CN102514662B - Two-wheeled self-balancing electrombile - Google Patents

Two-wheeled self-balancing electrombile Download PDF

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Publication number
CN102514662B
CN102514662B CN201110430348.0A CN201110430348A CN102514662B CN 102514662 B CN102514662 B CN 102514662B CN 201110430348 A CN201110430348 A CN 201110430348A CN 102514662 B CN102514662 B CN 102514662B
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wheel
described
wheel carrier
car
double
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CN201110430348.0A
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CN102514662A (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

Double-wheel self-balancing battery-driven car

Technical field

The present invention proposes a kind of electric two-wheel vehicle, two wheels arrange relative to one another, and cyclist can stand between two wheels and operates.Exactly, be a kind of stand-type, electric two-wheel vehicle with front and back Self-balancing.It is to be noted especially, the rotation of this car two wheels, does not enjoy common axletree.

Background technology

The technical examples of a kind of Self-balance electric vehicle the most famous on our times is by the patent of the people such as Kamen (PersonalMobility Vehicles and Methods, U.S.Patent No.6,302,230B1, Oct.16,2001) disclose.The patent of Kamen summarizes the background technology of current self-balancing electric motor car with two wheels, discloses the correlation technique that their power drivens and electron steering balance.The self-balancing electric motor car with two wheels that Kamen patent discloses, it has two wheels of opposing parallel arrangement, between two wheels (or on) be provided with a platform of standing for cyclist (operator); It is also provided with a handle stem handled, and is used for improving the stability that cyclist stands, and controls the direction that car advances.This self-balancing electric motor car with two wheels, started to produce in 2002 and puts goods on the market, the commodity of this two-wheel car, was named as " Sai Gewei " (Segway).This two-wheel car obtains application all in multiple country, many aspects, not less than in a kind of actv., short-range transportation means.

But certain user wishes to use the self-balancing electric motor car with two wheels not establishing handle stem.Because do not establish the electric motor car with two wheels of handle stem, have larger portability, dismounting is also more convenient.Particularly, if do not establish handle stem, when car is advanced, cyclist can vacate both hands to do other thing.In many environments, what these advantages above can become especially is important.

In the patent of Kamen, the embodiment of handle stem is had to be successful.But embodiment that disclose in this patent, that do not arrange handle stem, because be difficult to the practicality of paying, so do not have as the balanced car with two wheels having handle stem accomplished.

If cyclist stands on a two-wheel car, if the configuration of two of this car wheels is similar to two wheel arrangement of Segway, car is not arranged again the words of handle stem, so place of contacting with car of cyclist, except the support contact point that car stretcher supports cyclist pin, other contact point never again.Therefore, when car is advanced, cyclist will keep its ankle-joint and kneed stablizing to be very difficult.Although car itself is can on longitudinal plane, the dynamical equilibrium before and after automatically keeping, owing to lacking the strong point, makes the health of cyclist not loosen.The leg of cyclist and pin, except controlling except the direct of travel of car, in order to keep the balance of people's car, the relative position of legs and feet also must be regulated, so the stance of cyclist can not remain on a comfortable position usually, car is also difficult to stably advance simultaneously.

Therefore, market demands car supports that cyclist stably rides in new ways, also requires that car controls the direction of advancing in new ways.In addition, also require that this kind of new paragon can improve the intuitive of the portability of car, stability, control preferably, these require it is also that this area and related fields are to the generally expectation of product.

Summary of the invention

Car of the present invention has two side by side, independent wheels rotated each other.Each wheel has a CD-ROM drive motor, also has the ability keeping front and back self-balancing on longitudinal plane.Can stand for cyclist between two wheels of car, cyclist by the mode of center of gravity front and back variation on longitudinal plane, and controls the advance of car towards the mode of left and right canting and turns to.Be provided with a bindiny mechanism between two wheel carriers, make two wheels in steering procedure, can as one man canting side by side.This function have employed one group of compound parallel Multi-join queries bar to reach, and every root pipe link is all matched with two wheel carriers rotationally, has at least two to be configure at various height on (for the road surface of riding) in pipe link.The function of wheel canting, improves the traveling comfort of legs and feet in the stability of car and steering procedure.

Car can transfer folded form to.Time folding, the hinge in pipe link is utilized two wheels to be close together, so that carry or store.The car of folded form, can take with the handles connected in connection structure and carry.After car is completely folding, this handle of setting at all can not contact with wheel, wheel carrier.

Structural form during car work, makes the bipod of cyclist stand in on the tread plate of station pin between two wheels, and every one leg of cyclist firmly can be contacted with the inner side of corresponding wheel carrier.This structural form adds the quantity of the contact point between cyclist's health and car, and has disperseed contact point, and thus make the two-wheel car not establishing handle stem, stability during use and traveling comfort all obtain theatrical improvement.In order to make, between the leg of cyclist and corresponding wheel carrier, stably to keep wipe contact, wheel carrier is specially provided with the leg plate for leg contact.The surface that leg plate contacts with leg, compared with wheel carrier, should have larger friction force; Its surface configuration is also slightly bending, with the common profile of adaptive cyclist's shank.

There is in the industry experience personage after check describing in detail hereafter in conjunction with drawing, technical characterstic of the present invention and other relevant advantage can be understood further.

Accompanying drawing explanation

Fig. 1 is according to double-wheel self-balancing battery-driven car proposed by the invention, a kind of lateral perspective of embodiment.

Fig. 2 is the double-wheel self-balancing battery-driven car of above-mentioned Fig. 1, and in turning process, its two wheels are simultaneously towards lateral perspective during lopsidedness.

Fig. 3 is the double-wheel self-balancing battery-driven car of above-mentioned Fig. 1, its bindiny mechanism's bowing to transparent view when partially folded.

Fig. 4 is the double-wheel self-balancing battery-driven car of above-mentioned Fig. 1, its lateral plan of bindiny mechanism when completely folding.The handle configured in bindiny mechanism can be seen.

Fig. 5 is according to double-wheel self-balancing battery-driven car proposed by the invention, the lateral perspective of another embodiment.Illustrate in turning process, its two wheels are simultaneously towards the sight of lopsidedness.

Fig. 6 is another embodiment according to double-wheel self-balancing battery-driven car proposed by the invention, is that hand is the lateral perspective of the local detail of surrounding.These details illustrate a kind of bias voltage resetting block about hand handle proposed by the invention and its catch gear.

Fig. 7 is another embodiment according to double-wheel self-balancing battery-driven car proposed by the invention, illustrates the outside that stretcher is arranged on wheel.

These examples, will describe in detail hereinafter.

Detailed description of the invention

Consult Fig. 1, this is the lateral perspective of a kind of double-wheel self-balancing battery-driven car embodiment proposed by the invention.In figure, the composition of double-wheel self-balancing battery-driven car 100 has: two wheels, the first wheel 110 and the second wheel 111; Two wheel carriers, the first wheel carrier 120 and the second wheel carrier 121, each wheel is connected with a wheel carrier separately; A bindiny mechanism 130, its one end is connected with the first wheel carrier 120, and the other end is connected with the second wheel carrier 121; Two tread plates 140, their positions are between two wheels 110 and 111, and they are stood for the both feet of cyclist; And a hand is 133, it connects in bindiny mechanism 130, is used for guiding and supporting battery-driven car 100.On figure 132 is hinges, and 150 is leg plates, will be illustrated hereinafter.

Wheel 110 and 111 is arranged parallel to each other, Mirror Symmetry, is parallel substantially, and they do not have common axletree, and therefore they can independently rotate, and can rotate with different speed and/or with different directions separately.(conveniently, the central axis of wheel refers to, perpendicular to the central axis of wheel plane.The axletree of wheel refers to, the solid centre axle of vertical wheel rotational plane.) the desirable scope of wheel size dimension is very wide, the wheel shown in Fig. 1 is comparatively large, and its diameter is similar with adult's lower-leg length.Two wheels 110 and 111, separately respectively with wheel carrier 120,121 matched, the first wheel carrier 120 is identical with the structure of the second wheel carrier 121, and they can adopt various possible shape, as long as do not hinder the connection between wheel 110 and 111 and bindiny mechanism 130.In the present embodiment, wheel carrier 120 and 121 is the shapes in case shape, is covered by wheel 110 and 111, partly seals.The basic function of wheel carrier is that wheel 110,111 is connected with bindiny mechanism 130.In addition, wheel carrier 120 and 121 also has other like: the support of wheel 110,111 and guiding, wheel 110,111 rainproof and dust-proof, prevents the purposes of the contact of wheel 110,111 and human body or clothes etc.

From Fig. 1, two wheel design must be had some negative incidences by the present invention.As everybody knows, hope to wheel from headstock, the angle of wheel and plumb bob vertical is called camber angle (Camber), if wheel upper end slopes inwardly, in [eight] font, is called negative incidence (Negative Camber).This can contribute to centnifugal force when cyclist overcomes turning, and cyclist is by the firm contact of shank and leg plate.

Bindiny mechanism 130 normally horizontal arrangement, one end and the wheel carrier 120 of this mechanism be matched, the other end and wheel carrier 121 matched.Bindiny mechanism 130 is made up of three elongated pipe links 131, and wherein two is be positioned on same horizontal surface, and the 3rd location of root is lower than above-mentioned horizontal surface.(in fact, quantity and the configuration of pipe link can be designed in addition, as long as wherein have two pipe links at least, for the road surface of riding, be in different height just.) three pieces pipe links 131 are parallel to each other, each root all connects rotationally with wheel carrier 120,121.For bindiny mechanism 130, this kind of rotating connection, makes wheel 110 and 111 to tilt abreast, and seriously can not upset the horizontal arrangement of bindiny mechanism 130.In many pipe links, at least to there be two pipe links 131 being positioned at differing heights, be used to, by wheel 110 and 111, be connected with each other, two wheels 110 and 111 must be made, the canting of equidirectional occurs simultaneously, and the angle that normally canting is close.If (two wheels are parallel each other, then their angular dimension numerical value of changing separately, is equal all the time substantially.If two wheels are each other in arch, then their angular dimension numerical value of changing separately, is unequal substantially, but normally akin.) these characteristics of bindiny mechanism 130 are very important, make wheel 110 and 111 have ability towards turn direction canting or inclination, thus to turning process, provide larger stability, decrease the possibility of overturning.

Fig. 2 illustrates the double-wheel self-balancing battery-driven car 100 of above-mentioned Fig. 1, the situation when turnon left.In order to make car turn towards the left side of car working direction, being originally that cyclist is first towards left bank, forcing wheel 110 and 111 as one man towards left-leaning side.Wheel canting mentioned here refers to, the central axis of wheel and horizon produce an angle, and the central axis of wheel does not keep level, are called that wheel there occurs canting herein.Canting towards left or right, for car direct of travel.(the canting action of wheel can tilt detection unit in active electron control system.) each wheel is in canting process, the change of the angle of generation is position perpendicular on the vertical plane surface of direct of travel.Rotatably be coupled to three pipe links 131 on two wheel carriers 120 and 121, the angle of level there is no change, namely substantially still keep the position of level, but be positioned at those pipe links 131 of differentiated levels, their level heights respect to one another there occurs change.As shown in Figure 2, two pipe links of top, relative to that lower root pipe link, just move to left more.Make when wheel 110 and 111 is to turn direction canting, bindiny mechanism 130 still can keep common level attitude.Connecting two tread plates 140 on the pipe link 131 of two, top rigidly, is remain common level attitude equally.Concerning cyclist, these features add safety and traveling comfort.In addition, the translation motion of three pipe links 131, just causes the level of two tread plates 140 and upright position to be shifted a little a bit, make cyclist can more steadily, his center of gravity of more cosily shifted laterally.

It is noted that tread plate at least should have the surface of a load-carrying.Graphic tread plate on these figure, is usually can a kind of instantiation of manned or loading, usually has the surface of two load-carryings.Obviously, tread plate can be designed to various shape and size, can be matched with bindiny mechanism, also can be matched with wheel carrier.

It should be appreciated that, no matter wheel whether canting, the bindiny mechanism that the present invention proposes, all makes tread plate can keep the state of basic horizontal all the time.

Fig. 3 illustrates the double-wheel self-balancing battery-driven car 100 of above-mentioned Fig. 1, the situation when partially folded.Conveniently carry and storage, the present invention proposes a kind of mode, two of electric motor car with two wheels 100 wheels are drawn close together, from the folded form using form compressing and converting to become.Folded form refers to the distance between two wheels, than much smaller time non-collapsible form (using state).In this example, this folder function realizes by folding connection mechanism 130.Specifically, each root pipe link 131 has a hinge 132.In this example, each hinge 132 is the middle parts being positioned at respective corresponding pipe link 131, but in general, as long as hinge 132 is installed whole bindiny mechanism 130 can have been folded up.

Also be provided with a hand 133, it can one or more in pipe link 131 matched.In shown example, hand is the middle parts being positioned at bindiny mechanism 130 133, is roughly to be positioned on same vertical plane surface with hinge 132.When hand 133 to pull-up time, draw and pass to hinge 132, hinge 132 is two wheels 110 and 111 linking suitable weight, so make bindiny mechanism 130 fold up, as shown in Figure 3, two wheels 110 and 111 finally can close up together.Then, hand can be used to take 133 and carries the car that folded.

Conveniently take with hand and carry, hand can be designed to 133 the style can elongating extension further, as shown in Figure 4, when bindiny mechanism 130 is completely folding, the hand that figure draws has extended 133, has been elongated to the place slightly larger than wheel external diameter.Hand realizes this function of 133 by a slide bar 151, one end of slide bar 151 connects in one's hands 133 rigidly, the other end is coupled on pipe link 131, so the setting of slide bar 151, make to go smoothly and can do vertical movement relative to the point of connection of bindiny mechanism 130 133, move to a certain position leaving bindiny mechanism 130.When upwards pull hand 133 time, first hand is slide into the tensile position of full journey, the power upwards pullled further 133, and bindiny mechanism 130 can be made to become above-mentioned folding form.Hand should appropriately arrange with the configuration of slide bar 151 133, and when bindiny mechanism 130 is completely folding, hand will exceed the edge of wheel 110,111 and/or wheel carrier 120,121 133, make with hand take carry battery-driven car 100 time, and wheel and wheel carrier can not be encountered.This function taking to carry and provide larger traveling comfort both for people, also make folding after two wheels can more draw close.

It is noted that and make hand exceed the method at wheel and wheel carrier edge a lot, except using above-mentioned specific slide mechanism, other possible modes also can be adopted to realize.

In order to reach best stability, when cyclist standing, preferably its shank firmly being touched and leaning against on wheel carrier 120,121.Between the cyclist that the present invention proposes and car, the design of Multi-contact, makes cyclist his pin and shank be kept in position easily.Therefore, car 100 is provided with two pieces of leg plates 150 further, is configured in respectively on wheel carrier 120 and 121.Leg plate 150 is the inner sides being attached to wheel carrier 120 and 121, and its position will be arranged with height, and when every feet station of cyclist stands on respective tread plate, the outside of two shanks just in time can touch with respective leg plate 150 separately to be leaned on.Leg plate 150 can be made with softness, flexible material, and as braided material or other suitable materials, leg plate 150 should provide certain friction force, contributes to cyclist and leans against stably tactile for his shank on wheel carrier 120 and 121.Leg plate 150 also can be designed to further, more slightly the curved surface of spill, and the longitudinal axis of this curved surface is roughly perpendicular with tread plate 140, the shape of curved surface also will with the shank profile roughly matching of cyclist.

Fig. 5 is the lateral perspective according to another embodiment proposed by the invention, illustrates a kind of tread plate, and its form is different from previously described tread plate.From figure, double-wheel self-balancing battery-driven car 200 by: wheel 210 and 211, wheel carrier 220 and 221, to form with the bindiny mechanism 230 of pipe link 231 and leg plate 250 etc.They have substantially identical function with parts corresponding in previous examples battery-driven car 100.But, in this example, do not establish hand handle, do not comprise the method for folding of bindiny mechanism 230.The feature of this example is, two tread plates 240 on car 200, and each connects rigidly on the surface inside wheel carrier 220 and 221.These tread plates 240 can be connect the individual components on wheel carrier 220 and 221 rigidly, also can be on respective wheel carrier 220 or 221, with the material integrated die identical with wheel carrier dependent parts out.

Fig. 6 depicts on double-wheel self-balancing battery-driven car 300, and hand is the fragmentary, perspective view around 333.From figure, only depict a part for the parts such as wheel 311 on car 300, wheel carrier 321, bindiny mechanism 330, stretcher 340.Two-wheel car 300, except having the same function of two-wheel car 100, also includes a bias voltage resetting block 354 further, and one about hand the catch gear 350 of 333.Hand is matched with slide bar 351 rigidly 333, slide bar 351 can be approximately perpendicular to the square upward sliding of bindiny mechanism 330, therefore hand can in the mode identical with aforementioned battery-driven car 100 333, the slide bar 351 of 333 is slided pull-out hand, hand is raised 333.Bias voltage resetting block 354 makes with the elastomeric material of rubber one class, and it is attached to hand securely on 333, or in bindiny mechanism 330, bias voltage resetting block 354 is held down between hand is a part on a part on 333 and bindiny mechanism 330.In this example, as shown in the figure, the bulk that bias voltage resetting block 354 is rectangular, is attached to hand securely the bottom of 333 one end.When the car 300 being in folded form (as shown in Figure 3 and Figure 4) is erected on road surface routinely, at hand firmly pushing downwards on 333, car 300 can be made to change the non-collapsible form of expansion into from folded form.During beginning, hand is be in the position of all stretching out 333, at hand when firmly pushing downwards on 333, first hand is along with slide bar 351 together slide downward 333, then the power of pushing downwards further, the bindiny mechanism 330 being originally in folded form is launched, until all pipe links 331 all stretch substantially, and bias voltage resetting block 354 is pushed down both 333 and a pipe link 331 by hand simultaneously.After car 300 is launched into working morphology completely, catch gear 350 can make these parts above-mentioned pin in each position making car 300 launch completely.

The catch gear 350 of this example has a tapered end 352, and it can be meshed with dead bolt 353, when it engages, the bindiny mechanism 330 launched can be stoped to turn back to folded form.If (do not have catch gear 350, then due to elasticity or the other reasons of bias voltage resetting block 354, bindiny mechanism 330 may trend towards folding.) when wheel is in turning process during canting, as mentioned before, several pipe links 331 can move by occurred level toward each other.Now, relative to two pipe links 331 above, hand is keep resting on same position 333, and dead bolt 353 is arranged on a lower pipe link 331, and tapered end 352 also keeps engagement with dead bolt 353.Slide bar 351 produces final making a concerted effort, makes bias voltage resetting block 354 compress, deform, because it has elasticity, trend towards recovering its original state, position residing when thus trending towards making whole bindiny mechanism reset into centre, non-turn.Namely, two wheels of car are substantially neither to the left, also not to the right in this position, are Mirror Symmetry each other substantially.The effect of bias voltage resetting block 354, exactly when car 300 is not when being subject to the external force of left and right directions, two wheels can not canting.

Tapered end 352 is meshed with dead bolt 353, after locking to unclamp method a lot, known by insider.A kind of wherein easy method is that dead bolt 353 is arranged to resilient parts, with hand pressurization dead bolt 353, tapered end 352 just can be made to throw off, then a handle is 333, and the car of mode of operation can be made to change folding state into.

Fig. 7 proposes another example, double-wheel self-balancing battery-driven car 400 on figure, except the outside that two stretchers 440 are arranged on two wheels 410 and 411, remaining part is all similar to above-mentioned example, 420 and 421 is wheel carriers, 431 is the pipe links in bindiny mechanism 430, and bindiny mechanism 430 makes this two cars can change between folded form and non-collapsible form.

Two-wheel car proposed by the invention is provided with two electrical motors, each wheel separately by a direct motor drive, the first direct motor drive first wheel, the second direct motor drive second wheel.In the example that the present invention proposes, these electrical motors are all housed in respective wheel carrier, and outside not being exposed to.Electrical motor control by the electronic control system, it make car to realize on longitudinal plane before and after self-equalizing.Electronic control system can control the electrical motor on two wheels, also can each wheel have separately independently electronic control system to control respective electrical motor.Electronic control system is (with gyrosensor, accelerometer, or other means known in the art) car canting forward or backward can be detected, according to the signal detected, electrical motor makes the response of suitable acceleration or deceleration, makes the tread plate of car keep the position of anterior-posterior balance.Therefore, this electronic control system makes to stand in the cyclist between two wheels on tread plate, can by its center of gravity mobile, command car forward with backward.He moves its center of gravity forward or backwards, and car can be made to accelerate towards the direction of swerving the weight, and the opposite sense of advancing towards car is swerved the weight, and car will slow down.

As mentioned above, cyclist turns as made car, and he can by center of gravity towards the direction shifted laterally that will turn, so wheel there occurs the change of canting, the leg of cyclist leans against on leg plate, remains contact with car, there occurs the change of position toward each other in horizontal direction between pipe link.Electronic control system includes the function of the above one or more change message of detection.Such as, electronic control system (by the parts such as gyroscope, accelerometer) can detect the change that one or two wheel laterally tilts.Then, electronic control system regulates the respective speed of one or two wheel and/or direction, and the velocity contrast that two wheels produce causes car to be turned towards the direction that cyclist swerves the weight.The course changing control of car adds that the anterior-posterior balance of car controls, and integrates, and for cyclist uses two-wheel car proposed by the invention, provides a kind of method of operating that is easy, intuition.

Electrical motor drives wheel by a kind of transmission device, has the transmission device of various ways, and comparatively conventional is gear transmission.In example of the present invention, employing be a kind of slip gear of usual less use.Such as, each direct motor drive one rotates, columniform parts, its diameter is less than wheel diameter, it is contacted with the inner edge of wheel, and direct motor drive cylindrical parts, utilizes friction force, and cylindrical parts drives vehicle wheel rotation again.Rotate, the surface of cylindrical member and the inner edge of wheel must compress, and the rotating torque of electrical motor could be passed to wheel.Slip gear, can be connected with the wheel without wheel hub, and the weight ratio of this set uses has the weight of center hub wheel light, so also enhance the portability of car.

In sum, the present invention proposes a kind of novel double-wheel self-balancing battery-driven car, be characterized in being provided with two each other side by side, the wheel that can independently rotate.Have a bindiny mechanism that two wheels are connected, this bindiny mechanism can make two wheels as one man towards a left side or towards Right deviation side.The canting of two wheels, can make car turn.When two wheel cantings, this bindiny mechanism still can make tread plate, keeps level attitude.The each own direct motor drive of each wheel, be also provided with and have electronic control system, this control system makes the tread plate of car, can keep the horizontal equilibrium of fore-and-aft direction.Its center of gravity tilts to forward and backward or both sides by cyclist, just can directly make car advance towards the direction of canting.In addition, the present invention still further provides the design that some improve vehicle stationary and portability.

Although the various embodiments more than described contain many specific details, should not form restriction embodiment being comprised to scope, nor should only be only limitted in the diagram of these specified scheme proposed at present.Therefore, the covering scope of these embodiments should by appended claim and corresponding file determined, instead of to be determined by the above-mentioned example provided.In addition, should also be appreciated that as the present invention can also do further change.This patent is intended to contain various changes that principle according to the present invention carries out, purposes or improvement; Also contemplated and depart to some extent with disclosed known arrangement or embodiment, but still be subordinated to the scope of the technology of the present invention and application principle thereof.

Claims (7)

1. a double-wheel self-balancing battery-driven car, it be by as lower component form:
First wheel and the second wheel, they be arranged in parallel each other Mirror Symmetry, and they do not have common axletree, can independently rotate, and can as one man tilt again;
First wheel carrier and the second wheel carrier, the first wheel described in the first wheel carrier connects, the second wheel described in the second wheel carrier connects;
Two tread plates, respectively with the first described wheel carrier and the second wheel carrier matched;
A bindiny mechanism, the first wheel carrier described in connection and the second described wheel carrier, described bindiny mechanism and the first wheel carrier and the second wheel carrier connect rotationally, and the first wheel and the second wheel can be tilted abreast along with the change direction of cyclist's center of gravity;
First electrical motor and the second electrical motor, the first wheel described in the first direct motor drive, the second wheel described in the second direct motor drive;
At least one electronic control system, the first electrical motor described in control and the second described electrical motor, make the tread plate of described double-wheel self-balancing battery-driven car can keep the horizontal equilibrium of fore-and-aft direction, and when the first wheel and the second wheel run-off the straight being detected, electronic control system detects the angle of the first wheel and second tilting of wheels, utilize degree of dip to regulate one or two wheel speed separately, the velocity contrast of two wheel generations causes car to be turned towards the direction that cyclist swerves the weight.
2. double-wheel self-balancing battery-driven car according to claim 1, is characterized in that, two tread plates, is separately positioned on the first described wheel carrier and the inner side of the second wheel carrier.
3. double-wheel self-balancing battery-driven car according to claim 1, is characterized in that, two tread plates, is separately positioned on the first described wheel carrier and the outside of the second wheel carrier.
4. double-wheel self-balancing battery-driven car according to claim 1, is characterized in that, this two-wheel car can be changed between folded form and non-collapsible form.
5. double-wheel self-balancing battery-driven car according to claim 1, is characterized in that, in described bindiny mechanism, has also connected a hand handle further, has been used for taking the double-wheel self-balancing battery-driven car carrying folded form.
6. double-wheel self-balancing battery-driven car according to claim 1, is characterized in that, in described bindiny mechanism, also be provided with a biasing elastic member, the first wheel of canting and the second wheel is made to have the trend of reset, when resetting into non-canting, the position of basic Mirror Symmetry each other.
7. double-wheel self-balancing battery-driven car according to claim 1, is characterized in that, the first described wheel carrier and the second wheel carrier respectively arrange a leg plate all further, and they are positioned at the inner side of respective wheel carrier, and have slightly recessed curved surface.
CN201110430348.0A 2011-08-18 2011-12-12 Two-wheeled self-balancing electrombile CN102514662B (en)

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CN201110430348.0A CN102514662B (en) 2011-08-18 2011-12-12 Two-wheeled self-balancing electrombile

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