CN104527876B - Self-balancing monocycle with gravity-center self-adjusting function - Google Patents
Self-balancing monocycle with gravity-center self-adjusting function Download PDFInfo
- Publication number
- CN104527876B CN104527876B CN201410826266.1A CN201410826266A CN104527876B CN 104527876 B CN104527876 B CN 104527876B CN 201410826266 A CN201410826266 A CN 201410826266A CN 104527876 B CN104527876 B CN 104527876B
- Authority
- CN
- China
- Prior art keywords
- pedal
- electric magnet
- auxiliary wheel
- wheelbarrow
- self
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
- 230000005484 gravity Effects 0.000 claims abstract description 13
- 230000005611 electricity Effects 0.000 claims description 4
- 230000005540 biological transmission Effects 0.000 abstract 1
- 230000000694 effects Effects 0.000 description 3
- 230000001133 acceleration Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 2
- 230000003247 decreasing effect Effects 0.000 description 2
- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical compound [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 description 1
- 230000033228 biological regulation Effects 0.000 description 1
- 230000015572 biosynthetic process Effects 0.000 description 1
- 230000037396 body weight Effects 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 230000007423 decrease Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000013632 homeostatic process Effects 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 230000005389 magnetism Effects 0.000 description 1
- 238000000465 moulding Methods 0.000 description 1
- 230000007704 transition Effects 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62K—CYCLES; CYCLE FRAMES; CYCLE STEERING DEVICES; RIDER-OPERATED TERMINAL CONTROLS SPECIALLY ADAPTED FOR CYCLES; CYCLE AXLE SUSPENSIONS; CYCLE SIDE-CARS, FORECARS, OR THE LIKE
- B62K1/00—Unicycles
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62K—CYCLES; CYCLE FRAMES; CYCLE STEERING DEVICES; RIDER-OPERATED TERMINAL CONTROLS SPECIALLY ADAPTED FOR CYCLES; CYCLE AXLE SUSPENSIONS; CYCLE SIDE-CARS, FORECARS, OR THE LIKE
- B62K15/00—Collapsible or foldable cycles
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62H—CYCLE STANDS; SUPPORTS OR HOLDERS FOR PARKING OR STORING CYCLES; APPLIANCES PREVENTING OR INDICATING UNAUTHORIZED USE OR THEFT OF CYCLES; LOCKS INTEGRAL WITH CYCLES; DEVICES FOR LEARNING TO RIDE CYCLES
- B62H1/00—Supports or stands forming part of or attached to cycles
- B62H1/10—Supports or stands forming part of or attached to cycles involving means providing for a stabilised ride
- B62H1/12—Supports or stands forming part of or attached to cycles involving means providing for a stabilised ride using additional wheels
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62K—CYCLES; CYCLE FRAMES; CYCLE STEERING DEVICES; RIDER-OPERATED TERMINAL CONTROLS SPECIALLY ADAPTED FOR CYCLES; CYCLE AXLE SUSPENSIONS; CYCLE SIDE-CARS, FORECARS, OR THE LIKE
- B62K11/00—Motorcycles, engine-assisted cycles or motor scooters with one or two wheels
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Rehabilitation Tools (AREA)
- Handcart (AREA)
Abstract
The invention discloses a self-balancing monocycles with a gravity-center self-adjusting function. The self-balancing monocycle with a gravity-center self-adjusting function comprises a monocycle body and two pedals installed on the two sides of the monocycle body, wherein a lead screw is rotatably connected with each pedal, a motor used for actuating the lead screws to rotate is installed in each pedal, the lead screws are connected with the erection columns in a transmission mode through threads, and the motors are electrically connected with a controller of the monocycle. When the monocycle runs at a high speed, the motors actuate the lead screws to rotate backwards to make the pedals move opposite to the advancing/moving direction of the monocycle, so that when a brake is needed, the users only need slight hypsokinesis of body, then the center of gravity immediately moves to the back of the monocycle. Accordingly, timely braking can be achieved and tumble caused by large range of hypsokinesis of body of the users can be avoided.
Description
Technical field
The invention belongs to wheelbarrow construction applications are and in particular to a kind of self-balancing wheelbarrow that automatically adjusts of center of gravity.
Background technology
Self-balancing electronic wheelbarrow is a kind of driven by power, has the walking-replacing tool of homeostasis function；In society rapidly
Today of development, traffic congestion has also become universal phenomenon, and electric unicycle replacement bicycle and electric motor car as the vehicles are
The development of fashion.The rise of Self-balancing electronic wheelbarrow, will cause a new traffic revolution；Existing electric single-wheel
When riding, user accordingly to control wheelbarrow to advance or brake by adjusting forward lean or layback to car, when with faster
When degree needs emergency brake during riding, body can subconsciously greatly be swung back to make wheelbarrow to the greatest extent by user
Brake soon, but the excessive crank that easily causes of the angle of layback leads to fall, and there is unsafe factor, and the electricity of wheelbarrow
Machine stress crosses conference makes immediate current excessive, the service life of impact motor.
Content of the invention
The technical problem to be solved is: in view of the shortcomings of the prior art, provides a kind of structure simply skilful
Wonderful, it can be avoided that when user is brought to a halt transition swing back and cause crank and fall down there is center of gravity automatic regulation function
Self-balancing wheelbarrow.
For realizing the purpose of the present invention, employ the following technical solutions and be achieved: the self-balancing that a kind of center of gravity automatically adjusts
Wheelbarrow, includes car body and is arranged on two pedals in the mounting post of car body both sides, under one or two described pedal
Surface is provided with auxiliary wheel system；Described auxiliary wheel system includes auxiliary wheel, installs the support bar of described auxiliary wheel, molding
Rotate, below described pedal and with described support bar, the mounting seat that is connected, and in the middle part of support bar, rotate the drive rod being connected, with
And rotate, with the drive rod other end, a slide block being connected, and form the slide rail sliding for described slide block in described pedal, described
Slide rail two ends are separately installed with electric magnet a and electric magnet b, and described electric magnet b opposed electromagnets a is in the middle part of pedal；Described cunning
Block two ends are provided with two permanent magnets；Described slide rail extends in the middle part of pedal one end is along tread length direction to pedal, steps on
Form, positioned at slide rail two ends, the electric magnet accommodating chamber accommodating described electric magnet a, electric magnet b in plate；Institute positioned at pedal end
State electric magnet receiving intracavity and be connected with a capping；Described auxiliary wheel falls upper end to extreme position rear-guard lever in level
Than bottom closer to electric magnet b on direction；It is rotatably connected to a screw mandrel along car body fore-and-aft direction on two described pedals, step on
One motor rotating in order to drive screw is installed in plate, described screw mandrel is connected by screw-driven with described mounting post；Institute
State motor, electric magnet a, electric magnet b are electrically connected with the controller of wheelbarrow respectively, when single wheel vehicle speed is less than the first normal speed
When, controller controlled motor drive screw rotates so that pedal moves in front of wheelbarrow direct of travel, controller control simultaneously
Electric magnet b processed produces the permanent magnet relative with it magnetic field in the same direction, and electric magnet a produces the reverse magnetic of the permanent magnet relative with it
, drive slide block to move to electric magnet b, so that auxiliary wheel falls；When single wheel vehicle speed is higher than the second normal speed, control
Device controlled motor drive screw opposite direction rotates so that pedal moves to the rear of wheelbarrow direct of travel, controller control simultaneously
Electric magnet b processed produces the reverse magnetic field of the permanent magnet relative with it, electric magnet a generation and the permanent magnet relative with it magnetic in the same direction
, drive slide block to move to electric magnet a, so that auxiliary wheel is packed up；Described second normal speed is more than the first normal speed.
Preferably: the first described normal speed is 2-3km/h, the second described normal speed is 10-12km/
H, the forward and backward mobile range of described pedal is 20-50mm.
Preferably: only have in two described pedals, below a pedal, auxiliary wheel system is installed, described auxiliary
Wheel drops to concordant with the wheel lower surface of wheelbarrow during extreme position.
Preferably: be mounted on auxiliary wheel system below two described pedals, described auxiliary wheel drops to the limit
5-10mm is exceeded than the wheel lower surface of wheelbarrow during position.
Compared with prior art, the invention has the beneficial effects as follows: when single wheel vehicle speed be higher than the second normal speed when (
During wheelbarrow speed), Motor drive screw mandrel rotate backward make rear from pedal to wheelbarrow direct of travel move, so when
When needing brake, as long as user body is somewhat swung back, center of gravity moves to wheelbarrow rear portion at once, is capable of braking simultaneously in time
Ensure that the user amplitude of leaning back will not be excessive and lead to fall down.When single wheel vehicle speed is decreased below normal speed (
When single wheel vehicle speed is relatively low), Motor drive screw mandrel rotates makes pedal move to the front of wheelbarrow direction of advance, such user
The body that do not need to lean forward can keep wheelbarrow low speed and at the uniform velocity travel, thus reduce shank firmly；Auxiliary wheel declines simultaneously
Contact with ground, accordingly even when wheelbarrow run at a low speed in addition the user that stops can also stably stand on pedal it is not necessary to
Get off, very easy to use；And speed also quickly falls to below normal speed when braking, auxiliary wheel declines immediately, and steps on
Plate is not also able to do in time to move to the front of wheelbarrow direction of advance, and that is, now auxiliary wheel is in the rear position of vehicle body side (solely
The rear of wheel wheel and bottom surface contact position), the effect of Auxiliary support can be played it is ensured that will not swing back amplitude because of user
Excessive and to cause single wheel vehicle motor to bear moment of torsion excessive and out of control, improve safety.
Brief description
Fig. 1, Fig. 2, Fig. 3 are the structural representations of the present invention.
Fig. 4 is the structural representation of the pedal being provided with screw mandrel.
Fig. 5 is the attachment structure schematic diagram being provided with each part of auxiliary wheel system and pedal.
Fig. 6, Fig. 7 are the structural representations of pedal.
1st, car body；11st, mounting post；2nd, pedal；20th, mounting seat；22nd, slide rail；23rd, auxiliary wheel accommodating chamber；25th, motor；26、
Screw mandrel；27th, electric magnet accommodating chamber；3rd, support bar；4th, auxiliary wheel；5th, drive rod；6th, on and off switch；7th, slide block；8th, cover；91、
Electric magnet a；92nd, electric magnet b.
Specific embodiment
Below according to accompanying drawing, the specific embodiment of the present invention is made a detailed explanation.
Embodiment 1
According to Fig. 1 and Fig. 7, the self-balancing wheelbarrow that a kind of center of gravity described in the present embodiment automatically adjusts, include
Car body 1 and be arranged on two pedals 2 in car body both sides mounting post 11, the lower surface of one or two described pedal is provided with
Auxiliary wheel system；Described auxiliary wheel system includes auxiliary wheel 4, installs the support bar 3 of described auxiliary wheel, be molded over described in step on
Rotate, below plate and with described support bar, the mounting seat 20 that is connected, and in the middle part of support bar, rotate the drive rod 5 being connected, and with drive
The lever other end rotates the slide block 7 connecting, and forms the slide rail 22 sliding for described slide block, described slide rail in described pedal
Two ends are separately installed with electric magnet a91 and electric magnet b92, and described electric magnet b opposed electromagnets a is in the middle part of pedal；Described cunning
Block two ends are provided with two permanent magnet (not shown)s；Described slide rail is from pedal one end along tread length direction to pedal
Middle part extends, and forms, positioned at slide rail two ends, the electric magnet accommodating chamber 27 accommodating described electric magnet a, electric magnet b in pedal；It is located at
The described electric magnet of pedal end accommodates intracavity and is connected with a capping 8；Described auxiliary wheel is fallen to extreme position rear-guard lever
Upper end in the horizontal direction than bottom closer to electric magnet b；Rotate even along car body fore-and-aft direction on two described pedals
It is connected to a screw mandrel 26, a motor 25 rotating in order to drive screw, described screw mandrel and described mounting post are installed in pedal
Connected by screw-driven；Described motor, electric magnet a, electric magnet b are electrically connected with the controller of wheelbarrow respectively, work as wheelbarrow
When speed is less than 2km/h, controller controlled motor drive screw rotates so that pedal moves in front of wheelbarrow direct of travel,
Controller controls electric magnet b to produce the permanent magnet relative with it magnetic field in the same direction simultaneously, and electric magnet a produces the permanent magnetism relative with it
The reverse magnetic field of ferrum, drives slide block to move to electric magnet b, so that auxiliary wheel falls；When single wheel vehicle speed is higher than 10km/h,
Controller controlled motor drive screw opposite direction rotates so that pedal moves to the rear of wheelbarrow direct of travel, controls simultaneously
Device controls electric magnet b to produce the reverse magnetic field of the permanent magnet relative with it, and electric magnet a generation and the permanent magnet relative with it are in the same direction
Magnetic field, drive slide block move to electric magnet a, so that auxiliary wheel is packed up.
Described auxiliary wheel fall to extreme position rear-guard lever upper end in the horizontal direction than bottom closer to electricity
Magnet b.It is difficult to because the suction of electric magnet is limited support the body weight of user, but as long as the upper end of drive rod is in the horizontal direction
On than bottom closer to electric magnet b, then after drive rod is supported the thrust of bar, the upper end of drive rod is to electric magnet b
The power producing is pressure rather than the magnetic field force relying on electric magnet b, so it is ensured that auxiliary wheel can play auxiliary after falling
Effect, and the output of electric magnet b do not need very big.
Described pedal bottom offers the auxiliary wheel accommodating chamber 23 accommodating collapsed state auxiliary wheel, described capping interior
Side offers the electric magnet installation cavity installing electric magnet a.
Only have in two described pedals, below a pedal, auxiliary wheel system is installed, described auxiliary wheel drops to limit position
Concordant with the wheel lower surface of wheelbarrow when putting, such auxiliary wheel can stably support wheelbarrow with wheel cooperation, so i.e.
So that wheelbarrow is run at a low speed or even the user that stops can also stably stand in it is not necessary to get off on pedal,
One notch portion of described pedal intermediate formation, the big 20-50mm of width of the width ratio mounting post of notch portion, also
It is the amplitude that pedal moves forward and backward.Described motor is arranged on side in pedal, and motor output shaft is directly coaxially connected with screw mandrel；Or
Person's motor output shaft connects train of reduction gears, and then the outfan of train of reduction gears is connected with screw mandrel.
The link position of screw mandrel and pedal near the top of pedal, the bottom of pedal and mounting post lateral wall offset so that
Pedal can maintain horizontality after launching.
Described controller enables the controller to equipped with gyro sensor and acceleration transducer, gyro sensor
Wheelbarrow fore-and-aft direction is controlled to be in the poised state of level, when body gravity deflection front or behind, controller is correspondingly
Controlled motor forward or reverse, when the amplitude of user body forward, rear-inclined is bigger, it is inclined that acceleration transducer detects
Shifting amount is bigger, then controller correspondingly controlled motor rotating speed increase.
The electric unicycle being 14 inches for wheel, when single wheel vehicle speed is higher than 10km/h, controller controlled motor
Drive screw rotates backward makes pedal move to the rear of wheelbarrow direct of travel, so when needing brake, as long as user
Body is somewhat swung back, center of gravity at once mobile to wheelbarrow rear portion, be capable of braking in time and ensure that user is leaned back width
Degree will not be excessive and lead to fall down.When single wheel vehicle speed is decreased below normal speed (when single wheel vehicle speed is relatively low), electricity
Machine drive screw rotates makes pedal move to the front of wheelbarrow direction of advance, and such user body that do not need to lean forward can be protected
Hold wheelbarrow low speed and at the uniform velocity travel, thus reducing exerting oneself of shank；Auxiliary wheel is declined and is contacted with ground simultaneously, accordingly even when solely
Wheel car runs at a low speed or even the user that stops can also stably stand in it is not necessary to get off on pedal, very easy to use；And
During brake, speed also quickly falls to below normal speed, and auxiliary wheel declines immediately, and pedal is not also able to do in time to before wheelbarrow
The front entering direction is moved, and that is, now auxiliary wheel is in rear position (single wheel wheel and the ground-contacting position of vehicle body side
Rear), the effect of Auxiliary support can be played it is ensured that single wheel vehicle motor will be caused to hold because user layback amplitude is excessive
Excessive and out of control by moment of torsion, improve safety.
The electric unicycle being 16 inches for wheel, can set when single wheel vehicle speed is higher than 15km/h, Motor drive
Screw mandrel rotates backward makes pedal move to the rear of wheelbarrow direct of travel.
Embodiment 2
The self-balancing wheelbarrow that a kind of center of gravity described in the present embodiment described in the present embodiment automatically adjusts, includes car body
1 and be arranged on two pedals 2 in car body both sides mounting post 11, the lower surface of one or two described pedal is provided with auxiliary
Wheel system；Described auxiliary wheel system includes auxiliary wheel 4, installs the support bar 3 of described auxiliary wheel, is molded under described pedal
Side and rotate the mounting seat 20 that is connected with described support bar, and rotates the drive rod 5 being connected in the middle part of support bar, and and drive rod
The other end rotates the slide block 7 connecting, and forms the slide rail 22 sliding for described slide block, described slide rail two ends in described pedal
It is separately installed with electric magnet a91 and electric magnet b92, described electric magnet b opposed electromagnets a is in the middle part of pedal；Described slide block two
End is provided with two permanent magnet (not shown)s；Described slide rail is in the middle part of pedal one end is along tread length direction to pedal
Extend, in pedal, form, positioned at slide rail two ends, the electric magnet accommodating chamber 27 accommodating described electric magnet a, electric magnet b；Positioned at pedal
The described electric magnet of end accommodates intracavity and is connected with a capping 8；Described auxiliary wheel is fallen upper to extreme position rear-guard lever
End in the horizontal direction than bottom closer to electric magnet b；It is rotatably connected to along car body fore-and-aft direction on two described pedals
One screw mandrel 26, is provided with a motor 25 rotating in order to drive screw in pedal, described screw mandrel is passed through with described mounting post
Screw-driven connects；Described motor, electric magnet a, electric magnet b are electrically connected with the controller of wheelbarrow respectively, and install on car body
There is a switching switch in order to switch controller control mode being electrically connected with the controller；Switching switch is located at the first state
When, control mode is same as Example 1, and that is, when single wheel vehicle speed is less than 2km/h, controller controlled motor drive screw rotates
So that pedal moves in front of wheelbarrow direct of travel, controller controls electric magnet b to produce the permanent magnet relative with it simultaneously
Magnetic field in the same direction, electric magnet a produces the reverse magnetic field of the permanent magnet relative with it, drives slide block to move to electric magnet b, so that
Auxiliary wheel falls；When single wheel vehicle speed is higher than 10km/h, controller controlled motor drive screw opposite direction rotates so that stepping on
Plate moves to the rear of wheelbarrow direct of travel, and controller controls the electric magnet b generation permanent magnet relative with it reverse simultaneously
Magnetic field, electric magnet a generation and the permanent magnet relative with it magnetic field in the same direction, drive slide block to move to electric magnet a, so that auxiliary
Wheel is packed up；When switching switch pushes another state, controller control mode changes, when single wheel vehicle speed improves, motor
Drive screw rotates forward makes pedal move in front of wheelbarrow direct of travel, when single wheel vehicle speed declines, Motor drive silk
Bar rotates backward makes pedal move to the rear of wheelbarrow direct of travel, and when single wheel vehicle speed is less than 2km/h, controller control
Electric magnet a processed, electric magnet b drive auxiliary wheel to decline.
When switching switch is in the first state, it is suitable for using in the case of people is more or ground is uneven, this
Sample is beneficial to safely be braked, identical with embodiment 1 purpose.When switching switch is in second state, it is suitable in width
Spacious flat road surface travels (in the case of being not required to want emergency brake), is particularly suited for distance travel farther out；Specifically, work as speed
After raising, pedal moves forward, and so that user center of gravity is moved along, such user body avoided the need for significantly forward
Tilt, body (especially shank) does not need to make power, reduce the feeling of fatigue far ridden on the way.
It is mounted on auxiliary wheel system, described auxiliary wheel drops to and compares wheelbarrow during extreme position below two described pedals
Wheel lower surface exceed 5-10mm.Can tilt toward either side so when running at a low speed or stop, rely on an auxiliary wheel
Coordinate to maintain balance with wheel, and two auxiliary wheels will not be landed it is ensured that wheel will not vacantly cause single wheel with wheel simultaneously
Car disequilibrium.
Claims (2)
1. the self-balancing wheelbarrow that a kind of center of gravity automatically adjusts, includes car body and is arranged in the mounting post of car body both sides two
Individual pedal, the lower surface of one or two described pedal is provided with auxiliary wheel system；Described auxiliary wheel system includes auxiliary
Wheel, installs the support bar of described auxiliary wheel, is molded over below described pedal and rotates, with described support bar, the mounting seat being connected, with
Rotate the drive rod of connection in the middle part of support bar, and rotate in a slide block being connected, described pedal with the drive rod other end
Type has the slide rail sliding for described slide block, and described slide rail two ends are separately installed with electric magnet a and electric magnet b, described electric magnet b phase
To electric magnet a in the middle part of pedal；Described slide block two ends are provided with two permanent magnets；Described slide rail is stepped on from pedal one end edge
Plate length direction extends in the middle part of pedal, forms the described electric magnet a of receiving, the electricity of electric magnet b positioned at slide rail two ends in pedal
Magnet accommodating chamber；Described electric magnet positioned at pedal end accommodates intracavity and is connected with a capping；Described auxiliary wheel is fallen extremely
After extreme position the upper end of drive rod in the horizontal direction than bottom closer to electric magnet b；It is characterized in that:
It is rotatably connected to a screw mandrel along car body fore-and-aft direction on two described pedals, be provided with one in pedal in order to drive silk
The motor that bar rotates, described screw mandrel is connected by screw-driven with described mounting post；Described motor, electric magnet a, electric magnet b divide
Do not electrically connect with the controller of wheelbarrow, when single wheel vehicle speed is less than the first normal speed, controller controlled motor drives silk
Bar rotates so that pedal moves in front of wheelbarrow direct of travel, and controller controls electric magnet b generation relative with it simultaneously
Permanent magnet magnetic field in the same direction, electric magnet a produces the reverse magnetic field of the permanent magnet relative with it, drives slide block to move to electric magnet b,
So that auxiliary wheel falls；When single wheel vehicle speed is higher than the second normal speed, controller controlled motor drive screw opposite direction
Rotate so that pedal moves to the rear of wheelbarrow direct of travel, controller controls electric magnet b generation relative with it simultaneously
The reverse magnetic field of permanent magnet, electric magnet a generation and the permanent magnet relative with it magnetic field in the same direction, drive slide block to transport to electric magnet a
Dynamic, so that auxiliary wheel is packed up；Described second normal speed is more than the first normal speed.
2. a kind of center of gravity according to claim 1 automatically adjusts self-balancing wheelbarrow it is characterised in that: described first
Normal speed is 2-3km/h, and the second described normal speed is 10-12km/h, and the forward and backward mobile range of described pedal is 20-
50mm.
Priority Applications (4)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610447502.8A CN105947047A (en) | 2014-12-25 | 2014-12-25 | Center-of-gravity self-regulated self-balancing unicycle |
| CN201410826266.1A CN104527876B (en) | 2014-12-25 | 2014-12-25 | Self-balancing monocycle with gravity-center self-adjusting function |
| CN201610452725.3A CN105947049A (en) | 2014-12-25 | 2014-12-25 | Center-of-gravity self-regulated self-balancing unicycle |
| CN201610455337.0A CN105857465A (en) | 2014-12-25 | 2014-12-25 | Self-balancing monocycle with gravity center capable of being automatically adjusted |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410826266.1A CN104527876B (en) | 2014-12-25 | 2014-12-25 | Self-balancing monocycle with gravity-center self-adjusting function |
Related Child Applications (3)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610447502.8A Division CN105947047A (en) | 2014-12-25 | 2014-12-25 | Center-of-gravity self-regulated self-balancing unicycle |
| CN201610455337.0A Division CN105857465A (en) | 2014-12-25 | 2014-12-25 | Self-balancing monocycle with gravity center capable of being automatically adjusted |
| CN201610452725.3A Division CN105947049A (en) | 2014-12-25 | 2014-12-25 | Center-of-gravity self-regulated self-balancing unicycle |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN104527876A CN104527876A (en) | 2015-04-22 |
| CN104527876B true CN104527876B (en) | 2017-01-25 |
Family
ID=52843587
Family Applications (4)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610452725.3A Pending CN105947049A (en) | 2014-12-25 | 2014-12-25 | Center-of-gravity self-regulated self-balancing unicycle |
| CN201610455337.0A Pending CN105857465A (en) | 2014-12-25 | 2014-12-25 | Self-balancing monocycle with gravity center capable of being automatically adjusted |
| CN201410826266.1A Active CN104527876B (en) | 2014-12-25 | 2014-12-25 | Self-balancing monocycle with gravity-center self-adjusting function |
| CN201610447502.8A Pending CN105947047A (en) | 2014-12-25 | 2014-12-25 | Center-of-gravity self-regulated self-balancing unicycle |
Family Applications Before (2)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610452725.3A Pending CN105947049A (en) | 2014-12-25 | 2014-12-25 | Center-of-gravity self-regulated self-balancing unicycle |
| CN201610455337.0A Pending CN105857465A (en) | 2014-12-25 | 2014-12-25 | Self-balancing monocycle with gravity center capable of being automatically adjusted |
Family Applications After (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610447502.8A Pending CN105947047A (en) | 2014-12-25 | 2014-12-25 | Center-of-gravity self-regulated self-balancing unicycle |
Country Status (1)
| Country | Link |
|---|---|
| CN (4) | CN105947049A (en) |
Families Citing this family (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105799834B (en) * | 2016-03-19 | 2018-04-20 | 东莞市睿肯电子科技有限公司 | A kind of scooter |
| CN108137119B (en) * | 2016-03-24 | 2019-12-31 | 罗春晖 | Electric balance car |
| GB2550884A (en) * | 2016-05-26 | 2017-12-06 | Artemev Timur | Self-balancing unicycle device with auxiliary support |
| CN106627893A (en) * | 2016-12-07 | 2017-05-10 | 广东技术师范学院 | Balance scooter and wheeled vehicle |
| CN106828730A (en) * | 2017-01-13 | 2017-06-13 | 福建都市互联信息科技有限公司 | Folding double-wheel self-balancing car |
Family Cites Families (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6561294B1 (en) * | 1995-02-03 | 2003-05-13 | Deka Products Limited Partnership | Balancing vehicle with passive pivotable support |
| US8807250B2 (en) * | 2010-03-09 | 2014-08-19 | Shane Chen | Powered single-wheeled self-balancing vehicle for standing user |
| CN102079348A (en) * | 2010-12-03 | 2011-06-01 | 北京工业大学 | Self-balance manned monocycle system and control method thereof |
| CN202806968U (en) * | 2012-04-11 | 2013-03-20 | 浙江易力车业有限公司 | Self-balance electric manned monocycle |
| CN102642584B (en) * | 2012-04-11 | 2014-06-04 | 浙江易力车业有限公司 | Self-balancing electric manned monocycle |
| CN203844932U (en) * | 2014-06-04 | 2014-09-24 | 福州互联在线网络科技有限公司 | Monocycle with pedal opening/closing device |
| CN204021088U (en) * | 2014-08-31 | 2014-12-17 | 李陈 | A kind of pedal system of Self-balancing electronic wheelbarrow |
| CN204021086U (en) * | 2014-08-31 | 2014-12-17 | 李陈 | The wheelbarrow that a kind of pedal can fall automatically |
| CN104163220B (en) * | 2014-08-31 | 2016-08-24 | 李陈 | A kind of automatic pedal system of electric unicycle |
| CN204021087U (en) * | 2014-08-31 | 2014-12-17 | 李陈 | A kind of Self-balancing electronic wheelbarrow |
| CN204021085U (en) * | 2014-08-31 | 2014-12-17 | 李陈 | The wheelbarrow that a kind of pedal can automatically fall and pack up |
| CN104192226B (en) * | 2014-09-25 | 2016-08-24 | 李陈 | A kind of wheelbarrow with auxiliary wheel |
-
2014
- 2014-12-25 CN CN201610452725.3A patent/CN105947049A/en active Pending
- 2014-12-25 CN CN201610455337.0A patent/CN105857465A/en active Pending
- 2014-12-25 CN CN201410826266.1A patent/CN104527876B/en active Active
- 2014-12-25 CN CN201610447502.8A patent/CN105947047A/en active Pending
Also Published As
| Publication number | Publication date |
|---|---|
| CN105857465A (en) | 2016-08-17 |
| CN104527876A (en) | 2015-04-22 |
| CN105947049A (en) | 2016-09-21 |
| CN105947047A (en) | 2016-09-21 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN104527876B (en) | Self-balancing monocycle with gravity-center self-adjusting function | |
| CN104494749B (en) | A kind of electronic self-balancing type two-wheel car | |
| CN104494750B (en) | A kind of self-balancing two-wheeled vehicle | |
| CN202879694U (en) | Single wheel self-balancing electric vehicle | |
| CN204527459U (en) | The self-balancing wheelbarrow that a kind of center of gravity regulates automatically | |
| CN106080902A (en) | A kind of intelligent electric wheelbarrow | |
| CN204527463U (en) | The device with pedal of the self-balancing wheelbarrow that a kind of center of gravity regulates automatically | |
| CN104527878B (en) | Self-balancing electric double-wheel vehicle | |
| CN204527462U (en) | A kind of electronic self-balancing type two-wheel car | |
| CN104494751B (en) | Self-balancing monocycle with automatic gravity center regulation function | |
| CN210162184U (en) | Drift car using differential steering | |
| CN204473001U (en) | Slide type balance truck | |
| CN201296182Y (en) | Solar-energy electric tricycle | |
| CN204527438U (en) | A kind of device with pedal with the self-balancing wheelbarrow of center of gravity automatic regulation function | |
| CN113022769B (en) | Control method of electric scooter | |
| CN205801302U (en) | A kind of closed two-wheel four-wheel is changed trains mutually | |
| CN104527877B (en) | A kind of self-balancing wheelbarrow with center of gravity self-regulating function | |
| CN204527458U (en) | A kind of device with pedal with the self-balancing wheelbarrow of center of gravity self-regulating function | |
| CN204527439U (en) | A kind of self-balancing wheelbarrow with center of gravity automatic regulation function | |
| CN108622234A (en) | Double mode electric balance car and its mode conversion method | |
| CN103803004B (en) | A kind of accurate electric motor car with two wheels | |
| CN204527440U (en) | A kind of self-balancing wheelbarrow with center of gravity self-regulating function | |
| CN212099213U (en) | Novel small-sized electric vehicle | |
| CN201375623Y (en) | Electric wheelchair | |
| CN205524591U (en) | Balance car |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20190130 Address after: 230000 B-1512, west of Ganquan Road, Shushan District, Hefei, Anhui. Patentee after: Anhui Eagle Dragon Industrial Design Co., Ltd. Address before: 317523 Danya Industrial Zone, Zhengtou Village, Zeguo Town, Wenling City, Taizhou City, Zhejiang Province Patentee before: Li Chen |
|
| TR01 | Transfer of patent right | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20190808 Address after: 226600 No. 188 Baichuan Road, Haian High-tech Zone, Nantong City, Jiangsu Province Patentee after: JIANGSU SHUANGSHUANG HI-TECH CO., LTD. Address before: Ganquan road Shushan District of Hefei City, Anhui Province, 230000 West hillock road to the South Wild Garden commercial office building room B-1512 Patentee before: Anhui Eagle Dragon Industrial Design Co., Ltd. |
|
| TR01 | Transfer of patent right |