CN102514662A - Two-wheeled self-balancing electrombile - Google Patents

Two-wheeled self-balancing electrombile Download PDF

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Publication number
CN102514662A
CN102514662A CN2011104303480A CN201110430348A CN102514662A CN 102514662 A CN102514662 A CN 102514662A CN 2011104303480 A CN2011104303480 A CN 2011104303480A CN 201110430348 A CN201110430348 A CN 201110430348A CN 102514662 A CN102514662 A CN 102514662A
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wheel
self
carrier
balancing
electric vehicle
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CN2011104303480A
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Chinese (zh)
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CN102514662B (en
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陈和
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陈和
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Abstract

The invention discloses a novel two-wheeled self-balancing electrombile, which is characterized by being provided with two side-by-side wheels capable of rotating independently. The two wheels are connected through a connection mechanism and can tilt leftwards or rightwards conformably through the connection mechanism. Tilting of the two wheels enables the electrombile to swerve, and when the two wheels tilt, the connection mechanism can still enable pedals to maintain level. Each wheel is driven by a motor and further provided with an electronic control system which enables the pedals of the electrombile to maintain horizontal balance in the front direction and the back direction. When the gravity center of an electrombile rider tilts forwards, backwards or towards two sides, the electrombile can be directly led to advance towards the tilting direction. In addition, some designs capable of improving electrombile stability and portability are further provided.

Description

两轮自平衡电动车技术领域[0001] 本发明提出了一种电动两轮车,两个轮子是彼此相对地排列的,骑车人可以站立在两个轮子之间操作。 The self-balancing electric vehicle Technical Field [0001] The present invention provides an electric two-wheeled vehicle, two wheels are arranged opposite to each other, the rider can stand between two operating wheels. 确切地说,是一种站立式的、具有前后自平衡功能的电动两轮车。 Specifically, a stand type, having a longitudinal self-leveling function electric motorcycle. 特别要指出的是,该车两个轮子的转动,不享用共同的车轴。 Of particular note is that the two wheels of the car turning, do not enjoy a common axle. 背景技术[0002] 当前世界上最有名的一种自平衡电动车的技术实例,是由Kamen等人的专利(Personal Mobility Vehicles and Methods,US Patent No. 6,302,230B1,Oct. 16,2001) 所揭示的。 [0002] the world's most famous example of a technology that is currently self-balancing electric vehicles, by Kamen et al patent (Personal Mobility Vehicles and Methods, US Patent No. 6,302,230B1, Oct. 16,2001 ) disclosed. Kamen的专利总结了目前自平衡两轮电动车的背景技术,揭示了它们动力驱动与电子控制平衡的相关技术。 Kamen patent summarizes the current self-balancing two electric cars in the background, they reveal the relevant technical power drive and electronic control balance. Kamen专利所揭示的自平衡两轮电动车,它有相对平行排列的两个轮子,两个轮子之间(或之上)设有一个供骑车人(操作者)站立的平台;它还设置了一个操纵用的手把杆,用来改善骑车人站立的稳定性,以及控制车子行进的方向。 Kamen patents disclosed self-balancing two electric vehicles, which has two opposing wheels arranged in parallel, between the two wheels (or above) is provided with a platform for the rider (operator) standing; also provided an actuating lever of the handle, to improve the stability of the rider standing, and control the direction of travel of the car. 这种自平衡两轮电动车,于2002年开始生产并投入市场,该两轮车的商品,名叫“赛格威” Gegway)。 This self-balancing two electric cars, began production in 2002 and put into the market, the two-wheeler goods, called "Segway" Gegway). 这种两轮车在多个国家、多个方面都已得到了应用,不啻为一种有效的中、短距离的运输工具。 This two-wheelers in many countries, many aspects have been applied, as good as an effective medium, short-distance transport. [0003] 然而,某些用户希望使用不设手把杆的自平衡两轮电动车。 [0003] However, some users wish to use the handle bar does not have two self-balancing electric vehicle. 因为不设手把杆的两轮电动车,具有较大的可携带性,拆装也比较方便。 Because no two handle bars of electric vehicles, have greater portability, disassembly more convenient. 特别是,如果不设手把杆的话,当车子行进时,骑车人可以空出双手来做其他的事情。 In particular, if no handle bars, then when the car moving, the rider can have both hands free for other things. 在许多环境下,以上这些优点会变得格外的重要。 In many environments, these advantages will become particularly important. [0004] Kamen的专利中,有手把杆的实施方案是成功的。 [0004] Kamen patents, there are embodiments of the handlebar rod is successful. 但是,该专利中所揭示的、没有设置手把杆的实施方案,因为很难付之实用,所以没有像有手把杆的自平衡两轮车那样得到实现。 However, as disclosed in this patent, it is not provided in the embodiment of the handle bars because it is difficult to pay the utility, it is not as self-balancing realized as a two-wheeled vehicle with a handlebar rod. [0005] 假如骑车人站在一辆两轮车上,如果该车的两个轮子的配置与kgway的两个轮子配置相似,车子上又不设置手把杆的话,那末骑车人与车子相接触的地方,除了车子脚踏板支撑骑车人脚的支撑接触点外,再也没有其它接触点了。 [0005] If the rider standing on a motorcycle, if the two wheels arranged kgway two wheels vehicle configuration similar to the handle lever is provided not on the car, then the car and then the rider local contact, the contact point of the car in addition to the support plate supporting the foot of the cyclist's foot, no other contact point. 因此,当车子行进时,骑车人要保持其踝关节与膝关节的稳定是很困难的。 Therefore, when the car moving, the rider to maintain its stability of the knee and the ankle is very difficult. 虽然车子本身是能够在纵向平面上,自动地保持前后的动态平衡,但是由于缺少支撑点,使得骑车人的身体不能放松。 While the vehicle itself is in the longitudinal plane can be automatically maintained before and after the homeostasis, but due to lack of support points, so that the rider's body can not relax. 骑车人的腿与脚, 除了要控制车子的行进方向外,为了保持人车的平衡,还必须要调节腿脚的相对位置,所以骑车人的站立姿势通常不能保持在一个舒适的位置,同时车子也很难稳定地行进。 Rider's legs and feet, in addition to control the traveling direction of the car, the person in order to maintain the balance of the car, must also adjust the relative position of the legs, so the rider is not standing posture is usually held in a comfortable position, while the car is also difficult to stably travel. [0006] 因此,市场要求车子以新的方式来支持骑车人稳定地骑行,还要求车子以新的方式来控制行进的方向。 [0006] Thus, the car market requires new ways to stably support the rider riding car also requires a new way to control the direction of travel. 此外,也要求该种新方式能较好地改善车子的便携性、稳定性、控制的直觉性,这些要求也是本领域以及有关领域对产品的普遍期望。 Further, this kind requires new ways of the car is able to improve portability, stability, intuitive control, these requirements are related to those skilled in the art, and the general expectation of the product. 发明内容[0007] 本发明的车子是有两个彼此并排的、独立转动的轮子。 SUMMARY OF THE INVENTION [0007] The present invention is a car with two side by side each other, the wheels rotate independently. 每个轮子有一个驱动马达, 还有在纵向平面上保持前后自平衡的能力。 Each wheel has a drive motor, as well as the ability to maintain self-balance before and after in the longitudinal plane. 车子的两个轮子之间能供骑车人站立,骑车人将重心在纵向平面上前后变动的方式,以及朝左右倾侧的方式来控制车子的前进与转向。 Between the two wheels can for car standing rider, the rider embodiment changes the center of gravity in the longitudinal plane of the front and rear, and right and left tilting manner to control the advancing and steering the car. 两个轮架之间设有一个连接机构,使得两个轮子在转向过程中,能够一致地并排倾侧。 A connecting means provided between the two wheel carrier, such that two wheels during steering, side by side can be uniformly tilt. 该功能是采用了一组复式平行的多元连接杆来达到的,每根连接杆都是可转动地与两个轮架相配接,连接杆中至少有两根是配置在不同的高度(相对于骑行的路面而言)。 This feature is the use of a double set of parallel connecting rods polyols to achieve, each connecting rod is rotatably connected with two mating wheel carrier, at least two connecting rods are arranged at different heights (relative to the For road riding). 轮子倾侧的功能,改善了车子的稳定性以及转向过程中腿脚的舒适性。 Tilt wheel functionality, improved stability and comfort during the car's steering legs and feet. [0008] 车子能够转为折叠形态。 [0008] The car can be folded into shape. 折叠时,利用连接杆中的铰链使两个轮子合拢在一起,以便于携带或储藏。 When folded, the connecting rod using a hinge so that the two wheels close together, so as to carry or store. 折叠形态的车子,可用配接在连接结构上的一个把手来携拎。 Folded configuration of the car, can be used on the mating connector structure carrying a handle to carry. 当车子完全折叠后,设置的该把手是丝毫不会与车轮、轮架相接触的。 When the car is completely folded, the handle arrangement is in no way, in contact with the wheel carrier of the wheel. [0009] 车子工作时的结构形态,使得骑车人的两脚站在两个轮子之间供站脚用的踏脚板上,并且使得骑车人的每一条腿都能与相应轮架的内侧稳固地相接触。 [0009] The morphology of the car at work, so that the feet of the rider standing on the footboard of the foot for the station between the two wheels, and such that each leg of the rider can be inside of the respective wheel carrier firmly contact. 这种结构形态增加了骑车人身体与车子之间的接触点的数量,并且分散了接触点,因而使得不设手把杆的两轮车,使用时的稳定性与舒适性都获得了戏剧性的改善。 This morphology increases the number of contact points between the rider and the car body, and the contact points are dispersed, thereby making no motorcycle handle bar, when using stability and comfort are obtained dramatic improvement. 为了使骑车人的腿与相应的轮架之间,稳定地保持摩擦接触,在轮架上专门设置了供腿接触的靠腿板。 In order to make the rider's legs between the respective wheel carrier, is stably maintained in frictional contact at the wheel carrier is provided specifically for the leg against the leg of the contact plate. 靠腿板上与腿接触的表面,与轮架相比,应具有较大的摩擦力;其表面形状还要稍有弯曲,以适配骑车人小腿通常的轮廓。 Plate against the surface of the leg in contact with the leg, compared with the wheel carrier, should have a larger friction; also slightly curved surface shape, to fit the rider's leg is generally profile. [0010] 业内有经验人士在结合图纸审阅下文的详细叙述后,可以进一步了解本发明的技术特点以及其它有关的优点了。 [0010] Others who have experience in conjunction with the drawings after reviewing the following detailed description, further understand the technical features of the present invention and the other related advantages. 附图说明[0011] 图1是根据本发明所提出的两轮自平衡电动车,一种实施方案的侧向透视图。 BRIEF DESCRIPTION [0011] FIG. 1 is proposed according to the present invention, the two self-balancing electric vehicles, side perspective view of an embodiment of the program. [0012] 图2是上述图1的两轮自平衡电动车,在转弯过程中,它的两个轮子同时朝一侧倾斜时的侧向透视图。 [0012] FIG. 2 is a side perspective view of FIG. 1 from the above two balanced electric vehicle, during cornering, it is inclined toward the side of the two wheels simultaneously. [0013] 图3是上述图1的两轮自平衡电动车,它的连接机构在部分折叠时的俯向透视图。 [0013] FIG. 3 is two in FIG. 1 self-balancing electric vehicle, its connection mechanism is in the partially folded perspective view of a plan. [0014] 图4是上述图1的两轮自平衡电动车,它的连接机构在完全折叠时的侧视图。 [0014] FIG. 4 is two in FIG. 1 described above is self-balancing electric vehicle, a side view of the connection mechanism is in its fully folded. 可以看到在连接机构上配置的把手。 It can be seen that the handle mechanism disposed on the connection. [0015] 图5是根据本发明所提出的两轮自平衡电动车,另一种实施方案的侧向透视图。 [0015] FIG. 5 is a two proposed by the present invention is self-balancing electric vehicles, side perspective view of another embodiment of the embodiment. 图示了在转弯过程中,它的两个轮子同时朝一侧倾斜的情景。 Illustrated during cornering, while its two wheels inclined toward one side of the scene. [0016] 图6是根据本发明所提出的两轮自平衡电动车的又一种实施方案,是手把周围的局部细节的侧向透视图。 [0016] FIG. 6 is a two proposed by the present invention is self-balancing electric vehicle yet another embodiment, is a side perspective view of a partial detail of the handle around. 这些细节图示了本发明所提出的一种有关手把的偏压复位块以及它的锁紧机构。 These illustrate details of the proposed present invention provides a bias reset block about the handle and its locking mechanism. [0017] 图7是根据本发明所提出的两轮自平衡电动车的又一种实施方案,图示了脚踏板设置在车轮的外侧。 [0017] FIG. 7 is a two proposed by the present invention is self-balancing electric vehicle a further embodiment, illustrated footboard disposed outside of the wheel. [0018] 这些实例,将在下文中详述。 [0018] These examples will be described in detail below. 具体实施方式[0019] 参阅图1,这是本发明所提出的一种两轮自平衡电动车实施方案的侧向透视图。 DETAILED DESCRIPTION [0019] Referring to Figure 1, which is a side perspective view of the proposed present invention provides a self-balancing two embodiments of an electric vehicle. 图中两轮自平衡电动车100的组成有:两个车轮,第一车轮110与第二车轮111 ;两个轮架,第一轮架120与第二轮架121,每个车轮各自与一个轮架相连接;一个连接机构130,它的一端与第一轮架120相连,另一端与第二轮架121相连;两个踏脚板140,它们位在两个轮子1104与111之间,它们供骑车人的双脚站立使用;以及一个手把133,它配接在连接机构130上, 用来提携电动车100的。 FIG compositional balance since two electric vehicle 100 has: two wheels, a first wheel and a second wheel 110 111; two wheel carrier, the first carrier 120 and the second wheel carrier 121, each with a respective wheel wheel carrier is connected; a connecting mechanism 130, which is connected to one end of the first carrier 120, and the other end connected to the second carrier 121; two foot plates 140 are positioned between the two wheels 111 and 1104, they are use two feet for the rider; and a handle 133, which is provided with means connected to the connector 130, the electric vehicle 100 for carrying. 图上的132是铰链,150是靠腿板,将在下文中加以说明。 132 is the hinge of FIG, 150 is a leg rest panel, it will be described hereinafter. [0020] 车轮110与111是彼此并列地、镜面对称地设置的,基本是平行的,它们没有共同的车轴,因此它们是可以独立转动的,而且各自能够以不同的速度与/或以不同的方向旋转。 [0020] The wheels 110 and 111 are parallel to each other mirror-symmetrically arranged, substantially parallel, they have no common axle, so that they can rotate independently, but each can be at different speeds and / or different the direction of rotation. (顺便指出,车轮的中心轴线是指,垂直于车轮转动平面的中心轴线。车轮的车轴是指, 垂直车轮转动平面的实体中心轴。)轮子大小尺寸的可取范围很宽,图1所示的轮子较大, 它的直径与成人小腿长度差不多。 (Incidentally, the central axis of the wheel means, a plane perpendicular to the wheel rotation center axis of the axle of the wheel means, wheel rotation perpendicular to the central axis of the plane entity.) Preferably the range is very wide wheel sizes, as shown in FIG. 1 larger wheels, its diameter and length almost adult leg. 两个车轮110与111,各自分别同轮架120、121相配接, 第一轮架120与第二轮架121的结构相同,它们可以采用各种可能的形状,只要不妨碍车轮110与111与连接机构130之间的连接。 Two wheels 110 and 111, respectively, each for mating with the wheel carrier 120, 121, 120 the same configuration as the first carrier and the second carrier 121, which may be of various shapes may be employed, as long as the wheels 110 and 111 does not interfere with the the connection between the connecting means 130. 本实施方案中,轮架120与121是呈罩壳状的形状,将车轮110与111罩起,部分地封住。 In the present embodiment, the wheel carrier 120 and the housing 121 form a shape, since the wheel 110 and the cover 111 is partially sealed. 轮架的基本功能是使车轮110、111与连接机构130相连接。 The basic function of the wheel carrier 110, 111 is connected to the wheel mechanism 130 is connected. 除此以外,轮架120与121还有其他如像:车轮110、111的支撑与导向,车轮IlOUll的防雨与防尘,防止车轮110、111与人体或衣服的接触等的用途。 In addition, the wheel carrier 120 and the other 121, such as: supporting the guide wheels 110 and 111, the wheel IlOUll rain and dust, to prevent the wheels 110 and 111 contact with the body or clothing and other uses. [0021] 从图1上可见,本发明将两个轮子设计得具有一点负倾角。 [0021] it is seen that the present invention is designed to have two wheels negative rake angle from that of FIG. 1. 大家知道,从车头望向车轮,车轮与铅垂线的夹角称为外倾角(Camber),若轮子上端向内倾斜,呈[八]字形,称作负倾角(Negative Camber)。 You know, look from the front wheel, the wheel angle with the vertical line is called camber (Camber), when the upper end of the inwardly inclined wheels, as a [eight] shape, called negative rake angle (Negative Camber). 这会有助于骑车人克服转弯时的离心力,以及骑车人将小腿与靠腿板的稳固接触。 This will help the rider to overcome the centrifugal force during cornering, the rider and firm contact with the lower leg of the leg plate against. [0022] 连接机构130通常是水平配置的,该机构的一端与轮架120相配接,另一端与轮架121相配接。 [0022] The attachment mechanism 130 is generally arranged horizontally, one end of the mechanism 120 for mating with the wheel carrier, the other end 121 to fit to the wheel carrier. 连接机构130是由三根细长的连接杆131组成,其中两根是位于同一个水平面上,第三根的位置低于上述的水平面。 Connecting means 130 is composed of three elongate connecting rod 131, of which two are located in the same horizontal plane, the third position is less than the root horizontal plane. (实际上,可以另外设计连接杆的数量与配置,只要其中至少有两根连接杆,相对于骑行的路面而言,处于不同的高度就行。)三根连接杆131是互相平行的,每一根都是与轮架120、121可转动地配接的。 (In fact, the number and configuration of the design may further connecting rod, as long as at least two connecting rods, with respect to the riding surface, at different heights on the line.) Three connecting rods 131 are parallel to each other, each 120 and 121 are the root and the wheel carrier rotatably mating. 相对于连接机构130而言,该种可转动的连接,使得车轮110与111能够并排地倾斜,而不会严重打乱连接机构130的水平配置。 Relative to the connecting mechanism 130, the rotatable connection of the kind, so that the wheels 110 and 111 can be inclined side by side, without seriously disrupted link mechanism 130 is disposed horizontally. 多根连接杆中,至少要有位于不同高度的两根连接杆131,被用来将车轮110与111, 彼此相连,必须使得两个车轮110与111,同时发生相同方向的倾侧,并且通常是倾侧相近的角度。 A plurality of connecting rods, must be located at a height of at least two different connecting rods 131, 110 are used with the wheel 111, connected to each other, they must be such that the two wheels 110 and 111, tilt simultaneously in the same direction, and is typically tilt angle similar. (假如两个轮子彼此是平行的话,则它们各自变化的角度大小数值,始终基本上是相等的。假如两个轮子彼此成拱形的话,则它们各自变化的角度大小数值,基本上是不相等的,但是通常是相近似的。)连接机构130的这些特性是十分重要的,使得车轮110与111 具有朝转弯方向倾侧或倾斜的能力,因而对转弯过程,提供较大的稳定性,减少了翻车的可能性。 (If two wheels are parallel to each other, then they change their angular size value, is always substantially equal. If the two wheels to each other in arcuate, then change the angle of their respective size value is not substantially equal but usually approximating.) these characteristics of the connection mechanism 130 is very important, so that the wheels 110 and 111 have the ability to tilt or tilt toward the turning direction, the turning process and therefore, provide greater stability, reduced the possibility of a rollover. [0023] 图2图示了上述图1的两轮自平衡电动车100,在左转弯时的情况。 [0023] FIG 2 illustrates a two from 100 in FIG. 1, in the case of a balanced electric vehicle when turning left. 为了使车子朝车子前进方向的左侧转弯,起初是骑车人先朝左倾斜,迫使车轮110与111 一致地朝左倾侧。 In order to make the car toward car forward left turning direction, the rider is initially inclined to the left, forcing the wheels 110 and 111 leftward tilt in unison. 这里所说的车轮倾侧是指,车轮的中心轴线与水平线产生有一个夹角,车轮的中心轴线不保持水平了,本文称为车轮发生了倾侧。 Mentioned here refers to a tilt wheel, the central axis of the wheel produces a horizontal line at an angle, the central axis of the wheel is not holding a level, it referred to herein as the tilt of wheel. 倾侧的朝左或右,是相对于车子行进方向而言的。 The tilting left or right, is relative to the direction of travel of the car. (车轮的倾侧动作可激活电子控制系统中的倾斜探测单元。)每个车轮在倾侧过程中, 发生的角度变化是位在垂直于行进方向的垂直平面上。 (Tilting movement of the wheel can be activated in the electronic control system of inclination detecting unit.) In the tilt angle of each wheel occurs during position change is in a vertical plane perpendicular to the direction of travel. 可转动配接到两个轮架120与121 上的三根连接杆131,水平的角度基本上没有变化,即基本上依然保持水平的位置,但是位于不同水平高度的那些连接杆131,它们彼此相对的水平高度是发生了变化。 With two wheels rotatably connected to frame 120 and three connecting rods 131 121, substantially no change in the horizontal angle, i.e. remains substantially horizontal position, but at different height levels as those of the connecting rod 131, relative to each other the level height is changed. 正如图2所示,上方的两根连接杆,相对于较低的那根连接杆,只是更加向左平移移动了一些。 As shown, two connecting rods upward in FIG. 2, with respect to the lower connecting rod Flanagan, just a few more leftward translation. 使得当车轮110与111向转弯方向倾侧时,连接机构130仍能保持通常的水平位置。 Such that when the wheel 110 and 111 tilt toward the curve direction, the connecting mechanism 130 can maintain a normal horizontal position. 刚性地配接在上部两根连接杆131上的两个踏脚板140,同样是保持着通常的水平位置。 Rigidly connected to the upper portion of the two connecting rods on two 131 foot board 140 is also maintained normally in a horizontal position. 对骑车人来说, 这些特点增加了安全性与舒适性。 For cyclists, these features increase the safety and comfort. 此外,三根连接杆131的平移动作,只是导致两个踏脚板140的水平与垂直位置稍微平移了一点,使得骑车人能够较平稳、较舒适地侧向移动他的重心。 In addition, three translational motion of the connecting rod 131, but results in horizontal and vertical positions of the two footboard 140 is slightly shifted by bit, so that the rider can be smoother, more comfortable to move his center of gravity laterally. [0024] 应该指出,踏脚板至少应有一个载重的表面。 [0024] It should be noted, running boards should have at least a surface of the load. 这些图上图示的踏脚板,是通常能载人或载物的一种具体实例,通常有两个载重的表面。 These illustrated on FIG footplate, a specific example is generally manned or loading, the load usually two surfaces. 显然,踏脚板可以设计成各种形状与尺寸,可以与连接机构相配接,也可以与轮架相配接。 Obviously, the footboard can be designed in various shapes and dimensions, may contact with mating connection means may be connected with the mating wheel carrier. [0025] 还要指出的是,无论车轮是否倾侧,本发明提出的连接机构,都使得踏脚板始终能保持基本水平的状态。 [0025] It is also noted that regardless of whether the wheels tilted, the connecting mechanism proposed by the invention are such that the footplate can be maintained always substantially horizontal state. [0026] 图3图示了上述图1的两轮自平衡电动车100,在部分折叠时的情况。 [0026] FIG 3 illustrates a two 100 of Fig. 1, where self-balancing electric vehicle when partially folded. 为了方便携带与储藏,本发明提出了一种方式,将两轮电动车100的两个车轮靠拢在一起,从使用形态压缩转换成的折叠形态。 In order to facilitate carrying and storage, the present invention provides a way to move closer together two electric vehicle two wheels 100, converted into a compressed form folded from the use configuration. 折叠形态是指两个车轮之间的距离,比非折叠形态(使用状态)时要小得多。 Folded configuration is the distance between two wheels, than the non-folded configuration (use state) is much smaller. 在这个例子中,该折叠功能是靠折叠连接机构130来实现的。 In this example, the folding function is connected by the folding mechanism 130 to achieve. 具体来说,每一根连接杆131都有一个铰链132。 Specifically, each of the connecting rod 131 has a hinge 132. 本例中,每个铰链132是位于各自相应连接杆131的中部, 但是一般来说,只要将铰链132安装得能将整个连接机构130折叠起来就行了。 In the present embodiment, each hinge 132 is located in the middle of a respective connecting rod 131, but in general, as long as the hinge 132 is mounted can obtain the entire connecting mechanism 130 is folded on the line. [0027] 还设有一个手把133,它可连接杆131中的一根或多根相配接。 [0027] There is also a handle 133, which can be connected to the lever 131 to fit to one or more. 在所示的实例中, 手把133是位于连接机构130的中部,大致是与铰链132位于同一个垂直平面上。 In the example shown, the handle 133 is located in the middle of the connecting mechanism 130, the hinge 132 is substantially located on the same vertical plane. 当手把133向上拉时,拉传到铰链132,铰链132是连到有相当重量的两个车轮110与111,所以使得连接机构130折叠起来,如图3所示,两个车轮110与111最后可合拢到了一起。 When the handle 133 is pulled up, the pull 132 passes the hinge, the hinge 132 is attached to the two wheels 110 and equivalent weight 111, it is folded so that the connecting mechanism 130, shown in Figure 3, two wheels 110 and 111 the last to be close together. 然后, 手把133可用来携拎已折叠好的车子了。 Then, carrying handle 133 may be used to carry the car has been folded. [0028] 为了方便用手携拎,进一步可将手把133设计成可拉长延伸的式样,如图4所示, 当连接机构130完全折叠时,图上所画出的手把133是伸长了的,伸长到了略大于车轮外径的地方。 [0028] In order to facilitate carrying by hand carry, handle 133 can further be designed to be elongated extending pattern, as shown in FIG. 4, when the connection mechanism 130 fully folded, the figure drawn by the handle 133 is stretched long and stretched to place slightly larger than the outer diameter of the wheel. 手把133的该功能是靠一条滑杆151来实现的,滑杆151的一端刚性地配接到手把133,另一端配接到连接杆131上,所以滑杆151的设置,使得手把133可相对于连接机构130的连接点做垂直的移动,移动到离开连接机构130的某一位置处。 The handle 133 functions implemented by a slider 151, the slider 151 is at one end rigidly connected to handle 133, with the other end connected to the lever 131, the slider 151 is provided, so that the handle 133 with respect to the point of attachment mechanism 130 to make vertical movement, to move away from the connection means 130 at a certain position. 当向上拉扯手把133 时,手把133首先是滑到满程可伸长的位置,进一步向上拉扯的力,可使连接机构130成为上述折叠的形态。 When pulling up the handle 133, the handle 133 is slid over first process may be an elongated position, further upward pulling force mechanism 130 can be connected to the above-described folding configuration. 手把133与滑杆151的组态应该恰当安排,当连接机构130完全折叠时, 手把133要超出车轮110、111与/或轮架120、121的边缘,使得用手携拎电动车100时,而不会碰到车轮与轮架。 Configuring the handle 133 and the slider 151 should be proper arrangement, when the connecting mechanism 130 is completely folded, and the handle 133 to exceed / or the edge of the wheel carrier of the wheel 120, 121 110, 111, so that the electric vehicle 100 carry hand portable when, without encountering the wheel and wheel carrier. 这个功能既为人们的携拎提供了更大的舒适性,也使得折叠后的两个车轮可以更加的靠拢。 This feature both for people carry portable provides greater comfort, but also makes two more wheels can be folded to close. [0029] 应该指出,使手超出车轮与轮架边缘的方法很多,除了使用上述特定的滑动机构以外,还可采用其他可能的方式来实现。 [0029] It should be noted that the method of the hand wheel and the wheel carrier beyond the edge of the lot, except that the specific slide mechanism, may also be used to achieve other possible ways. [0030] 为了达到最佳的稳定性,骑车人站立时,最好是将其小腿稳固地触靠在轮架120、 121上。 [0030] For optimal stability, the rider stands, preferably the lower leg to firmly abut against the wheel carrier 120, 121. 本发明提出的骑车人与车子之间多点接触的设计,使得骑车人很容易地将他的脚与小腿保持在适当的位置。 Design of the car between the rider and the multiple points of contact provided by the invention, so that the rider is easily held his feet and legs in place. 因此,在车子100上进一步设置了两块靠腿板150,分别配置在轮架120与121上。 Thus, in the car 100 is further provided on the two leg plate 150, are disposed on the wheel holder 120 and 121. 靠腿板150是附设在轮架120与121的内侧,它的位置与高度要设置得, 当骑车人的每只脚站立在各自的踏脚板上时,两条小腿的外侧正好各自能够与各自的靠腿板150相触靠。 Against the leg plate 150 is attached to the inner side of the wheel carrier 120 and 121, which is a position to set the height when the cyclist's foot on the each respective footplate, just the outer two legs are each capable of the respective leg rests against the plate 150 touching. 靠腿板150可以用柔软的、可弯曲的材料制成,如编织材料或其他合适的材料,靠腿板150应提供一定的摩擦力,有助于骑车人将他的小腿稳定地触靠在轮架120与121上。 Against the leg plate 150 may be a soft, bendable material such as a woven material or other suitable material, by the leg plate 150 should provide a frictional force helps the rider to stably his calf against contact on the wheel 120 and carrier 121. 靠腿板150还可进一步设计成,略有一点凹形的曲面,该曲面的纵轴大致与踏脚板140相垂直,曲面的形状还要与骑车人的小腿外形大致拟合。 Against the leg plate 150 may be further designed, one o'clock slightly concave surface, with the longitudinal axis of the curved surface is substantially perpendicular to the footplate 140, but also the shape of the curved surface substantially fitting the cyclist's leg shape. [0031] 图5是根据本发明所提出的另一种实施方案的侧向透视图,图示了一种踏脚板, 它的形态不同于前文所述的踏脚板。 [0031] FIG. 5 is a side perspective view of another embodiment of the proposed solution according to the present invention, illustrating a footplate, the footplate its shape differs from previously described. 从图上可见,两轮自平衡电动车200是由:车轮210与211、轮架220与221、带有连接杆231的连接机构230、以及靠腿板250等组成。 Seen from the figure, two self-balancing electric vehicle 200 is made: the wheels 210 and 211, the wheel 220 and carrier 221, 230, plate 250 and leg rest mechanism is connected with the connecting rod 231 and other components. 它们与前述实例电动车100中相对应的部件有着基本相同的功能。 They have substantially the same function as in the preceding example the electric vehicle 100 corresponding to the member. 不过,本实例中,未设手把,不包括连接机构230的折叠方法。 However, in the present example, the handle is not provided, the folding method of connection 230 is not included. 本实例的特点是,车子200上的两个踏脚板M0,每一个都是刚性地配接在轮架220与221内侧的表面上。 Feature of the present example, the two foot plates on the car 200 M0, each of which is rigidly connected to the inner surface 220 of the wheel carrier 221. 这些踏脚板240可以是刚性地配接在轮架220 与221上的独立部件,也可以是在各自的轮架220或221上,用与轮架相同的材料一体化模压出来的非独立部件。 The foot plate 240 can be rigidly connected to the frame 220 and the wheel 221 is a separate component, or may be on a respective wheel carrier 220 or 221, using the same material as the integration of the wheel carrier member molded out dependent. [0032] 图6画出了两轮自平衡电动车300上,手把333周围的局部透视图。 [0032] FIG 6 depicts the balance since the electric vehicle 300, partial perspective view of the handle 333 around the two. 从图上可见, 只画出了车子300上车轮311、轮架321、连接机构330、脚踏板340等部件的一部分。 Seen from the figure, the car 300 shown only on the wheel 311, a portion of the wheel carrier 321, connecting means 330, 340 and other components of the pedals. 两轮车300除了具有两轮车100同样的功能外,还进一步包含有一个偏压复位块354,以及一个关于手把333的锁紧机构350。 In addition to the motorcycle 300 having the same function as two-wheeled vehicle 100, but further includes a bias reset block 354, and a locking mechanism 333 on the handle 350. 手把333是刚性地与滑杆351相配接的,滑杆351能够在大致垂直于连接机构330的方向上滑动,因此手把333能够以与前述电动车100相同的方式, 将手把333的滑杆351滑动拉出,使手把333升高。 Handle 333 is rigidly slider 351 slidable in the direction of the connection mechanism 330 for mating with the slider 351 in substantially vertical, and therefore the handle 333 can be in the same manner as the electric vehicle 100, the handle 333 sliding the slider 351 is pulled out, so that the handle 333 rises. 偏压复位块3M是用橡胶一类的弹性材料制成的,它是牢固地附着在手把333上,或者连接机构330上,使偏压复位块3M被压住在手把333上的某部位与连接机构330上的某部位之间。 3M bias reset block rubber elastic material is made of a class, which is firmly attached to the handle 333, or the connecting means 330, so that the biasing 3M reset block 333 is pressed on the handlebar of a and a portion between the portion on the connecting means 330. 在本实例中,如图所示,偏压复位块邪4呈矩形的块状,牢固地附着在手把333 —端的底部。 In the present example, as shown in FIG bias reset block evil rectangular block 4, firmly attached to the handle 333-- bottom end. 当处于折叠形态(如图3与图4所示)的车子300常规地竖立在路面上时,在手把333上用力向下推压,可使车子300 从折叠形态转变为展开的非折叠形态。 When the car is in the folded configuration (FIG. 3 and FIG. 4) is conventionally 300 erected on the road surface, the force on the handle 333 is pressed down, the car 300 can transition from a folded configuration to an expanded non-folded configuration . 开始时,手把333是处于全部伸出的位置,在手把333上用力向下推压时,手把333首先是随着滑杆351 —同向下滑动,然后进一步向下推压的力,使得原先处于折叠形态的连接机构330得以展开,直到所有的连接杆331基本上全部伸直,并且偏压复位块3M被手把333与一根连接杆331两者同时压住。 Initially, the handle 333 is in the fully extended position, when the force pushing down on the handle 333, handle 333, with the first slider 351-- slide down with and pushed further downward force , so that the connecting mechanism 330 of the original in a folded form to expand until all of the connecting rods 331 substantially all straight, and bias is reset block 3M pressed simultaneously with both the handlebar 333 331 a coupling rod. 车子300完全展开成工作形态后,锁紧机构350会使上述这些部件锁住在使车子300完全展开的各个位置。 After the car 300 to operate fully expanded form, the locking mechanism 350 will lock these components in the car 300 so that the respective positions fully deployed. [0033] 本实例的锁紧机构350有一个锁头352,它可与锁舌353相啮合,当它啮合时,能阻止已展开的连接机构330返回到折叠形态。 [0033] The locking mechanism 350 of the present example has a lock 352, which can be engaged with the tongue 353, when it is engaged, prevents the expanded connection mechanism 330 to return to the folded configuration. (如果没有锁紧机构350的话,则由于偏压复位块邪4的弹性或其他原因,连接机构330可能会趋向于折叠。)当车轮在转弯过程中倾侧时, 如前文所述,几根连接杆331会彼此相对发生水平移动。 (If not, then the locking mechanism 350, since the elastic biasing evil reset block 4 or other reasons, the connection mechanism 330 may tend to be collapsed.) When tilting the wheel during cornering, as previously described, a few connections relative to the rod 331 will move horizontally with each other. 此时,相对于上面两根连接杆331 来说,手把333是保持停留在同样的位置,锁舌353是设置在较低的一根连接杆331上,锁头352也是与锁舌353保持啮合状态的。 In this case, with respect to the two upper connecting rods 331, the handle 333 is held to stay in the same position, bolt 353 is provided on a lower connecting rod 331, locking head 352 and the bolt 353 is held engagement state. 在滑杆351上产生最终的合力,使得偏压复位块354压缩、发生变形,由于它具有弹性,趋向于要恢复其原状,因而趋向于要使整个连接机构复原到中间的、非转弯时所处的位置。 To produce the final force on the slider 351, so that the compressive bias reset block 354, deformed, because of its elasticity, tends to restore to its original state, and thus tend to revert to make the entire intermediate connection means, when turning the non- at the position. 该位置即是,车子的两个轮子基本上既不偏左,也不偏右,彼此基本上是镜面对称的。 That is the position, the two wheels of the car substantially neither to the left nor the right, substantially mirror images of each other. 偏压复位块邪4的作用,就是当车子300在没有受到左右方向的外力时,两个轮子是不会倾侧的。 Evil effect of bias reset block 4, when the external force is not subject to the car 300 in the horizontal direction, tilting of the two wheels are not. [0034] 锁头352与锁舌353相啮合,锁紧后的松开方法很多,已为业内人士所熟知。 [0034] The locking head 352 is engaged with the bolt 353, the locking release many methods have been known to the industry. 其中简便的一种方法是,将锁舌353设置成有弹性的部件,用手加压锁舌353,就可使锁头352脱开,再一拉手把333,即可使工作状态的车子转变为折叠的状态。 Wherein the method is simple, the tongue 353 is arranged elastic members, hand pressing tongue 353, 352 can be disengaged from the lock head, and then to a handle 333, to make the car operating state transition for the folded state. [0035] 图7提出了另一个实例,图上两轮自平衡电动车400,除了两个脚踏板440设置在两个车轮410与411的外侧以外,其余部件都与上述实例相似,420与421是轮架,431是连接机构430中的连接杆,连接机构430也是使该两辆车可以在折叠形态与非折叠形态之间转换。 [0035] Figure 7 presents another example, FIG. The self-balancing on the electric vehicle 400, in addition to the two outer wheels 410 and 411 disposed outside the two foot pedals 440, the remaining components are similar to the above example, 420 a wheel carrier 421, 431 is connected to the connecting rod mechanism 430, the connecting mechanism 430 is such that the two vehicles can be switched between a folded configuration and the unfolded configuration. [0036] 本发明所提出的两轮车设置有两个电动机,每一个车轮各自被一只电动机驱动, 第一电动机驱动第一车轮,第二电动机驱动第二车轮。 The proposed two-wheeled [0036] The present invention is provided with two motors, each wheel are each driven by an electric motor, the first motor drives the first wheel, a second motor driving a second wheel. 本发明提出的实例中,这些电动机都被罩在各自的轮架内,而没有暴露在外。 Examples of proposed by the present invention, these motors are housed within the respective wheel carrier, but not exposed to the outside. 电动机是被一个电子控制系统所控制的,它使车子实现纵向平面上前后的自动平衡。 The motor is controlled by an electronic control system, which allows the car before and after the automatic balancing longitudinal plane. 一个电子控制系统可以控制两个轮子上的电动机,也可以每个轮子有各自独立的电子控制系统来控制各自的电动机。 An electronic control system can control the motor on the two wheels, each wheel may have a separate electronic control system to control the respective motor. 电子控制系统(用陀螺传感器,加速度计,或业内已知的其他手段)能够探测到车子向前或向后的倾侧,根据探测到的讯号,电动机做出适当的加速或减速的响应,使车子的踏脚板保持前后平衡的位置。 The electronic control system (gyro sensor, accelerometer, or other means known in the art) able to detect the car tilting forward or backward to make an appropriate response to acceleration or deceleration in accordance with the detected signal, the motor, so that the car running board holding position before and after equilibrium. 因此, 该电子控制系统使得站在两个轮子之间踏脚板上的骑车人,能够通过移动其重心,来指挥车子的向前与向后。 Thus, the electronic control system so that the two wheels standing on the footboard between the rider can be moved through its center of gravity, to direct the car forward and rearward. 他朝前或朝后移动其重心,可使车子朝移动重心的方向加速,朝车子行进的相反方向移动重心的话,车子就会减速。 His center of gravity moves forward or rearward, the car can move toward the direction of gravity acceleration, the car traveling in the opposite direction toward the center of gravity of the movement, then, the car will decelerate. [0037] 如上所述,骑车人如要使车子转弯,他可将重心朝要转弯的方向侧向移动,于是车轮发生了倾侧的变化,骑车人的腿靠在靠腿板上,与车子保持着接触,连接杆之间发生了水平方向上彼此相对位置的变化。 [0037] As described above, such as to make the rider turns the car, he can turn to the direction of the center of gravity of the lateral movement, a tilting of wheel thus changes, the rider's leg against the leg by the plate, and He kept in contact with the car, a change relative positions to each other in the horizontal direction between the connecting rod. 电子控制系统包含有探测以上一项或多项变化讯息的功能。 The electronic control system includes one or more of the above detect changes in the function of the message. 例如,电子控制系统(通过陀螺仪、加速度计等部件)能探测到一个或两个轮子朝侧向倾斜的变化。 For example, the electronic control system (by the gyro, accelerometer and other components) can detect one or two wheels to tilt sideways. 然后,电子控制系统来调节一个或两个轮子各自的速度与/或方向,两个轮子产生的速度差致使车子朝着骑车人移动重心的方向转弯。 Then, the electronic control system to regulate their speed and / or direction of one or two wheels, the speed difference causes the two wheels generated by the car turns in the direction of movement of the rider's center of gravity. 车子的转向控制加上车子的前后平衡控制,综合起来,为骑车人使用本发明所提出的两轮车,提供了一种简便的、直觉的操纵方法。 Steering control car plus the car front-rear balance control, together, the proposed use of the motorcycle rider to the present invention, there is provided a simple, intuitive manipulation method. [0038] 电动机是通过一种传动机构来驱动车轮的,有多种形式的传动机构,较常用的是齿轮传动。 [0038] The motor is driven by means of a gear wheel, there are various forms of actuator, is more commonly used gear. 本发明的实例中,采用的是一种通常较少使用的摩擦传动机构。 Examples of the present invention, the use of a friction drive mechanism usually less used. 例如,每个电动机驱动一个旋转的、圆柱形的部件,它的直径比车轮直径要小,将它与车轮的内缘相接触, 电动机驱动圆柱形部件,利用摩擦力,圆柱形部件再驱动车轮转动。 For example, each motor driving a rotating cylindrical member, the diameter of which is smaller than the diameter of the wheel, which is in contact with the inner edge of the wheel, the motor drive of the cylindrical member, the frictional force, and then drive the wheels of the cylindrical member rotation. 旋转的、圆柱部件的表面与车轮的内缘必须压紧,才能将电动机的转动力矩传给车轮。 Rotating the inner peripheral surface of the cylindrical member and the wheel to be pressed to the rotational torque of the motor to the wheels. 摩擦传动机构,可以与无轮毂的车轮相连接,这种设置的重量比使用有中心轮毂车轮的重量要轻得多,所以也增强了车子的便携性。 Friction drive means, the free wheel hub may be connected to a wheel, the weight ratio of the use of such an arrangement with a central hub of the wheel is much lighter weight, and therefore enhance the portability of the car. [0039] 综上所述,本发明提出了一种新型的两轮自平衡电动车,其特点是设有两个彼此并排的、能独立转动的轮子。 [0039] In summary, the present invention provides a novel two self-balancing electric vehicle, which is characterized by two side by side with each other, the wheels can rotate independently. 有一个连接机构使两个轮子相连,该连接机构能使两个轮子一致地朝左或朝右倾侧。 A link mechanism connected to the two wheels, the connecting means enables the two wheels left or right tilt in unison. 两个轮子的倾侧,能使车子转弯。 Two wheels tilt, make the car turn. 当两个轮子倾侧时,该连接机构仍能使踏脚板,保持水平位置。 When two wheels tilted, the connecting means still make the footplate, horizontal position. 每个轮子各自有一个电动机驱动,还设有具有电子控制系统, 该控制系统使得车子的踏脚板,能保持前后方向的水平平衡。 Each wheel has a respective motor drive, also provided with an electronic control system, the control system so that the car pedals, the front-rear direction can maintain the horizontal balance. 骑车人将其重心向前、后、或两侧倾斜,就可直接使车子朝倾侧的方向前进。 The rider center of gravity forward, back, or both sides of the inclination, so that the car can directly move in the direction of tilting. 此外,本发明还进一步提供了一些提高车子稳定性与便携性的设计。 Further, the present invention further provides a number of improved stability and portability of car design. [0040] 虽然以上叙述的各种实施方案包含了许多特定的细节,但是不应构成对实施方案包括范围的限制,而且也不应仅仅限于目前提出的这些特定方案的图示上。 [0040] While the various embodiments described above contains many specific details, these should not be construed as limiting the scope of the embodiments include, but not be limited to the particular embodiment illustrated the currently proposed. 因此,这些实施方案的涵盖范围应该由所附的权利要求及其相应的文件所确定的,而不是由上述给出的实例所决定的。 Accordingly, the scope of these embodiments should be determined by the appended claims and their corresponding attached file, rather than determined by the examples given above. 此外,还应该理解为本发明还能作进一步的改动。 Further, it should be understood that the present invention can also further modifications. 本专利旨在涵盖根据本发CN 102514662 A 说明书 7/7 页明的原理所进行的各种变化、用途或改良;也涵盖了与本发明所揭示的已知方案或实施方案有所偏离,但仍然从属于本发明技术及其应用原理的范围。 This patent is intended to cover various modifications performed in accordance with the principles of the present 102514662 A description made 7/7 CN, uses, or modified; and the present invention also encompasses the known solutions disclosed embodiments or deviate from, but still subordinate to the scope of the technical principles of the invention and its applications.

Claims (10)

1. 一种两轮自平衡电动车,它是由如下部件所构成:第一车轮与第二车轮,它们是彼此镜面对称地平行设置的,它们没有共同的车轴,既能独立转动,又能一致地左右倾斜;第一轮架与第二轮架,第一轮架连接所述的第一车轮,第二轮架连接所述的第二车轮;一个连接机构,连接所述的第一轮架以及所述的第二轮架;第一电动机与第二电动机,第一电动机驱动所述的第一车轮,第二电动机驱动所述的第二车轮;至少一个电子控制系统,控制所述的第一电动机与所述的第二电动机,使所述的两轮自平衡电动车的踏脚板能保持前后方向的水平平衡。 A self-balancing two electric car, which is composed of the following components: a first wheel and a second wheel, which are arranged parallel to one another mirror-symmetrically, they have no common axle, both independently rotatable, but approximately uniformly inclined; the first carrier and the second carrier, the first carrier connected to said first wheel, a second wheel connected to the second wheel carrier; and a connecting means connecting said first wheel said second frame and wheel carrier; a first motor and a second motor, a first motor driving said first wheel, a second motor driving said second wheel; at least one electronic control system, said control a first motor and said second electric motor, so that the two self-balancing electric vehicle running boards can be held horizontally balanced front-rear direction.
2.根据权利要求1所述的两轮自平衡电动车,其特征在于,该两轮车可以在折叠形态与非折叠形态之间转换。 The two self-balancing of the electric vehicle 1 as claimed in claim, characterized in that the two-wheeled vehicle can be switched between a folded configuration and the unfolded configuration.
3.根据权利要求1所述的两轮自平衡电动车,其特征在于,所述的连接机构至少是有两根位于不同高度的连接杆所构成,每一根都是连接到所述的第一轮架以及所述的第二轮^KO The two according to claim 1 self-balancing electric vehicle, wherein said at least two connecting means are located at different heights of the connecting rod is constituted, and each one is connected to the first a second wheel and said frame ^ KO
4.根据权利要求3所述的两轮自平衡电动车,其特征在于,所述的连接机构上,还进一步配接有一个手把,用来携拎折叠形态的两轮自平衡电动车。 According to claim 3, the two self-balancing electric vehicle, wherein said connecting means is further connected with a handle for carrying the folded configuration carry two self-balancing electric vehicle.
5.根据权利要求1所述的两轮自平衡电动车,其特征在于,所述的第一车轮与第二车轮都有一个负倾角。 The two self-balancing of the electric vehicle 1 as claimed in claim, wherein the first wheel and the second wheel has a negative rake angle.
6.根据权利要求1所述的两轮自平衡电动车,其特征在于,所述的第一轮架与第二轮架都进一步各设置一个靠腿板,它们位于各自轮架的内侧,并具有稍凹的弯曲表面。 6. The two self-balancing of the electric vehicle 1 as claimed in claim, wherein said first carrier and second carrier are further each provided on a leg plate, which is located inside a respective wheel carrier, and having a slightly concave curved surface.
7.根据权利要求1所述的两轮自平衡电动车,其特征在于,所述的连接机构上,还设置有一个偏压弹性部件,使已经倾侧的第一车轮与第二车轮具有复位的趋向,复原到未倾侧时的,彼此基本镜面对称的位置。 The two according to claim 1 self-balancing electric vehicle, wherein said connecting means is also provided with a resilient member biasing the first wheel and the second wheel has a tilt having reset tendency to not recover when tilted, substantially mirror-symmetrical positions with each other.
8.根据权利要求1所述的两轮自平衡电动车,其特征在于,所述的踏脚板,设置在第一轮架与第二轮架之间。 According to claim 1, said two self-balancing electric vehicle, wherein said footboard, disposed between the first carrier and the second carrier.
9.根据权利要求1所述的两轮自平衡电动车,其特征在于,所述的踏脚板,分别设置在第一轮架与第二轮架的外侧。 According to claim 1, said two self-balancing electric vehicle, wherein said foot plate, respectively, disposed outside of the first and the second wheel carrier of the wheel carrier.
10.根据权利要求1所述的两轮自平衡电动车,其特征在于,所述的第一电动机与第二电动机,是用摩擦传动机构,各自分别驱动第一车轮与第二车轮。 According to claim 1, said two self-balancing electric vehicle, characterized in that said first motor and the second motor, with friction drive means, each respectively drive the first wheel and the second wheel.
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