CN106080884B - A kind of external motor type self-balancing two-wheeled electrocar - Google Patents

A kind of external motor type self-balancing two-wheeled electrocar Download PDF

Info

Publication number
CN106080884B
CN106080884B CN201610504767.7A CN201610504767A CN106080884B CN 106080884 B CN106080884 B CN 106080884B CN 201610504767 A CN201610504767 A CN 201610504767A CN 106080884 B CN106080884 B CN 106080884B
Authority
CN
China
Prior art keywords
base
balancing
handle
type self
motor type
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
Application number
CN201610504767.7A
Other languages
Chinese (zh)
Other versions
CN106080884A (en
Inventor
不公告发明人
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Changzhou Airwheel Intelligent Technology Co Ltd
Original Assignee
Changzhou Airwheel Intelligent Technology Co Ltd
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
Family has litigation
First worldwide family litigation filed litigation Critical https://patents.darts-ip.com/?family=55549108&utm_source=google_patent&utm_medium=platform_link&utm_campaign=public_patent_search&patent=CN106080884(B) "Global patent litigation dataset” by Darts-ip is licensed under a Creative Commons Attribution 4.0 International License.
Application filed by Changzhou Airwheel Intelligent Technology Co Ltd filed Critical Changzhou Airwheel Intelligent Technology Co Ltd
Priority to CN201610504767.7A priority Critical patent/CN106080884B/en
Publication of CN106080884A publication Critical patent/CN106080884A/en
Application granted granted Critical
Publication of CN106080884B publication Critical patent/CN106080884B/en
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

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
    • B62K3/00—Bicycles
    • B62K3/002—Bicycles without a seat, i.e. the rider operating the vehicle in a standing position, e.g. non-motorized scooters; non-motorized scooters with skis or runners
    • 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
    • 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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
    • B60K7/00—Disposition of motor in, or adjacent to, traction wheel
    • B60K7/0007—Disposition of motor in, or adjacent to, traction wheel the motor being electric
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L15/00—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles
    • B60L15/20—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D11/00—Steering non-deflectable wheels; Steering endless tracks or the like
    • B62D11/001—Steering non-deflectable wheels; Steering endless tracks or the like control systems
    • B62D11/003—Electric or electronic control systems
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D11/00—Steering non-deflectable wheels; Steering endless tracks or the like
    • B62D11/02—Steering non-deflectable wheels; Steering endless tracks or the like by differentially driving ground-engaging elements on opposite vehicle sides
    • B62D11/04—Steering non-deflectable wheels; Steering endless tracks or the like by differentially driving ground-engaging elements on opposite vehicle sides by means of separate power sources
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62M—RIDER PROPULSION OF WHEELED VEHICLES OR SLEDGES; POWERED PROPULSION OF SLEDGES OR SINGLE-TRACK CYCLES; TRANSMISSIONS SPECIALLY ADAPTED FOR SUCH VEHICLES
    • B62M7/00—Motorcycles characterised by position of motor or engine
    • B62M7/12—Motorcycles characterised by position of motor or engine with the engine beside or within the driven wheel
    • 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
    • B62K2204/00—Adaptations for driving cycles by electric motor
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/72—Electric energy management in electromobility

Abstract

A kind of external motor type self-balancing two-wheeled electrocar, including wheel, battery, control system, motor, base, handle, it is characterized in that the external motor type is two inside wheels that two motors are placed on base body both sides respectively, two wheels are mechanically fastened on base by respective single side axis respectively, control system and battery are arranged in base, handle is directly or indirectly mechanically connected on base, the single side axis of the wheel, it is fixed on the electric machine support center of wheel, the aperture of electric machine support for fixing single side axis is less than the diameter of single side axis, in single side axis press-in electric machine support hole.

Description

A kind of external motor type self-balancing two-wheeled electrocar
Technical field
The present invention relates to a kind of external motor type self-balancing two-wheeled electrocar, belong to technical field of transportation means.
Background technology
Today's society economy continues to develop, and the vehicles are increasing, faces more and more crowded urban road, road surface money Contradiction between the sharp increase of source and automobile quantity is becoming increasingly acute, and to there is the China of population more than 1,300,000,000, allows urban road to adapt to Our vehicles are unrealistic, and only the vehicles of let us are only outlet to adapt to our road, together When global warming, ozone hole, sea level rise etc., and a series of environmental problems annoyings us, and cause the weight of this situation It is motor vehicle exhaust emission to want one of arch-criminal.So we need a kind of energy-saving and environmental protection and can in single file in the traffic of crowded crowd Instrument, to solve the contradiction that these are becoming increasingly acute.
Start the Self-balance electric vehicle spread, also referred to as thinking car in the market, power is used as by the use of lithium battery Power supply, environmental protection save again, perhaps will be the vehicles of our a new generations, its operation logic is based primarily upon one kind, and " dynamic is steady It is fixed ", balance of the car body on traffic direction is maintained by electric car autobalance ability itself, typically set in vehicle body Gyroscope is body-sensing balance system, perceives car body real time status by body-sensing balance system, conveys information to information processing System, appropriate instruction is calculated after information processing system is to the information processing of perception and passes to motor, controlled motor is come real The poised state of existing car body operation, so driver can directly control the acceleration and deceleration of car body to realize that operation is flat by displacement of center of gravity Weighing apparatus.Double-wheel self-balancing underbody seat in the market is bigger than normal, and road surface is poor by property, is unfavorable for carrying, assembling it is cumbersome, it is handling not Good, comfort level is not high when riding, and meets road barrier or other burst obstacles repair regulating system without automatic.
The content of the invention
The invention discloses a kind of external motor type self-balancing two-wheeled electrocar, by wheel, battery, control system, motor, Base, handle etc. form, and the external motor type is two inside wheels that two motors are placed on base body both sides respectively, Originally the motor that base should be arranged at is taken out from base, is divided into the inside wheel of base the right and left, has saved base Inner space, chassis of vehicle body height is improved, makes car more preferable by property, due to motor is divided into inside wheel, although car Body chassis is improved, but car center of gravity is not high, and motor is divided into base the right and left wheel, and complete vehicle weight is set up separately outward, can be had Effect improves the overall stability of car body.Two motors, which are arranged at outside, simultaneously can improve motor operationally radiating rate.Two cars Wheel has oneself independent axle respectively, and two axles are not attached to, are independently arranged, and described axle is single side axis, and single side axis is only from wheel While passing, another side does not pass out of wheel, connects wheel external mechanical by the side axis passed, the car in the present invention Wheel be mechanically fastened at by respective single side axis on base, be separately separately provided between axle and axle, two-wheeled have respective axle and There is respective motor so that the operation of this electric car is more flexible, and two-wheeled is controlled by same control system at the same speed, and handle is left Right direction controls car two wheel guide robot to control car left and right directions to run, and car is perceived by gyroscope ride in the longitudinal direction Administrative staff and the operation on the skew control car fore-and-aft direction on the center of gravity fore-and-aft direction of an entirety of car body composition, center of gravity Car is run forward during reach, and car is run backward when being moved after center of gravity, and when car is run forward, car can be through when being moved after center of gravity Deceleration, stopping, fallback procedures are gone through, car stops when center of gravity is not offset, and for car when running backward, car can when center of gravity moves forward The process that experience is slowed down, stops, being run forward；When the personnel of riding on handle fore-and-aft direction to having force, before human body is to handle Rear is to force and the operation on the Comprehensive Control car fore-and-aft direction of the power of car and personnel's entirety gravity of riding.Control system And battery is arranged in base, handle is mechanically connected on base.Battery is arranged at the bottom of base and remote handle end, with Lever principle between handle, last point of weight of car fore-and-aft direction is balanced, improve vehicle body stability.
A kind of external motor type self-balancing two-wheeled electrocar of the present invention, it is divided into two motors of inside wheel Preferably wheel hub motor, inside wheel weight branch are more uniformly distributed, and are our electric machine externals with reference to wheel hub motor intrinsic advantage The operation of formula self-balancing two-wheeled electrocar is more stable.
A kind of external motor type self-balancing two-wheeled electrocar of the present invention, two wheels are respectively by respective unilateral Shaft mechanical is fixed on base, is fixed between axle and base by fixed component flange nut, the pad and nut of flange nut It is integral type, and has anti-skidding groove in flange face, so increase the contact area of nut and workpiece, compared to common spiral shell The combination of female cushioning circle, more firmly and pulling force it is bigger.
The fixed component of a kind of external motor type self-balancing two-wheeled electrocar of the present invention, fixing axle and base except Flange nut, further comprise：Crescent moon piece, adjustment steel disc, axle sleeve, axle sleeve are relative base, more the hard material of matter prepare and Into, base die casting on axle sleeve, making axle sleeve be connected with base formula by way of die casting, axle is arranged in axle sleeve, because Axle sleeve is formed for hard material, will not produce deformation with the power that axle is born, to make axle be more firmly connected with base, axle tail End is further secured on base by crescent moon piece, adjustment steel disc and flange nut.
The moon in the fixed component of a kind of external motor type self-balancing two-wheeled electrocar of the present invention, fixing axle and base Tooth part effectively improves the fastening dynamics of flange nut as the buffering between axle sleeve and flange nut.Flange nut is typically chosen Using rigid material, preferably by quenching stiffened processing.
The moon in the fixed component of a kind of external motor type self-balancing two-wheeled electrocar of the present invention, fixing axle and base Tooth part is two, and crescent moon part depressed area is arranged between flange nut and axle sleeve to being buckled on axle, crescent moon part and base it Between be lined with adjustment steel disc.On the one hand because of susceptor surface and rough, using steel disc, medium, reduction crescent moon are used as using steel disc Frictional force between part and base, steel disc play a part of lubricate part, be easy to flange nut to screw in, on the other hand according to crescent moon part with The steel disc of Interval selecting suitable depth between base reduces gap, with this improves overall tightness.
In a kind of fixing axle of external motor type self-balancing two-wheeled electrocar of the present invention and the fixed component of base Crescent moon part depressed area opposite be inclined-plane, tilted at nearly wheel to axle, the face of the screw hole on corresponding base is also inclined for one Inclined-plane, flange nut heads on crescent moon part to be made toward screw-in at nearly wheel, and because the face of screw hole is inclined-plane, hole is less and less, adjusts steel Piece is padded between crescent moon part and base, the inclination corresponding with crescent moon part of corresponding seating plane, is tilted at nearly wheel to axle, so During constantly screwing between flange nut and crescent moon part, between crescent moon part and axle, between crescent moon part and adjustment steel disc, adjustment Contacted between steel disc and base more and more closer.
In a kind of fixing axle of external motor type self-balancing two-wheeled electrocar of the present invention and the fixed component of base Flange nut behind axle on hole is carried at adjacent flange nut, fixed component further comprises split pin, and split pin is set In in the hole on axle.Split pin is used to limit flange nut back-out.To further adding split pin on axle, for flange nut Fastening, prevents flange nut from having loosening, can effectively prevent flange nut outward turning.
In a kind of fixing axle of external motor type self-balancing two-wheeled electrocar of the present invention and the fixed component of base Axle sleeve, be that base is fixed on axle sleeve by die casting, from the material axle sleeve more harder than base as axle and base it Between medium, improve the overall load-bearing dynamics of car body.
In a kind of fixing axle of external motor type self-balancing two-wheeled electrocar of the present invention and the fixed component of base Axle sleeve, be to be connected by way of die casting with base, base is fixed on axle sleeve by die casting, and sleeve outer surface is bonded with base Contact, the outer surface of axle sleeve is coarse or is provided with depressed area on surface, the adhesion between base can be effectively improved, by right Boss surfaces are coarse or the such die casting of depression treatment in the horizontal direction between the two if peeled off, it needs base in its surface Peeling force it is bigger, fix axle sleeve and base more firm, effectively prevent axle sleeve from being come off with base.
In a kind of fixing axle of external motor type self-balancing two-wheeled electrocar of the present invention and the fixed component of base Axle sleeve, inner hole of shaft sleeve both ends diameter, the diameter of bore of nearly road wheel end is more than remote road wheel end, the line on both ends with it is horizontal Angle between face is preferably between 1 ° -3 °.
A kind of external motor type self-balancing two-wheeled electrocar of the present invention, the single side axis of the wheel, is fixed on car The electric machine support center of wheel, is passed through from electric machine support center, is less than list for fixing the aperture at electric machine support center of single side axis The diameter of side axis, single side axis are pressed into electric machine support hole.
A kind of external motor type self-balancing two-wheeled electrocar of the present invention, the maximum pole in the aperture of the electric machine support The difference that subtracts obtained by the minimum limit of size for the axle that single side axis is fixed into electric machine support hole of limit size be interference Ymin, be hole and The most relaxed state that axle coordinates；The minimum limit of size in the aperture of electric machine support subtracts the axle that single side axis is fixed into electric machine support hole Maximum limit of size obtained by difference be interference Ymax, the most compact state that to be hole coordinate with axle, Ymin≤- 0.01mm, Ymax >=-0.5 ㎜, Ymin >=Ymax.
A kind of external motor type self-balancing two-wheeled electrocar of the present invention, the single side axis of the wheel, is fixed on car The electric machine support center of wheel, there is hole to communicate with axle corresponding position in carriage center, pin is inserted with hole.Pin inserts in the hole, Axle is further secured to support on left and right directions does not have any displacement.
A kind of external motor type self-balancing two-wheeled electrocar of the present invention, wheel both sides further include vehicle wheel side Lid, vehicle wheel side lid are connected by bearing with shaft mechanical, vehicle wheel side lid and bearing, are interference fit connection between bearing and axle, Pass through pressing by outside force.Bearing is pressed into by pressing mode by vehicle wheel side lid, axle press-in bearing, it is more simple with respect to other techniques Just, and structure is simplified, outward appearance is more attractive.
A kind of external motor type self-balancing two-wheeled electrocar of the present invention, including two open systems, it is respectively electricity Source switch system and electric car operation start closing system.
A kind of external motor type self-balancing two-wheeled electrocar of the present invention, power switch system and electric car operation are opened Dynamic closing system, after power switch system is opened, according to electric car to entering back into operation activation system after the perception of human body.
A kind of external motor type self-balancing two-wheeled electrocar of the present invention, including two opening devices, it is respectively electricity Vehicle power switching device and electric car operation start shutoff device.After power switch device is opened, according to sense of the electric car to human body Operation starter is entered back into after knowing.The run switch of Self-balance electric vehicle in the market is arranged on handle, is being opened The balance system of preceding electric car is not run, and car is in non-equilibrium state, and the personnel of riding can not stand on car, ride The general station of personnel, and can be to the effect of one power of handle, when handle stress is given in the switch beside car on opening handle One fore-and-aft direction of car or left and right directions operation instruction, car setting in motion, thus when motion do not ridden personnel meaning Know control, it is likely that the personnel of riding can be bumped against, or this now rides between personnel and car and performed relative motion, the personnel of riding want to stand Car in upper motion, acquires a certain degree of difficulty, and has very big danger, dangerous to reduce, and wherein electric car operation, which is opened, closes Close device to be arranged in base, the running gear for standing or leaving base by human body to be started or close electric car.People After body is stood on base, after electric car operation opening device detects human body, automatically into running status, by people's body weight Heart displacement is perceived to be supplied to the signal that car body is run, and when gravity center of human body moves forward, car body starts to travel forward, when people's body weight Car body slows down or stopped or retreats when being moved after the heart.Human body can be run simultaneously with car body, improve security.
A kind of external motor type self-balancing two-wheeled electrocar of the present invention, described opening closure include：Letter Number induction installation, elastic component, induction of signal partitions, wherein signal induction device are arranged at the Double-wheel self-balancing below pedal In electronic underbody seat, elastic component is arranged above signal induction device, face signal induction device, induction of signal partitions and bullet Property part be fixedly connected, be fixed on below elastic component, with signal induction device induced signal transmit it is vertical corresponding.
A kind of external motor type self-balancing two-wheeled electrocar of the present invention, wherein signal induction device include：Circuit Plate, optical signal launch part, optical signal receiving element, signal transmission interface, current-limiting resistance, filter capacitor, load resistance, are mounted on On wiring board.
A kind of external motor type self-balancing two-wheeled electrocar of the present invention, wherein passing to the electricity of optical signal launch part After the filtered capacitive filter in source filters out the interference of power supply impurity, current-limiting resistance current limliting, optical signal launch part in the form of light Induced signal is transmitted to optical signal receiver, and optical signal is transformed into current signal by optical signal receiver, turns through load resistance Become voltage signal and pass to signal transmission interface, pass to the controller of Double-wheel self-balancing electric car, controller receives electricity The electric car operation of pressure signal Double-wheel self-balancing is closed.
A kind of external motor type self-balancing two-wheeled electrocar of the present invention, wherein described signal induction device is set In in the base of Double-wheel self-balancing electric car, the pedal on base is provided with aperture, and aperture senses corresponding to signal induction device The top of signal transmission, what elastic component protruded is arranged on pedal aperture, and the induction of signal partitions on elastic component is from aperture Penetrate, when elastic component is acted on by external force, the sensing that induction of signal partitions disabling signal induction installation during downward deformation occurs is believed Number.
A kind of external motor type self-balancing two-wheeled electrocar of the present invention, wherein induction of signal partitions disabling signal The induced signal of induction installation, the optical signal that optical signal launch part is launched, which can not pass to, receives optical signal receiver, two-wheel The controller of Self-balance electric vehicle does not receive the voltage signal launched from signal induction device, Double-wheel self-balancing electric car Operation is in opening.
A kind of external motor type self-balancing two-wheeled electrocar of the present invention, wherein elastic component are sealingly fastened in pedal On.
A kind of external motor type self-balancing two-wheeled electrocar of the present invention, wherein above the elastic component of the pedal Further include foot pad, foot pad is not by downward pressure, that is, when personnel foot of riding is not stepped down on foot pad, foot pad and elastic component without The effect of mutual power, or between mutual power elastic component can not be made to produce deformation, induced signal is not blocked from breaking, Double-wheel self-balancing electricity Motor-car operation is closed.When personnel foot of riding is stepped down on foot pad, the mutual power between foot pad and elastic component makes bullet Property part produce deformation, induced signal blocked, and the operation of Double-wheel self-balancing electric car is in opening.
A kind of external motor type self-balancing two-wheeled electrocar of the present invention, each external motor type self-balancing two-wheel electricity Motor-car, opening closure, wherein at least one induction of signal dress are run comprising one or several Double-wheel self-balancing electric cars The induction of signal put is blocked by induction of signal partitions, and Double-wheel self-balancing electric car enters operation opening.
A kind of external motor type self-balancing two-wheeled electrocar of the present invention, bullet is provided between its center base and handle Property resetting-mechanism, including stator, rotor, dynamic clamping head and quiet clamping head, handle is directly or indirectly mechanically fixed with rotor to be connected, stator with Base, which is directly or indirectly mechanically fixed, to be connected, by dynamic clamping head and quiet clamping head elastic connection between stator and rotor, when handle is by outer When power is subjected to displacement, rotor driven does the position skew of equal angular, after external force disappears, is made by dynamic clamping head and quiet clamping head screen resilience With rotor reinstatement state, while drive handle reinstatement state.Stator mentioned here, rotor are unrelated with motor, stator Only referring to actionless part in flexible restoring organ, rotor refers in flexible restoring organ relative to the part of stator rotation, Rotor is using the axle center of stator as axis rotation.
A kind of external motor type self-balancing two-wheeled electrocar of the present invention, wherein stator are arranged at internal rotor；Or Person's rotor is arranged at stator interior.It is characterized in that dynamic clamping head and quiet clamping head is filled in gap between stator and rotor, stator and rotor One entirety is linked to be by dynamic clamping head and quiet clamping head, rotor is rotated by external force driving relative initial position, drives dynamic clamping head and quiet clamping head to produce Deformation, when suffered by rotor external force driving force weaken or disappear after, dynamic clamping head and quiet clamping head by its elastic reset power rotor driven to Initial position moves or returned to initial position.
A kind of external motor type self-balancing two-wheeled electrocar of the present invention, is wherein set limited between stator and rotor Position part, other all motions in addition to rotating of limitation rotor relative stator.
A kind of external motor type self-balancing two-wheeled electrocar of the present invention, wherein passes through elasticity between stator and rotor Return unit elastic connection, described dynamic clamping head and quiet clamping head are rubber parts or silica gel part, are fixed to improve rubber parts with stator and rotor Dynamics, rubber parts are molded between stator and rotor.
A kind of external motor type self-balancing two-wheeled electrocar of the present invention, to improve the resilience of rubber parts and making to ride Personnel can utilize optimum dynamics, be more convenient comfortable manipulation handle, corresponding hardness control is in 55-65A, tensile strength 13- 15MPa, elongation 600-650%, peel strength 7-8MPa, the rubber parts composition include rubber NR, carbon black N774, carbon black N330, naphthenic oil, zinc oxide, antiaging agent MB, stearic acid, RD, WB212, altax, accelerant CZ, each account for gross mass Proportion 50%-65%, 15%-25%, 7%-15%, 3%-9%, 1%-5%, 0.1%-0.5%, 0.1%-0.5%, 0.1%-0.5%, 0.1%- 0.5%、0.1%-0.5%、0.5%-1.2%。
A kind of external motor type self-balancing two-wheeled electrocar of the present invention, dynamic clamping head and quiet clamping head is in flexible restoring organ Rubber parts, its rubber are prepared into by following manner：Prepared by total material quality 10kg, rubber NR is on the machine of beginning to pratise at 100 DEG C ± 2 Amounted to for 5 times by two tumble blends at DEG C and continue -85 seconds 75 seconds, add carbon black N774, carbon black N330, naphthenic oil, zinc oxide, Antiaging agent MB, stearic acid, RD, WB212 are kneaded at 110 DEG C ± 2 DEG C continues -130 seconds 110 seconds, adds naphthenic oil at 120 DEG C Be kneaded at ± 2 DEG C and continue -110 seconds 90 seconds, while surface cleaned, cleaning continues -170 seconds 150 seconds, park 8 hours with On, addition altax, accelerant CZ and sulphur are kneaded after the lasting 75-85 seconds at 50 DEG C -60 DEG C and are pressed into thin slice by roller, It is standby to complete rubber system.
A kind of external motor type self-balancing two-wheeled electrocar of the present invention, it is multiple to improve stator, rotor and elasticity Required dynamics is stripped between the part of position, the surface that stator, rotor contact with dynamic clamping head and quiet clamping head is rough surface or has depression Patterned surface.
A kind of external motor type self-balancing two-wheeled electrocar of the present invention, the bullet set between its center base and handle Property resetting-mechanism further comprise angular stop means, limitation rotor rotates in certain angle, and the corresponding handle that limits exists Moved in the angle.
A kind of external motor type self-balancing two-wheeled electrocar of the present invention, wherein limitation rotor turns in certain angle Dynamic angular stop means, including limited cover, spacer pin, limited cover are directly or indirectly fixedly connected with stator machinery, limited cover Spacing hole is provided with, spacer pin is directly or indirectly mechanically fixed with rotor and is connected, and rotor, which rotates, drives spacer pin on limited cover Spacing hole in do in certain angle and rotate.
A kind of external motor type self-balancing two-wheeled electrocar of the present invention, wherein passes through handle between handle and rotor Base tool is fixedly connected, and spacer pin is fixed on handle base, and handle is acted on rotating by external force and driven on handle base and handle base Spacer pin is rotated, and spacer pin is limited by the spacing spacing hole that covers in rotation process, is rotated in certain angle.
A kind of external motor type self-balancing two-wheeled electrocar of the present invention, wherein limitation rotor turns in certain angle Dynamic, i.e., corresponding handle rotates in the angle, and described certain angle is preferably between ± 30 °, and phase is rotated in this angle It is pleasant to the human users that ride.
A kind of external motor type self-balancing two-wheeled electrocar of the present invention, the elasticity between its center base and handle are answered The positional information acquisition system of handling position change when further being turned round in the mechanism of position comprising car body, catches handling position change Instant messages.
A kind of external motor type self-balancing two-wheeled electrocar of the present invention, wherein positional information acquisition system include letter The composition such as breath seizure and information processing transmitting device, information launcher.
A kind of external motor type self-balancing two-wheeled electrocar of the present invention, wherein information launcher are direct or indirect It is fixedly installed on and is directly or indirectly mechanically fixed on the rotor being connected with handle, information capture and information processing transmitting device is straight Connect or be fixedly installed on indirectly and be directly or indirectly mechanically fixed on the stator being connected with base, turned by rotor relative to stator It is dynamic, drive information launcher to be rotated relative to information capture and information processing transmitting device, information launcher is rotating During catch and different signals is launched in the different displacement of information processing transmitting device because of its relative information, information capture and Information processing transmitting device is captured after unlike signal after processing, corresponding information transmission to control system, is through control Corresponding information is passed to motor after system processing, the driving different to two wheels respectively.
A kind of external motor type self-balancing two-wheeled electrocar of the present invention, wherein information launcher are direct or indirect It is fixedly installed on and is directly or indirectly mechanically fixed on the stator being connected with base, information capture and information processing transmitting device is straight Connect or be fixedly installed on indirectly and be directly or indirectly mechanically fixed on the rotor being connected with handle, turned by rotor relative to stator It is dynamic, drive information capture and information processing transmitting device to be rotated relative to information launcher, information capture and information processing Transmitting device is during rotation because the different displacement of its relative information emitter receives different signals, information capture And information processing transmitting device is captured after unlike signal after processing, corresponding information transmission to control system, through control Corresponding information is passed to motor after system processing, the driving different to two wheels respectively.
A kind of external motor type self-balancing two-wheeled electrocar of the present invention, wherein described information launcher is magnetic Iron, described information capture and information processing transmitting device are linear hall sensor, and linear hall sensor passes through seizure Changes of magnetic field information caused by the magnet positions change to be done relative motion with it is after processing, corresponding information transmission to control System, corresponding information is passed to motor after control system is handled, respectively the driving different to two wheels.
A kind of external motor type self-balancing two-wheeled electrocar of the present invention, wherein described magnet is a pair of magnet, In a center of symmetry to be directly or indirectly mechanically fastened on stator or rotor, central point is rotor pivot, in two magnetic blow out centre Point corresponding position fixed linear Hall sensor.
To improve balance of the car when turning to, another aspect of the present invention discloses external motor type self-balancing of the present invention Two-wheeled electrocar rotating direction control method, because of handle displacement, linear hall sensor passes through the change with magnet relative rotation angle The changes of magnetic field information of magnet is caught after processing, corresponding information transmission is calculated two-wheeled motor control to control system Amount, after corresponding information passed to motor, the driving different to two wheels respectively, two wheels is produced speed differences, so as to Realize and turn to.
External motor type self-balancing two-wheeled electrocar rotating direction control method of the present invention, wherein external motor type self-balancing two-wheel Electric vehicle rotary to when two wheels produce speed difference during add car body fore-and-aft direction on the speed of service as car body entirety The speed control of operation, the angle that control system detection handle rotates, while according to the speed of service on the current fore-and-aft direction of car body Corresponding proportionality coefficient is obtained, the angle rotated by handle is multiplied by corresponding proportionality coefficient and calculates final motor synthesis control Amount processed.
External motor type self-balancing two-wheeled electrocar rotating direction control method of the present invention, wherein further comprising that motor operation is adjusted Whole control, control system capture gyroscope, accelerometer data and motor driving data, calculate current vehicle running body direction And speed, while the information captured by rotor rotation linear hall sensor in flexible restoring organ is after filtering, Linearization process, handle rotational angle is obtained, according to velocity magnitude now, calculate corresponding proportionality coefficient, then use handle The angle of rotation is multiplied by corresponding proportionality coefficient, obtains motor control adjustment amount.
External motor type self-balancing two-wheeled electrocar rotating direction control method of the present invention, wherein described self-balancing two wheeled electric Car further comprises that motor operation adjusts controller, and adjustment controller captures gyroscope in car body, accelerometer data and electricity Machine driving data, current vehicle running body direction and speed are calculated, while dress is turned to according to self-balancing two-wheeled electrocar is installed on The direction information that the Hall sensor put captures after filtering, linearization process, obtains car body transfer rotational angle, According to velocity magnitude now, corresponding proportionality coefficient is calculated, then turned to and filled with external motor type self-balancing two-wheeled electrocar The angle for putting rotation is multiplied by corresponding proportionality coefficient, obtains motor control adjustment amount, and controller is adjusted according to obtained motor control Whole amount U sends driving control system for electric machine to, two motors is produced speed difference, realizes and turns to.
External motor type self-balancing two-wheeled electrocar rotating direction control method of the present invention, the wherein real-time rotating speed v of motor is in difference During section, external motor type self-balancing two-wheeled electrocar rotating direction control method：K be transfer rotational angle proportionality coefficient, KpFor speed proportional coefficient (the speed proportional coefficient set according to the individual difference of each motor), VLFor coefficient adjustment lower velocity limit, VHBe the real-time rotating speed of motor for coefficient adjustment speed limit, v, V be that range of motor speeds according to actual set, U is motor control Adjustment amount, θ are steering yoke rotational angle, when controller detects the real-time rotating speed v of motor≤coefficient adjustment lower velocity limit VLWhen, U= θ * k, k=Kp* V/VL, now the proportionality coefficient k of transfer rotational angle fix and reach maximum, controller is only with electricity The angle change that machine external self-balancing two-wheeled electrocar rotates adjusts motor as Variable Control motor adjustment amount；Work as VH>v> VLWhen：U=θ * k, k=Kp* V/v；Now the proportionality coefficient k of transfer rotational angle is that variable rotates speed in real time according to motor Linear change, while the angle that is rotated with self-balancing two-wheeled electrocar of controller and k product are spent, makees controlled motor adjustment amount, tune Whole motor；Work as v>VHWhen：U=θ * k, k=Kp* V/VH,Now the proportionality coefficient k of transfer rotational angle is fixed and reached most Small value, controller only using the angle change that self-balancing two-wheeled electrocar rotates as Variable Control motor adjustment amount, adjust motor.
External motor type self-balancing two-wheeled electrocar rotating direction control method of the present invention, wherein described motor control adjustment Amount, two motors is produced speed difference, be wheel electrical machine drive volume of the controller only to non-turn side, now motor control adjustment amount For motor drive volume；Or controller gives non-turn side wheel motor drive volume, while turn side wheel motor limit amount is given, now Motor control adjustment amount be motor drive volume and motor limit amount and；Or its wheel electrical machine limit amount only to turn side is controlled, Now motor control adjustment amount is motor limit amount.As v≤VLIt is preferred that only giving the wheel electrical machine drive volume of non-turn side, or give Turn side wheel limit amount（The limit amount can be the reverse drive amount of motor.）；Work as v>VHIt is preferred that only limited to turn side wheel Amount processed.
The present invention rides personnel's balance in straight trip for raising, external motor type self-balancing two-wheel provided by the invention electricity Motor-car includes control method for stably operating, when external motor type self-balancing two-wheeled electrocar detects that car transfer does not rotate, Single motor operation be obstructed, controller detects that car body turns to, according to car body turn to deviation predetermined value size give by Motor adequate compensation amount is hindered, motor adequate compensation amount of being obstructed either is given and gives the appropriate limit amount of another motor or be given only Another motor limit amount, so that car body returns to steady operational status.
The maximum operation drive volume of external motor type self-balancing two-wheeled electrocar of the present invention, wherein motor is Umax, Motor moment drive volume before being obstructed of being obstructed is UIt is former, drive volume U that the motor that is obstructed is obstructedResistance, when controller detects 0 ＜ UResistance＜ Umax-UIt is former, single motor is obstructed, and controller detects that car body turns to, and the size for deviateing predetermined value is turned to according to car body, only Motor adequate compensation amount of being obstructed is given, car body is returned to former steady operational status；Or give be obstructed motor adequate compensation amount to The appropriate limit amount of another motor is given, car body is returned to steady operational status；Or another motor limit amount is given only, make car body Return to steady operational status.It is preferred that being given only motor adequate compensation amount of being obstructed, car body is set to return to former steady operational status.
External motor type self-balancing two-wheeled electrocar of the present invention, single motor are obstructed, and controller detects car body Turn to, as 0 ＜ UResistance＜ Umax-UIt is former, the size for deviateing predetermined value is turned to according to car body, is given only the motor adequate compensation that is obstructed Amount, compensation rate are that U multiplies in penalty coefficient K equal to the angle W that car body deviation predetermined value rotates, and car body is returned to former stable operation State.
External motor type self-balancing two-wheeled electrocar of the present invention, the maximum operation drive volume of motor is Umax, certainly flat Weighing apparatus two-wheeled electrocar transfer do not rotate, single motor is obstructed, and controller detects that car body turns to, be obstructed motor by Moment drive volume is U before resistanceIt is former, drive volume U that the motor that is obstructed is obstructedResistance, as Umax ＞ UResistance≥Umax-UIt is former, single motor is obstructed, and controls Device processed detects that car body turns to, according to car body turn to deviate predetermined value size, give be obstructed motor adequate compensation amount to The appropriate limit amount of another motor is given, car body is returned to steady operational status；Or another motor limit amount is given only, make car body Return to steady operational status.
External motor type self-balancing two-wheeled electrocar of the present invention, single motor are obstructed, and controller detects car body Turn to, 0 ＜ UResistance＜ Umax-UIt is formerOr Umax ＞ UResistance≥Umax-UIt is former, the size for deviateing predetermined value is turned to according to car body, is given Motor adequate compensation amount of being obstructed gives another motor appropriate limit amount, and compensation rate is that U is equal to the angle that car body deviates predetermined value rotation Degree W multiplies in penalty coefficient K, and limit amount is that U multiplies in limit coefficient K equal to the angle W that car body deviation predetermined value rotates, and makes car body Return to steady operational status；
The maximum operation drive volume of external motor type self-balancing two-wheeled electrocar of the present invention, wherein motor is Umax, External motor type self-balancing two-wheeled electrocar transfer does not rotate, and single motor is obstructed, and controller detects that car body occurs to turn To motor moment drive volume before being obstructed of being obstructed is UIt is former, drive volume U that the motor that is obstructed is obstructedResistance, work as UResistanceIt is given only during >=Umax another One motor limit amount, makes car body return to steady operational status.
External motor type self-balancing two-wheeled electrocar of the present invention, it is characterised in that single motor is obstructed, controller Detect that car body turns to, the size for deviateing predetermined value, U are turned to according to car bodyResistance>=Umax or 0 ＜ UResistance＜ Umax-UIt is formerOr Umax ＞ UResistance≥Umax-UIt is formerAnother motor limit amount is given only, limit amount is that U is equal to the angle W that car body deviates predetermined value rotation Multiply in limit coefficient K, car body is returned to steady operational status.
External motor type self-balancing two-wheeled electrocar of the present invention, described compensation or compensation and limitation or limitation, The not operation because caused by motor characteristic difference is larger can be can be used for simultaneously to turn to.
External motor type self-balancing two-wheeled electrocar of the present invention, the releasing detector that is obstructed is may further include, When self-balancing two-wheeled electrocar detects releasing of being obstructed by detector, to controller signals, the compensation of controller controlled motor Or limitation or compensation are cancelled immediately with limitation, return to steady operational status before being obstructed.
External motor type self-balancing two-wheeled electrocar of the present invention, to improve the balance that the personnel of riding ride, partially From measure and motor compensating, limitation control, a detection cycle is used as using 1-10 milliseconds.
A kind of external motor type self-balancing two-wheeled electrocar of the present invention, wherein handle can be folding handle, Hand includes the foldable mechanism between up knob arm, lower handle arm, upper and lower handle, handgrip part.
A kind of external motor type self-balancing two-wheeled electrocar of the present invention, wherein described handgrip part is in two handles Between be provided with car body display device or and car body control device.
A kind of external motor type self-balancing two-wheeled electrocar of the present invention, wherein described handgrip part is in two handles Between the car body control device that sets, including vehicle body Bluetooth control system, car remote upgrade control system, car power supply be long-range Switching system.
Between a kind of external motor type self-balancing two-wheeled electrocar of the present invention, wherein up knob arm and lower handle arm By foldable mechanism, folding is fixedly connected.
A kind of external motor type self-balancing two-wheeled electrocar of the present invention, wherein foldable mechanism include folded piece, Fold positioning limiting fixator, seal.Wherein described folded piece is hinge, including upper hinge, lower jaw and the upper and lower hinge of connection Rotating shaft, upper and lower hinge is individually fixed on upper and lower handle arm.Upper and lower handle arm realizes connection or folding by the folding of hinge It is folded.Wherein described connection fixture is to be fixedly connected with upper and lower handle arm, including hasp hook, hasp circle, hasp shell, hasp Locking device, hasp hook are fixed on one of handle arm, and hasp circle, hasp shell, snap lock device are arranged at another On individual handle arm, in realizing that upper and lower handle arm is fixedly connected on hasp hook, hasp circle rotary machine connects hasp circle hasp In on hasp shell, snap lock device locks hasp shell.Wherein described hasp shell includes hasp lower casing, hasp upper casing, hasp Lower casing is fixed on handle, and lower casing is made in the rotatable connection of hasp upper casing and hasp lower casing by hasp rotating shaft on hasp, hasp circle It is rotatably connected on hasp upper casing, hasp circle corresponds to hasp hook position when hasp upper casing is opened, and closes hasp upper casing, hasp Circle is fixedly connected with hasp hook, and hasp circle comes off from hasp hook when opening hasp upper casing.Wherein described hasp shell lock Determine device, including：Spring, hasp locking plate, hasp locking and hanging hook, hasp locking plate are arranged on hasp upper casing, and spring is arranged at hasp On locking plate, hasp locking and hanging hook is arranged on hasp lower casing, and hasp locking plate is caught on by hasp locking and hanging hook, be hasp upper casing locking with On hasp lower casing.Wherein hasp locking plate includes hasp locking plate press section position, hasp lock film perforation, hasp locking plate angle, on two springs Two springs are provided with, two springs are be arranged in parallel, and hasp locking plate is laterally inserted on hasp upper casing, and hasp locking plate press section position is being taken Outside the housing for buckling shell side, hasp locking plate angle is stretched out outside the housing of hasp upper casing opposite side, the hasp lock in hasp upper casing Spring is provided with piece angle, spring one end props up the top at hasp locking plate angle, and the other end props up hasp upper casing internal side wall, hasp Restricted hasp lock piece angle is set on locking plate hole completely into the projection in hasp upper casing, spring in hasp shell locking device most Projection is propped up on the inside of the hasp upper casing of hasp locking plate press section position during big stretching, and when hasp upper casing is closed, hasp locking and hanging hook, which is caught on, to be taken On padlock piece bore edges, hasp lock film perforation is subjected to displacement when hasp locking plate press section position is pressed, and hasp locking and hanging hook departs from hasp Locking plate bore edges, into hasp lock film perforation, hasp locking plate press section position is pressed hasp upper casing can free switch.
A kind of external motor type self-balancing two-wheeled electrocar of the present invention, wherein described seal is elastic water-proof Material, it is sealingly fastened on the interface of upper and lower handle arm, for as the interface connection between upper and lower handle arm, making interface close Envelope connection, has waterproof action, while elastomeric material, can making the personnel of riding, handgrip part has certain elasticity in bumpy sections Power resilience buffers, and can effectively reduce the human hand that rides and jolt sense.
A kind of external motor type self-balancing two-wheeled electrocar of the present invention, wherein described seal be rubber parts or Silica gel part, including further above can be by the string holes of transmission line, for by connecting handgrip part between two handles Car body display device or and car body control device and the transmission line of base interior power and control system.
A kind of external motor type self-balancing two-wheeled electrocar of the present invention, wherein the transmission line is arranged on folded tube Interior, folded tube is stuck in string holes, is folded pipe outer wall and is formed sealing with string holes, on the one hand can effectively prevent that transmission line is exposed, another Aspect folded tube can be folded and stretched with upper and lower handle arm.The folding of upper and lower handle arm will not damage transmission line.
Divide on a kind of external motor type self-balancing two-wheeled electrocar of the present invention, wherein up knob arm, lower handle arm Not She You groove, further include LED decorative lamp in groove, outside is provided with transparent silica gel and LED is packaged in groove.
A kind of external motor type self-balancing two-wheeled electrocar of the present invention, for ease of assembling, wherein carried on handle Power supply, information transmission and control interface end, with the power supply to be extended out in base and the pluggable connection of information transmission and control interface.
A kind of external motor type self-balancing two-wheeled electrocar of the present invention, wherein handle are further included at hand Seat, handle base are directly or indirectly connected on base, and power supply and information transmission and control interface can between handle and handle base Plug-in connection, and be fixedly connected between handle and handle base by screw machine.
A kind of external motor type self-balancing two-wheeled electrocar of the present invention, wherein up knob arm and handgrip part are electrical Pluggable connection, and be screwed.
Brief description of the drawings
The accompanying drawing of the present invention is in order to further illustrate the invention, rather than the limitation to invention scope.
Fig. 1 is external motor type self-balancing two-wheeled electrocar schematic diagram of the present invention.
Fig. 2 is external motor type self-balancing two-wheeled electrocar axletree of the present invention and vehicle body bindiny mechanism schematic diagram.
Fig. 3 is external motor type self-balancing two-wheeled electrocar axletree of the present invention and vehicle body bindiny mechanism diagrammatic cross-section.
Attachment structure sections of the Fig. 4 between external motor type self-balancing two-wheeled electrocar axletree of the present invention and wheel Schematic diagram.
Fig. 5 is that external motor type self-balancing two-wheeled electrocar car of the present invention runs opening closure diagrammatic cross-section.
Fig. 6 is external motor type self-balancing two-wheeled electrocar elastic reset steering mechanism decomposing schematic representation of the present invention.
Fig. 7 is that handle arm splits signal to external motor type self-balancing two-wheeled electrocar of the present invention with foldable mechanism up and down Figure.
Fig. 8 is external motor type self-balancing two-wheeled electrocar foldable mechanism schematic diagram of the present invention.
Fractionations of the Fig. 9 between each building block of external motor type self-balancing two-wheeled electrocar folding handles of the present invention is shown It is intended to.
Figure 10 is external motor type self-balancing two-wheeled electrocar rotating direction control method of the present invention and control method for stably operating Flow chart.
, handle, 101, be up knob arm, 102 be hinge, and 103 is are fixed on hinge on the screw on upper and lower handle arm, 104 be seal, and 105 be hasp shell, and 106 is are fixed on hasp shell on the screw on handle, and 107 be lower handle arm, and 108 be to take Locking device is detained, 109 be hasp circle, and 110 be that hasp is linked up with, and 111 be hasp to be linked up with the screw being fixed on handle arm, 112 It is handle for handgrip part, 113,114 be power supply and information transmission and control interface, and 115 be handle base, and 116 be fixed handle It is handgrip part and the pluggable position of handle with the screw of handle base, 117,118 be base and the pluggable position of handle, 119 For handle and the pluggable position of handgrip part, 120 be handle and the pluggable position of base, 200, be wheel, 201, be screw, 202nd, it is motor side lid, 203, be electric machine support, 204, be bearing, 205, be bearing holder (housing, cover), 206, be pin, 207, be motor Axle, 208, be line position hole, 209, the connecting line between vehicle body and wheel hub motor, 210, be wheel hub, 211, be magnetic links, 301, Split pin, 300, be base, 303, be axle sleeve, 304, be wheel, 305, for adjustment steel disc, 306 be crescent moon piece, 307, be flange Nut, 308, be boss surfaces groove, 309, be axletree, 401, be pedal, 403 be elastic component, 404, be signal sense Answer partitions, 405, optical signal transmitter, 406, optical signal receiver, 407, signal transmission interface, 408, wiring board, 501, be Stator, 502, the limiting component between stator and rotor, 503, be limited cover, 504, the screw for fixed limited cover, 505, For spacer pin, 506, be handle base, 508, information capture and information processing transmitting device to be fixed on the spiral shell on stator Silk, 509, the base of information capture and information processing transmitting device, 510, stator is fixed on the screw of vehicle body, 511, be bullet Property return unit, 512, be rotor.
The body gesture speed of collection calculating external motor type self-balancing two-wheeled electrocar, the rotational angle of transfer, When transfer rotates, the real-time rotating speed of motor is judged, according to v≤V；VH>v>During VL；v>VH is counted in tri- different sections respectively Transfer angle proportionality coefficient is calculated, calculates motor control adjustment amount, control adjustment amount is sent to motor driving part point；When turn Do not rotated to device, when car body rotates, calculating motor control adjustment amount will control adjustment amount to be sent to motor driving part point；When turn Do not rotated to device, when car body also rotates, keep existing steady operational status.
Embodiment
Embodiments of the invention are the invention scope limits in order to be further explained to the present invention, rather than to the present invention System.
Embodiment 1.
External motor type self-balancing two-wheeled electrocar, including wheel, battery, control device, motor, base, handle, two Motor is two inside wheels that wheel hub motor is placed on base body both sides respectively, and two wheels pass through respective single side axis respectively Be mechanically fastened on base, control device and battery are arranged in base, and handle is mechanically connected on base, Electricmotor car wheel with Fixed component includes in base fixed connection structure：Flange nut, crescent moon piece, adjustment steel disc, axle sleeve etc., axle sleeve material compares base More hard, the outer surface of axle sleeve is coarse or depressed area is provided with surface, inner hole of shaft sleeve both ends diameter, nearly road wheel end Diameter of bore is more than remote road wheel end, and the angle between line and horizontal plane on both ends is preferably between 1 ° -3 °, and base passes through pressure Casting is fixed on axle sleeve, and the crescent moon part depressed area opposite in the fixed component of axletree and base therein is inclined-plane, nearly car Tilted at wheel to axle, the face of the screw hole on corresponding base is also an inclined plane, and flange nut heads on crescent moon part toward at nearly wheel Screw-in makes, and because the face of screw hole is inclined-plane, hole is less and less, and adjustment steel disc is padded between crescent moon part and base, corresponding bottom Seat surface inclination corresponding with crescent moon part, tilted to axle at nearly wheel, during continuous screw in flange nut and crescent moon part it Between, between crescent moon part and axle, between crescent moon part and adjustment steel disc, contacted between adjustment steel disc and base more and more closer.In car Hole is carried at adjacent flange nut on the axle behind flange nut in the fixed component of wheel shaft and base, fixed component is further Including split pin, split pin is arranged in the hole on axle.Split pin is used to limit flange nut back-out.To further being added on axle Split pin, for being fastened to flange nut, prevent flange nut from having loosening, can effectively prevent flange nut outward turning.
Embodiment 2
External motor type self-balancing two-wheeled electrocar, including wheel, battery, control device, motor, base, handle, two Motor is two inside wheels that wheel hub motor is placed on base body both sides respectively, and two wheels pass through respective single side axis respectively It is mechanically fastened on base, control device and battery are arranged in base, and handle is mechanically connected on base, self-balancing two-wheel electricity Motor-car wheel hub motor axle and the difference in wheel electrical machine support aperture are 0.3mm, and motor shaft is fixed on the electric machine support of wheel Center, motor shaft are through in the centre bore of electric machine support, and the diameter of electric machine support centre bore is less than the diameter of motor shaft, motor shaft It is pressed into electric machine support hole, has hole on the motor shaft of wheel, the supercentral hole phase of electric machine support with the wheel of fixed motor shaft It is logical, pin is inserted in hole, vehicle wheel side lid is connected by bearing with shaft mechanical, vehicle wheel side lid and bearing, is between bearing and axle Interference fit connection, bearing and vehicle wheel side cap bore footpath difference, axle are controlled in 0.3mm or so with bearing aperture interference difference.Electricity The line position hole for the connecting line being provided with arbor between base and wheel hub motor, line position hole are arranged at the connection of motor shaft and bearing Place, motor shaft reach the standard grade a hole aperture ＞ bases and wheel hub motor between connecting line external diameter, motor shaft reaches the standard grade the hole in a hole The external diameter of connecting line between footpath≤3/2 times base and wheel hub motor, motor shaft are reached the standard grade+2 times of the length ＞ bearing widths in a hole The diameter of connecting line between base and wheel hub motor, bearing are set on online position hole, and line position hole both ends are respectively arranged at bearing Inside and outside.
Embodiment 3
External motor type self-balancing two-wheeled electrocar, including wheel, battery, control device, motor, base, handle, two Motor is two inside wheels that wheel hub motor is placed on base body both sides respectively, and two wheels pass through respective single side axis respectively It is mechanically fastened on base, control device and battery are arranged in base, and handle is mechanically connected on base, and car includes two-wheel Self-balance electric vehicle runs opening closure, is made up of signal induction device, elastic component, induction of signal partitions etc., believes Number induction installation is arranged in the external motor type self-balancing two wheeled electric underbody seat below pedal, and elastic component is arranged at signal Above induction installation, face signal induction device, induction of signal partitions is fixedly connected with elastic component, is fixed under elastic component Face, transmitted with signal induction device induced signal vertical corresponding.Signal induction device is arranged at external motor type self-balancing two-wheel In the base of electric car, the pedal on base is provided with aperture, and aperture corresponds to the upper of signal induction device induced signal transmission Side, what elastic component protruded is arranged on pedal aperture, and the induction of signal partitions on elastic component penetrates from aperture, works as elastic component Acted on by external force, the induced signal of induction of signal partitions disabling signal induction installation during downward deformation occurs.Induction installation by The groups such as wiring board, optical signal launch part, optical signal receiving element, signal transmission interface, current-limiting resistance, filter capacitor, load resistance Into being mounted on wiring board.After passing to the filtered capacitive filter of power supply of optical signal launch part, current-limiting resistance current limliting, light Induced signal is transmitted to optical signal receiver by signal transmitting part in the form of light, and optical signal is transformed into by optical signal receiver Current signal, it is transformed into voltage signal through load resistance and passes to signal transmission interface, it is double passes to external motor type self-balancing The controller of electric car is taken turns, controller receives the operation of voltage signal external motor type self-balancing two-wheeled electrocar in closing shape State.During induced signal is transmitted to optical signal receiver by optical signal launch part in the form of light, signal is by induction of signal Partitions blocks, and optical signal receiver does not receive corresponding signal, and controller does not receive corresponding voltage signal, outside motor Put the operation of formula self-balancing two-wheeled electrocar and be in opening.
Embodiment 4
External motor type self-balancing two-wheeled electrocar, including wheel, battery, control device, motor, base, handle, two Motor is two inside wheels that wheel hub motor is placed on base body both sides respectively, and two wheels pass through respective single side axis respectively Be mechanically fastened on base, control device and battery are arranged in base, and handle is mechanically connected on base, base and handle it Between be provided with elastic reset component, be provided with handling position modification information harvester on elastic reset component, position change letter Breath harvester includes information capture and information processing transmitting device, information launcher.Information launcher a pair of magnet In a center of symmetry be directly arranged at directly is mechanically fixed on the rotor being connected with handle, and central point is pivot, information capture And information processing transmitting device linear hall sensor is arranged at magnetic blow out centre point corresponding position and the base directly company of being mechanically fixed In the stator cover of the stator connect, by rotor relative to stator rotation, drive information launcher relative to information capture and Information processing transmitting device rotates, and information launcher is during rotation because its relative information is caught and information processing transmission Different signals is launched in the different displacement of device, and information capture and information processing transmitting device are captured after unlike signal through processing Afterwards, corresponding information is passed to motor, respectively to two by corresponding information transmission to control device after control device is handled The different driving of wheel.
Embodiment 5
External motor type self-balancing two-wheeled electrocar, including wheel, battery, control device, motor, base, handle, two Motor is two inside wheels that wheel hub motor is placed on base body both sides respectively, and two wheels pass through respective single side axis respectively It is mechanically fastened on base, control device and battery are arranged in base, and handle is mechanically connected on base, and described handle is Folding handle includes the foldable mechanism between up knob arm, lower handle arm, upper and lower handle, handgrip part, and upper and lower handle leads to The connection of foldable mechanism folding is crossed, foldable mechanism includes folded piece, connection fixture, seal.Folded piece is hinge, Include the rotating shaft of upper hinge, lower jaw and the upper and lower hinge of connection, upper and lower hinge is individually fixed on upper and lower handle arm.Connection Fixture is fixedly connected with upper and lower handle arm, including hasp hook, hasp circle, hasp shell, snap lock device, hasp hook It is fixed on one of handle arm, hasp circle, hasp shell, snap lock device are arranged on another handle arm, hasp circle Hasp on hasp hook in realizing that upper and lower handle arm is fixedly connected, and hasp circle rotary machine is connected on hasp shell, hasp lock Determine device locking hasp shell.Seal is rubber parts, is sealingly fastened on the interface of upper and lower handle arm.Seal is or silica gel Part, including further above can be by the string holes of transmission line.Transmission line is arranged in folded tube, and folded tube is stuck in string holes, Fold pipe outer wall and form sealing with string holes.Handgrip part, which is mechanically fixed, to be arranged on up knob arm, and handgrip part includes two handles, And be arranged on car body display device between two handles or and car body control device, car body control device include vehicle body bluetooth Control device, car remote upgrade control device, car power supply remote switch device.Set respectively on up knob arm, lower handle arm It is fluted, LED decorative lamp is further included in groove, outside is provided with transparent silica gel and LED is packaged in groove.On handle With power supply, information transmission and control interface end, handle further includes handle base, and handle base is connected to electronic vehicle main body in succession On, power supply and the pluggable connection of information transmission and control interface, lead to again between handle and handle base between handle and handle base Screw machine is crossed to be fixedly connected.

Claims (7)

1. a kind of external motor type self-balancing two-wheeled electrocar, including wheel, battery, control system, motor, base, handle, its It is characterised by that the external motor type is placed on two inside wheels of base body both sides, two wheels point for two motors respectively It is not mechanically fastened at by respective single side axis on base, control system and battery are arranged in base, and handle is direct or indirect It is mechanically connected on base, the single side axis of the wheel, the electric machine support center of wheel is fixed on, for fixing the electricity of single side axis The aperture of machine support is less than the diameter of single side axis, and single side axis is pressed into electric machine support hole；
Flexible restoring organ is provided between base and handle, the flexible restoring organ includes stator, rotor, elastic reset Part, handle is directly or indirectly mechanically fixed with rotor to be connected, and stator is directly or indirectly mechanically fixed with base to be connected, elasticity Return unit is filled in gap between stator and rotor, and stator and rotor are linked to be an entirety by dynamic clamping head and quiet clamping head, and rotor and Dynamic clamping head and quiet clamping head be may be contained within stator, and rotor is rotated by external force driving relative initial position, drives dynamic clamping head and quiet clamping head to produce shape Become, after the external force driving force suffered by rotor weakens or disappears, dynamic clamping head and quiet clamping head is by its elastic reset power rotor driven to first Beginning position motion returns to initial position.
2. external motor type self-balancing two-wheeled electrocar according to claim 1, it is characterised in that the electric machine support The difference that the maximum limit of size in aperture subtracts obtained by the minimum limit of size for the axle that single side axis is fixed into electric machine support hole was It is full of Ymin, is the most relaxed state that hole coordinates with axle；The minimum limit of size in the aperture of electric machine support subtracts single side axis and is fixed into electricity Difference obtained by the maximum limit of size of axle in machine support hole is interference Ymax, is the most compact state that hole coordinates with axle, The ㎜ of Ymin≤- 0.01mm, Ymax >=-0.5.
3. external motor type self-balancing two-wheeled electrocar according to claim 1, it is characterised in that the wheel it is unilateral Axle, is fixed on the electric machine support center of wheel, has hole to communicate with axle corresponding position on support, pin is inserted with hole.
4. external motor type self-balancing two-wheeled electrocar according to claim 1, it is characterised in that wheel both sides are further Comprising vehicle wheel side lid, vehicle wheel side lid is connected by bearing with shaft mechanical, vehicle wheel side lid and bearing, is interference between bearing and axle It is connected, passes through pressing by outside force.
5. external motor type self-balancing two-wheeled electrocar according to claim 1, it is characterised in that between base and handle The flexible restoring organ of setting further comprises angular stop means, and limitation rotor rotates in certain angle.
6. external motor type self-balancing two-wheeled electrocar according to claim 5, it is characterised in that angular stop means, bag Limited cover, spacer pin are included, limited cover is directly or indirectly fixedly connected with stator machinery, and limited cover is provided with spacing hole, spacer pin Directly or indirectly it is mechanically fixed and is connected with rotor, rotor, which rotates, drives spacer pin to do certain angle in the spacing hole on limited cover Interior rotation.
7. external motor type quantum balancing two-wheeled electrocar according to claim 6, it is characterised in that between handle and rotor Connection is mechanically fixed by handle base, spacer pin is fixed on handle base, and handle is acted on rotating by external force drives handle base and handle Spacer pin on hand seat is rotated, and spacer pin is limited by the spacing spacing hole that covers in rotation process, is rotated in certain angle.
CN201610504767.7A 2014-09-15 2014-09-15 A kind of external motor type self-balancing two-wheeled electrocar Active CN106080884B (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201610504767.7A CN106080884B (en) 2014-09-15 2014-09-15 A kind of external motor type self-balancing two-wheeled electrocar

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
CN201610504767.7A CN106080884B (en) 2014-09-15 2014-09-15 A kind of external motor type self-balancing two-wheeled electrocar
CN201410465809.1A CN105438356B (en) 2014-09-15 2014-09-15 Self-balanced two-wheel electric vehicle with external motors

Related Parent Applications (1)

Application Number Title Priority Date Filing Date
CN201410465809.1A Division CN105438356B (en) 2014-09-15 2014-09-15 Self-balanced two-wheel electric vehicle with external motors

Publications (2)

Publication Number Publication Date
CN106080884A CN106080884A (en) 2016-11-09
CN106080884B true CN106080884B (en) 2017-12-22

Family

ID=55549108

Family Applications (7)

Application Number Title Priority Date Filing Date
CN201410465809.1A Active CN105438356B (en) 2014-09-15 2014-09-15 Self-balanced two-wheel electric vehicle with external motors
CN201610504767.7A Active CN106080884B (en) 2014-09-15 2014-09-15 A kind of external motor type self-balancing two-wheeled electrocar
CN201610512758.2A Active CN106005155B (en) 2014-09-15 2014-09-15 A kind of external motor type self-balancing two-wheeled electrocar
CN201610515742.7A Pending CN106043539A (en) 2014-09-15 2014-09-15 Motor externally-arranged type self-balance double-wheel electric bicycle
CN201610510193.4A Active CN106080885B (en) 2014-09-15 2014-09-15 A kind of external motor type self-balancing two-wheeled electrocar
CN201610512581.6A Active CN106080886B (en) 2014-09-15 2014-09-15 A kind of external motor type self-balancing two-wheeled electrocar
CN201610514797.6A Active CN106005180B (en) 2014-09-15 2014-09-15 A kind of external motor type self-balancing two-wheeled electrocar

Family Applications Before (1)

Application Number Title Priority Date Filing Date
CN201410465809.1A Active CN105438356B (en) 2014-09-15 2014-09-15 Self-balanced two-wheel electric vehicle with external motors

Family Applications After (5)

Application Number Title Priority Date Filing Date
CN201610512758.2A Active CN106005155B (en) 2014-09-15 2014-09-15 A kind of external motor type self-balancing two-wheeled electrocar
CN201610515742.7A Pending CN106043539A (en) 2014-09-15 2014-09-15 Motor externally-arranged type self-balance double-wheel electric bicycle
CN201610510193.4A Active CN106080885B (en) 2014-09-15 2014-09-15 A kind of external motor type self-balancing two-wheeled electrocar
CN201610512581.6A Active CN106080886B (en) 2014-09-15 2014-09-15 A kind of external motor type self-balancing two-wheeled electrocar
CN201610514797.6A Active CN106005180B (en) 2014-09-15 2014-09-15 A kind of external motor type self-balancing two-wheeled electrocar

Country Status (1)

Country Link
CN (7) CN105438356B (en)

Families Citing this family (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN105438356B (en) * 2014-09-15 2017-02-08 常州爱尔威智能科技有限公司 Self-balanced two-wheel electric vehicle with external motors
CN106332491A (en) * 2016-08-31 2017-01-11 速珂智能科技（上海）有限公司 External electric vehicle controller
CN108068938B (en) * 2016-11-11 2020-01-03 广东高标电子科技有限公司 Speed control method and system for two-wheel vehicle
CN106515947B (en) * 2016-12-29 2019-01-11 杭州畅动智能科技有限公司 The control method and control system of a kind of body-sensing longitudinal direction cart
CN106828729B (en) * 2017-01-04 2022-11-15 浙江骑客机器人科技有限公司 Human-computer interaction somatosensory vehicle
RU2017107671A (en) * 2017-03-07 2018-09-07 Сергей Анатольевич Борисихин The device for sitting sitting mounted on a hoverboard
CN107104554A (en) * 2017-04-27 2017-08-29 荣成市鸣川新能源科技有限公司 A kind of electric machine controller battery integrated wheel hub motor
CN109131381B (en) * 2018-07-20 2024-01-26 西南交通大学 Wheel hub motor driving system of small-sized air rail vehicle and driving method thereof
CN109808770A (en) * 2019-03-25 2019-05-28 重庆大学 Portable modular mobile robot platform
CN111505331B (en) * 2020-07-01 2020-12-08 山东道永盛信息科技有限公司 Integrated sensing device based on vehicle axle identification

Family Cites Families (39)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4092080A (en) * 1976-06-03 1978-05-30 Pneumo Corporation Anti-rotation lock for threaded connection
JPH0418951Y2 (en) * 1984-12-26 1992-04-28
JPH08193610A (en) * 1994-09-13 1996-07-30 Tokuei Sakai Locking bar and locking nut
CN2592496Y (en) * 2002-11-20 2003-12-17 中国科学技术大学 Self-balancing two-wheel electric cycle
CN201009984Y (en) * 2006-06-30 2008-01-23 宁波Gqy视讯股份有限公司 Dual-purpose of standing and sitting type self-blancing two-wheeled vehicle
CN201030925Y (en) * 2007-03-16 2008-03-05 萧文良 Folding bicycle
CN100506632C (en) * 2007-07-16 2009-07-01 张一鸣 Automatic balanced electric bicycle
CN201165299Y (en) * 2007-11-19 2008-12-17 宋宇宁 Self-balance electric vehicle
CN101224701A (en) * 2008-02-15 2008-07-23 任海 Wheel boss motor power wheel
JP2009264463A (en) * 2008-04-24 2009-11-12 Hiro Corporation:Kk Connector
CN101282071A (en) * 2008-05-26 2008-10-08 湘潭电机股份有限公司 Permanent magnetism synchronous wheel hub motor for directly driving electric vehicle wheel
CN201228037Y (en) * 2008-06-16 2009-04-29 周惠兴 Two-wheel self balancing electric motor vehicle
CN201342917Y (en) * 2008-09-16 2009-11-11 林志强 Mechanism for connecting cantilever bar of electric automobile with wheel motor
CN101585388A (en) * 2009-05-12 2009-11-25 杨涛 Inertia navigation intelligent vehicle
CN201610202U (en) * 2009-10-21 2010-10-20 吕子民 Two-wheeled self-balancing electric vehicle
JP5783400B2 (en) * 2010-05-20 2015-09-24 有限会社Ｔｓｄｅｓｉｇｎ bicycle
CN201863984U (en) * 2010-10-18 2011-06-15 邹帆 Control drive circuit of self-balancing parallel two-wheeled electric vehicle
JP2012096595A (en) * 2010-10-29 2012-05-24 Honda Motor Co Ltd Driving wheel supporting structure for electric vehicle
CN202429302U (en) * 2011-10-21 2012-09-12 邹帆 Bestridden self-balancing two-wheeled electromobile
CN103057635B (en) * 2011-10-21 2015-05-20 邹帆 Bestriding type self-balancing two-wheeled electric car
US8738278B2 (en) * 2012-02-12 2014-05-27 Shane Chen Two-wheel, self-balancing vehicle with independently movable foot placement sections
CN202586591U (en) * 2012-05-14 2012-12-05 浙江旺得福车业有限公司 Double oil seal structure for hub motor shaft of electric vehicle
KR101377986B1 (en) * 2012-07-06 2014-03-25 주식회사 로보쓰리 The self balancing scooter to restore steering mechanism's regular position
CN202774615U (en) * 2012-09-21 2013-03-13 金华市捷特包装有限公司 Small suitcase
CN202896189U (en) * 2012-10-22 2013-04-24 安徽江淮汽车股份有限公司 Anti-loose drive shaft locking structure
CN202966533U (en) * 2012-12-05 2013-06-05 深圳市新力科技有限公司 Eswing two-wheeled self-balancing bicycle
CN203268242U (en) * 2013-01-30 2013-11-06 杭州亿脑智能科技有限公司 Intelligent balance car
CN203381739U (en) * 2013-05-28 2014-01-08 中国科学院金属研究所 Self-balance two-wheel electric vehicle
CN203449854U (en) * 2013-09-26 2014-02-26 徐工集团工程机械股份有限公司科技分公司 Drive axle bracket and axle housing assembly locating mechanism
CN103600801A (en) * 2013-10-17 2014-02-26 上海交通大学 Steering control system based on infrared sensor and self-balancing bicycle thereof
CN203601479U (en) * 2013-10-30 2014-05-21 濮阳市金榜机电科技有限公司 Self-balancing vehicle with two wheels inclined along with steering
CN103552646A (en) * 2013-11-03 2014-02-05 南京莱格威智能机器有限公司 Two-wheel self-balancing electric vehicle capable of realizing wireless communication
CN203593099U (en) * 2013-11-03 2014-05-14 南京莱格威智能机器有限公司 Reset device of two-wheeled balance car and self-balancing electric car with same
CN203674371U (en) * 2013-12-31 2014-06-25 成都华日通讯技术有限公司 Hand-held microwave direction-finding antenna
CN203698534U (en) * 2014-01-21 2014-07-09 上海新世纪机器人有限公司 Informatization mobile police affair platform
CN105438356B (en) * 2014-09-15 2017-02-08 常州爱尔威智能科技有限公司 Self-balanced two-wheel electric vehicle with external motors
CN204197152U (en) * 2014-09-15 2015-03-11 常州爱尔威智能科技有限公司 A kind of external motor type self-balancing two-wheeled electrocar
CN204197512U (en) * 2014-09-29 2015-03-11 内蒙古民族大学 A kind of freeze pipe and get the dual-purpose liquid nitrogen container pail of liquid nitrogen deposited
CN105435386A (en) * 2015-12-25 2016-03-30 天元健康（天津）科技有限公司 Handheld air filtering component

Also Published As

Publication number Publication date
CN106080885B (en) 2019-05-10
CN106043539A (en) 2016-10-26
CN105438356B (en) 2017-02-08
CN106005180A (en) 2016-10-12
CN106005155A (en) 2016-10-12
CN105438356A (en) 2016-03-30
CN106080886A (en) 2016-11-09
CN106080886B (en) 2018-08-17
CN106005180B (en) 2017-06-30
CN106080885A (en) 2016-11-09
CN106005155B (en) 2017-06-23
CN106080884A (en) 2016-11-09

Similar Documents

Publication Publication Date Title
CN106080884B (en) A kind of external motor type self-balancing two-wheeled electrocar
CN104512502B (en) With gravity's center control direction without the electric motor car of handle Double-wheel self-balancing and its control method
CN103707972B (en) Self-balancing electronic wheelbarrow
CN205387176U (en) Electric balancing bike
CN101565073B (en) Portable streamline shaped intelligent vehicle
CN204197152U (en) A kind of external motor type self-balancing two-wheeled electrocar
CN103796910B (en) Foldable, ultra-lightweight tricycle having an electric motor
CN105383623B (en) A kind of Portable electric bicycle and its control method of driving
TW201223822A (en) Front wheel energy recovery system
JP6669422B1 (en) Electric bicycle that can run on self-charge
EP3154815A1 (en) Variable resistance serial hybrid electric vehicle
CN103723225B (en) Self-balancing electronic wheelbarrow and auxiliary wheels thereof
CN207045559U (en) A kind of folding balance car
CN206528562U (en) A kind of manned two wheeled electric balance car of intelligent prompt alarm
WO2016041485A1 (en) Self-balancing double-wheeled electrical scooter
CN110329402A (en) A kind of student's cycling safety prompting system and method
CN105752243A (en) Electric motorcycle
CN108622234A (en) Double mode electric balance car and its mode conversion method
CN208069942U (en) Fast disassembly type bicycle power auxiliary device
JPH0516872A (en) Front-rear drive two wheeler
CN108082386B (en) Quick-dismantling type bicycle power auxiliary device and control method thereof
JP3154782U (en) Portable power control bag
JP2003054287A (en) Electric-motor car
CN201825180U (en) Electric vehicle
CN204674731U (en) Portable battery-driven 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
GR01 Patent grant
GR01 Patent grant