CN105947049A - Center-of-gravity self-regulated self-balancing unicycle - Google Patents

Center-of-gravity self-regulated self-balancing unicycle Download PDF

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Publication number
CN105947049A
CN105947049A CN201610452725.3A CN201610452725A CN105947049A CN 105947049 A CN105947049 A CN 105947049A CN 201610452725 A CN201610452725 A CN 201610452725A CN 105947049 A CN105947049 A CN 105947049A
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CN
China
Prior art keywords
pedal
electric magnet
wheelbarrow
auxiliary wheel
screw mandrel
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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.)
Pending
Application number
CN201610452725.3A
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Chinese (zh)
Inventor
李陈
Original Assignee
李陈
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by 李陈 filed Critical 李陈
Priority to CN201410826266.1A priority Critical patent/CN104527876B/en
Priority to CN201610452725.3A priority patent/CN105947049A/en
Publication of CN105947049A publication Critical patent/CN105947049A/en
Pending legal-status Critical Current

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Classifications

    • BPERFORMING OPERATIONS; TRANSPORTING
    • B62LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62KCYCLES; CYCLE FRAMES; CYCLE STEERING DEVICES; RIDER-OPERATED TERMINAL CONTROLS SPECIALLY ADAPTED FOR CYCLES; CYCLE AXLE SUSPENSIONS; CYCLE SIDE-CARS, FORECARS, OR THE LIKE
    • B62K15/00Collapsible or foldable cycles
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B62LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62KCYCLES; CYCLE FRAMES; CYCLE STEERING DEVICES; RIDER-OPERATED TERMINAL CONTROLS SPECIALLY ADAPTED FOR CYCLES; CYCLE AXLE SUSPENSIONS; CYCLE SIDE-CARS, FORECARS, OR THE LIKE
    • B62K1/00Unicycles
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B62LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62HCYCLE 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
    • B62H1/00Supports or stands forming part of or attached to cycles
    • B62H1/10Supports or stands forming part of or attached to cycles involving means providing for a stabilised ride
    • B62H1/12Supports or stands forming part of or attached to cycles involving means providing for a stabilised ride using additional wheels
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B62LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62KCYCLES; CYCLE FRAMES; CYCLE STEERING DEVICES; RIDER-OPERATED TERMINAL CONTROLS SPECIALLY ADAPTED FOR CYCLES; CYCLE AXLE SUSPENSIONS; CYCLE SIDE-CARS, FORECARS, OR THE LIKE
    • B62K11/00Motorcycles, engine-assisted cycles or motor scooters with one or two wheels

Abstract

The invention discloses a center-of-gravity self-regulated self-balancing unicycle comprising a body and two pedals mounted on mounting columns on two sides of the body. A screw rod is rotationally connected on each pedal, a motor for driving the corresponding screw rod to rotate is mounted in each pedal, and each screw rod is connected with the corresponding mounting column in a screw driving manner; each motor is electrically connected with a controller of the unicycle. When the unicycle runs fast, the motors drive the screw rods to rotate reversely so as to enable the pedals to move backwards towards the running direction of the unicycle, therefore, when braking is required, a user only needs to lean slightly back, then the center of gravity moves to the back of the unicycle at once, and the unicycle can be braked in time to ensure that the user cannot fall down because of leaning back too much.

Description

The self-balancing wheelbarrow that a kind of center of gravity is automatically adjusted
This patent is:
Invention entitled: the self-balancing wheelbarrow that a kind of center of gravity is automatically adjusted
Application No.: 2014108262661
Filing date: 2014.12.25
The divisional application of patent application.
Technical field
The invention belongs to wheelbarrow construction applications, be specifically related to the self-balancing wheelbarrow that a kind of center of gravity is automatically adjusted.
Background technology
Self-balancing electronic wheelbarrow is a kind of driven by power, has the walking-replacing tool of homeostasis function;In today that society develops rapidly, traffic congestion has also become universal phenomenon, and electric unicycle replaces bicycle and electric motor car as the development that the vehicles are fashions.The rise of Self-balancing electronic wheelbarrow, will cause a new traffic revolution;Existing electric unicycle is when riding, user controls wheelbarrow accordingly advance or brake by adjusting forward lean or layback, when needing emergency brake with fast speed during riding, health subconsciously can be swung back and be made wheelbarrow brake as soon as possible by user greatly, but the excessive crank that easily causes of angle of layback causes falling, there is unsafe factor, and the motor stress of wheelbarrow is crossed conference and made immediate current excessive, affects the service life of motor.
Summary of the invention
The technical problem to be solved is: the deficiency existed for prior art, it is provided that a kind of simple and ingenious structure, it is possible to transition layback when avoiding user to bring to a halt and the self-balancing wheelbarrow with center of gravity automatic regulation function that causes crank and fall down.
For realizing the purpose of the present invention, it is achieved by the following technical solutions: the self-balancing wheelbarrow that a kind of center of gravity is automatically adjusted, including car body and two pedals being arranged in the mounting post of car body both sides, the lower surface of one or two described pedal is provided with auxiliary wheel system;Described auxiliary wheel system includes auxiliary wheel, the support bar of described auxiliary wheel is installed, it is molded over the mounting seat being rotationally connected below described pedal and with described support bar, with the drive rod being rotationally connected in the middle part of support bar, and the slide block being rotationally connected with the drive rod other end, forming the slide rail slided 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 slide block two ends are provided with two permanent magnets;Described slide rail from pedal one end along tread length direction to pedal in the middle part of extend, be positioned in pedal slide rail two ends form accommodate described electric magnet A, electric magnet B electric magnet accommodate chamber;The described electric magnet receiving intracavity connection being positioned at pedal end has a capping;Described auxiliary wheel fall to extreme position rear drive bar upper end in the horizontal direction than bottom closer to electric magnet B;It is rotatably connected to a screw mandrel along car body fore-and-aft direction on two described pedals, is provided with one in pedal and is connected by screw-driven with described mounting post in order to the motor driving screw mandrel to rotate, described screw mandrel;Described motor, electric magnet A, electric magnet B electrically connect with the controller of wheelbarrow respectively, when wheelbarrow speed is less than the first normal speed, controller controls motor and drives screw mandrel to rotate so that pedal moves to wheelbarrow direct of travel front, controller controls the electric magnet B generation permanent magnet relative with it magnetic field in the same direction simultaneously, electric magnet A produces the magnetic field that the permanent magnet relative with it is reverse, slide block is driven to move to electric magnet B, so that auxiliary wheel falls;When wheelbarrow speed is higher than the second normal speed, controller controls motor and drives screw mandrel opposite direction to rotate so that pedal moves to the rear of wheelbarrow direct of travel, controller controls the magnetic field that the electric magnet B generation permanent magnet relative with it is reverse simultaneously, electric magnet A produces and the permanent magnet relative with it magnetic field in the same direction, slide block is driven 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, and the forward and backward mobile range of described pedal is 20-50mm.
Preferably: only having in two described pedals below a pedal and be provided with auxiliary wheel system, described auxiliary wheel drops to during extreme position concordant with the wheel lower surface of wheelbarrow.
Preferably: below two described pedals, be mounted on auxiliary wheel system, described auxiliary wheel exceeds 5-10mm than the wheel lower surface of wheelbarrow when dropping to extreme position.
Compared with prior art, the invention has the beneficial effects as follows: when wheelbarrow speed is higher than the second normal speed (during wheelbarrow speed), motor driving screw mandrel rotates backward and makes pedal move to the rear of wheelbarrow direct of travel, so when needs brake, as long as user health is somewhat swung back, center of gravity is at once mobile to wheelbarrow rear portion, it is possible to realize braking in time and ensure that the user amplitude of leaning back will not be excessive and cause falling down.When wheelbarrow speed is decreased below normal speed (when wheelbarrow speed is relatively low), motor drives screw mandrel rotation to make pedal move to the front of wheelbarrow direction of advance, so user health that need not to lean forward can keep wheelbarrow low speed and at the uniform velocity travel, thus reduce shank firmly;Auxiliary wheel decline simultaneously contacts with ground, can also stably stand on pedal accordingly even when wheelbarrow runs at a low speed the user that even stops, 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 pedal is not able to do in time to move to the front of wheelbarrow direction of advance, the most now auxiliary wheel is in the rear position (single wheel wheel and the rear of bottom surface contact position) of vehicle body side, the effect that auxiliary supports can be played, it is excessive and out of control that guarantee will cause wheelbarrow motor to bear moment of torsion because user layback amplitude is excessive, improves safety.
Accompanying drawing explanation
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 parts of auxiliary wheel system with pedal.
Fig. 6, Fig. 7 are the structural representations of pedal.
1, car body;11, mounting post;2, pedal;20, mounting seat;22, slide rail;23, auxiliary wheel accommodates chamber;25, motor;26, screw mandrel;27, electric magnet accommodates chamber;3, support bar;4, auxiliary wheel;5, drive rod;6, on and off switch;7, slide block;8, capping;91, electric magnet A;92, electric magnet B.
Detailed description of the invention
Below according to accompanying drawing, the detailed description of the invention 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 is automatically adjusted, include car body 1 and two pedals 2 being arranged 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, the support bar 3 of described auxiliary wheel is installed, it is molded over the mounting seat 20 being rotationally connected below described pedal and with described support bar, with the drive rod 5 being rotationally connected in the middle part of support bar, and the slide block 7 being rotationally connected with the drive rod other end, forming the slide rail 22 slided for described slide block in described pedal, described slide rail 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 slide block two ends are provided with two permanent magnet (not shown)s;Described slide rail from pedal one end along tread length direction to pedal in the middle part of extend, be positioned in pedal slide rail two ends form accommodate described electric magnet A, electric magnet B electric magnet accommodate chamber 27;The described electric magnet receiving intracavity connection being positioned at pedal end has a capping 8;Described auxiliary wheel fall to extreme position rear drive bar upper end in the horizontal direction than bottom closer to electric magnet B;It is rotatably connected to a screw mandrel 26 along car body fore-and-aft direction on two described pedals, is provided with one in pedal and is connected by screw-driven with described mounting post in order to the motor 25 driving screw mandrel to rotate, described screw mandrel;Described motor, electric magnet A, electric magnet B electrically connect with the controller of wheelbarrow respectively, when wheelbarrow speed is less than 2km/h, controller controls motor and drives screw mandrel to rotate so that pedal moves to wheelbarrow direct of travel front, controller controls the electric magnet B generation permanent magnet relative with it magnetic field in the same direction simultaneously, electric magnet A produces the magnetic field that the permanent magnet relative with it is reverse, slide block is driven to move to electric magnet B, so that auxiliary wheel falls;When wheelbarrow speed is higher than 10km/h, controller controls motor and drives screw mandrel opposite direction to rotate so that pedal moves to the rear of wheelbarrow direct of travel, controller controls the magnetic field that the electric magnet B generation permanent magnet relative with it is reverse simultaneously, electric magnet A produces and the permanent magnet relative with it magnetic field in the same direction, slide block is driven to move to electric magnet A, so that auxiliary wheel is packed up.
Described auxiliary wheel fall to extreme position rear drive bar upper end in the horizontal direction than bottom closer to electric magnet B.It is difficult to support the body weight of user owing to the suction of electric magnet is limited, but as long as the upper end of drive rod in the horizontal direction than bottom closer to electric magnet B, after so drive rod is supported the thrust of bar, the upper end of drive rod is pressure rather than the magnetic field force relying on electric magnet B to the power that electric magnet B produces, thus can guarantee that auxiliary wheel can play the effect of auxiliary after falling, and the output of electric magnet B need not the biggest.
Offering the auxiliary wheel receiving chamber 23 accommodating collapsed state auxiliary wheel bottom described pedal, the inner side of described capping offers the electric magnet installation cavity installing electric magnet A.
Two described pedals only have below a pedal and auxiliary wheel system is installed, described auxiliary wheel drops to during extreme position concordant with the wheel lower surface of wheelbarrow, so auxiliary wheel coordinates with wheel and can stably support wheelbarrow, can also stably stand on pedal accordingly even when wheelbarrow runs at a low speed the user that even stops, need not get off
One notch portion of described pedal intermediate formation, the big 20-50mm of width of the width ratio mounting post of notch portion, the amplitude that namely pedal is movable.Described motor is arranged on side in pedal, and motor output shaft is the most coaxially connected with screw mandrel;Or motor output shaft connects train of reduction gears, and then the outfan of train of reduction gears is connected with screw mandrel.When this pedal is provided with auxiliary wheel system, the second motor of auxiliary wheel system is arranged on the opposite side of pedal.
The link position of screw mandrel and pedal is near the top of pedal, and the bottom of pedal and mounting post lateral wall offset so that pedal can maintain level after launching.
Described controller is equipped with gyro sensor and acceleration transducer, gyro sensor enables the controller to control wheelbarrow fore-and-aft direction and is in the poised state of level, when body gravity deflection front or behind, controller correspondingly controls motor forward or reverse, when the amplitude of user body forward, rear-inclined is the biggest, the side-play amount that acceleration transducer detects is the biggest, then controller correspondingly controls the rotating speed increase of motor.
For the electric unicycle that wheel is 14 inches, when wheelbarrow speed is higher than 10km/h, controller control motor driving screw mandrel rotates backward and makes pedal move to the rear of wheelbarrow direct of travel, so when needs brake, as long as user health is somewhat swung back, center of gravity is at once mobile to wheelbarrow rear portion, it is possible to realize braking in time and ensure that the user amplitude of leaning back will not be excessive and cause falling down.When wheelbarrow speed is decreased below normal speed (when wheelbarrow speed is relatively low), motor drives screw mandrel rotation to make pedal move to the front of wheelbarrow direction of advance, so user health that need not to lean forward can keep wheelbarrow low speed and at the uniform velocity travel, thus reduce shank firmly;Auxiliary wheel decline simultaneously contacts with ground, can also stably stand on pedal accordingly even when wheelbarrow runs at a low speed the user that even stops, 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 pedal is not able to do in time to move to the front of wheelbarrow direction of advance, the most now auxiliary wheel is in the rear position (single wheel wheel and the rear of ground-contacting position) of vehicle body side, the effect that auxiliary supports can be played, it is excessive and out of control that guarantee will cause wheelbarrow motor to bear moment of torsion because user layback amplitude is excessive, improves safety.
For the electric unicycle that wheel is 16 inches, can set when wheelbarrow speed is higher than 15km/h, motor driving screw mandrel rotates backward and 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 is automatically adjusted, includes car body 1 and two pedals 2 being arranged in car body both sides mounting post 11, and the lower surface of one or two described pedal is provided with auxiliary wheel system;Described auxiliary wheel system includes auxiliary wheel 4, the support bar 3 of described auxiliary wheel is installed, it is molded over the mounting seat 20 being rotationally connected below described pedal and with described support bar, with the drive rod 5 being rotationally connected in the middle part of support bar, and the slide block 7 being rotationally connected with the drive rod other end, forming the slide rail 22 slided for described slide block in described pedal, described slide rail 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 slide block two ends are provided with two permanent magnet (not shown)s;Described slide rail from pedal one end along tread length direction to pedal in the middle part of extend, be positioned in pedal slide rail two ends form accommodate described electric magnet A, electric magnet B electric magnet accommodate chamber 27;The described electric magnet receiving intracavity connection being positioned at pedal end has a capping 8;Described auxiliary wheel fall to extreme position rear drive bar upper end in the horizontal direction than bottom closer to electric magnet B;It is rotatably connected to a screw mandrel 26 along car body fore-and-aft direction on two described pedals, is provided with one in pedal and is connected by screw-driven with described mounting post in order to the motor 25 driving screw mandrel to rotate, described screw mandrel;Described motor, electric magnet A, electric magnet B electrically connect with the controller of wheelbarrow respectively, and are provided with a switching switch in order to switch controller control mode being electrically connected with the controller on car body;When switching switch is positioned at the first state, control mode is same as in Example 1, i.e. when wheelbarrow speed is less than 2km/h, controller controls motor and drives screw mandrel to rotate so that pedal moves to wheelbarrow direct of travel front, controller controls the electric magnet B generation permanent magnet relative with it magnetic field in the same direction simultaneously, electric magnet A produces the magnetic field that the permanent magnet relative with it is reverse, drives slide block to move to electric magnet B, so that auxiliary wheel falls;When wheelbarrow speed is higher than 10km/h, controller controls motor and drives screw mandrel opposite direction to rotate so that pedal moves to the rear of wheelbarrow direct of travel, controller controls the magnetic field that the electric magnet B generation permanent magnet relative with it is reverse simultaneously, electric magnet A produces and the permanent magnet relative with it magnetic field in the same direction, slide block is driven to move to electric magnet A, so that auxiliary wheel is packed up;When switching switch and pushing another state, controller control mode changes, when wheelbarrow speed improves, motor driving screw mandrel rotates forward and makes pedal move to wheelbarrow direct of travel front, when wheelbarrow speed declines, motor driving screw mandrel rotates backward and makes pedal move to the rear of wheelbarrow direct of travel, and when wheelbarrow speed is less than 2km/h, controller controls electric magnet A, electric magnet B and drives auxiliary wheel to decline.
When switching switch and being in the first state, it is suitable in the case of or ground more people is uneven using, so beneficially brakes safely, identical with embodiment 1 purpose.When switching switch and being in the second state, it is suitable for travelling (in the case of i.e. need not emergency brake) in spacious flat road surface, is particularly suited for distance travel farther out;Specifically, after speed improves, pedal moves forward, and makes user center of gravity be moved along, and such user health avoided the need for turning forward significantly, and health (especially shank) need not make power, reduces the feeling of fatigue ridden in remote way.
Being mounted on auxiliary wheel system below two described pedals, described auxiliary wheel exceeds 5-10mm than the wheel lower surface of wheelbarrow when dropping to extreme position.So can tilt toward either side when running at a low speed or stop, rely on an auxiliary wheel and wheel to coordinate and maintain balance, and two auxiliary wheels will not land with wheel simultaneously, it is ensured that wheel unsettled will not cause wheelbarrow disequilibrium.

Claims (1)

1. the self-balancing wheelbarrow that a center of gravity is automatically adjusted, it is characterised in that: including car body and two pedals being arranged in the mounting post of car body both sides, the lower surface of one or two described pedal is provided with auxiliary wheel system;Described auxiliary wheel system includes auxiliary wheel, the support bar of described auxiliary wheel is installed, it is molded over the mounting seat being rotationally connected below described pedal and with described support bar, with the drive rod being rotationally connected in the middle part of support bar, and the slide block being rotationally connected with the drive rod other end, forming the slide rail slided 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 slide block two ends are provided with two permanent magnets;Described slide rail from pedal one end along tread length direction to pedal in the middle part of extend, be positioned in pedal slide rail two ends form accommodate described electric magnet A, electric magnet B electric magnet accommodate chamber;The described electric magnet receiving intracavity connection being positioned at pedal end has a capping;Described auxiliary wheel fall to extreme position rear drive bar upper end in the horizontal direction than bottom closer to electric magnet B;It is rotatably connected to a screw mandrel along car body fore-and-aft direction on two described pedals, is provided with one in pedal and is connected by screw-driven with described mounting post in order to the motor driving screw mandrel to rotate, described screw mandrel;Described motor, electric magnet A, electric magnet B electrically connect with the controller of wheelbarrow respectively, when wheelbarrow speed is less than the first normal speed, controller controls motor and drives screw mandrel to rotate so that pedal moves to wheelbarrow direct of travel front, controller controls the electric magnet B generation permanent magnet relative with it magnetic field in the same direction simultaneously, electric magnet A produces the magnetic field that the permanent magnet relative with it is reverse, slide block is driven to move to electric magnet B, so that auxiliary wheel falls;When wheelbarrow speed is higher than the second normal speed, controller controls motor and drives screw mandrel opposite direction to rotate so that pedal moves to the rear of wheelbarrow direct of travel, controller controls the magnetic field that the electric magnet B generation permanent magnet relative with it is reverse simultaneously, electric magnet A produces and the permanent magnet relative with it magnetic field in the same direction, slide block is driven to move to electric magnet A, so that auxiliary wheel is packed up;Described second normal speed is more than the first normal speed;
Being mounted on auxiliary wheel system below two described pedals, described auxiliary wheel exceeds 5-10mm than the wheel lower surface of wheelbarrow when dropping to extreme position.
CN201610452725.3A 2014-12-25 2014-12-25 Center-of-gravity self-regulated self-balancing unicycle Pending CN105947049A (en)

Priority Applications (2)

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
CN201610452725.3A CN105947049A (en) 2014-12-25 2014-12-25 Center-of-gravity self-regulated self-balancing unicycle

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201610452725.3A CN105947049A (en) 2014-12-25 2014-12-25 Center-of-gravity self-regulated self-balancing unicycle

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CN201410826266.1A Division CN104527876B (en) 2014-12-25 2014-12-25 Self-balancing monocycle with gravity-center self-adjusting function

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CN105947049A true CN105947049A (en) 2016-09-21

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CN201410826266.1A Active CN104527876B (en) 2014-12-25 2014-12-25 Self-balancing monocycle with gravity-center self-adjusting function
CN201610455337.0A Pending CN105857465A (en) 2014-12-25 2014-12-25 Self-balancing monocycle with gravity center capable of being automatically adjusted
CN201610447502.8A Pending CN105947047A (en) 2014-12-25 2014-12-25 Center-of-gravity self-regulated self-balancing unicycle
CN201610452725.3A Pending CN105947049A (en) 2014-12-25 2014-12-25 Center-of-gravity self-regulated self-balancing unicycle

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CN201410826266.1A Active CN104527876B (en) 2014-12-25 2014-12-25 Self-balancing monocycle with gravity-center self-adjusting function
CN201610455337.0A Pending CN105857465A (en) 2014-12-25 2014-12-25 Self-balancing monocycle with gravity center capable of being automatically adjusted
CN201610447502.8A Pending CN105947047A (en) 2014-12-25 2014-12-25 Center-of-gravity self-regulated self-balancing unicycle

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WO2017161532A1 (en) * 2016-03-24 2017-09-28 罗春晖 Electric self-balancing scooter
GB2550884A (en) * 2016-05-26 2017-12-06 Artemev Timur Self-balancing unicycle device with auxiliary support

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CN204021086U (en) * 2014-08-31 2014-12-17 李陈 The wheelbarrow that a kind of pedal can fall automatically
CN204021087U (en) * 2014-08-31 2014-12-17 李陈 A kind of Self-balancing electronic wheelbarrow
CN104192226A (en) * 2014-09-25 2014-12-10 李陈 Wheelbarrow with auxiliary wheel

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CN105857465A (en) 2016-08-17

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Application publication date: 20160921