 | 2004-10-06 | Vehicle suspension stabilising arrangement | |
| CN103961860A (en) * | 2014-05-07 | 2014-08-06 | 杭州电子科技大学 | Foot-controlled type electric scooter |
| CN109080733A (en) * | 2018-09-29 | 2018-12-25 | 北京云迹科技有限公司 | Robot chassis and robot |
| CN109833153A (en) * | 2019-04-10 | 2019-06-04 | 华东理工大学 | A kind of multifunctional adaptive bradyseism transport device |
-
2020
- 2020-02-18 CN CN202010098326.8A patent/CN111228778B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH0910375A (en) * | 1995-06-30 | 1997-01-14 | New Technol Kenkyusho:Kk | Self-propelled roller board |
| CN1535217A (en) * | 2001-07-26 | 2004-10-06 | Vehicle suspension stabilising arrangement | |
| CN103961860A (en) * | 2014-05-07 | 2014-08-06 | 杭州电子科技大学 | Foot-controlled type electric scooter |
| CN109080733A (en) * | 2018-09-29 | 2018-12-25 | 北京云迹科技有限公司 | Robot chassis and robot |
| CN109833153A (en) * | 2019-04-10 | 2019-06-04 | 华东理工大学 | A kind of multifunctional adaptive bradyseism transport device |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20210171132A1 (en) * | 2019-12-06 | 2021-06-10 | James Matthew Underwood | Stand up vehicle |
| US11970223B2 (en) * | 2019-12-06 | 2024-04-30 | James Matthew Underwood | Stand up vehicle |
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| Publication number | Publication date |
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| CN111228778B (en) | 2022-06-07 |
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