CN106125726A - A kind of sliding and swaying formula based on electric unicycle balance puppet - Google Patents
A kind of sliding and swaying formula based on electric unicycle balance puppet Download PDFInfo
- Publication number
- CN106125726A CN106125726A CN201610510054.1A CN201610510054A CN106125726A CN 106125726 A CN106125726 A CN 106125726A CN 201610510054 A CN201610510054 A CN 201610510054A CN 106125726 A CN106125726 A CN 106125726A
- Authority
- CN
- China
- Prior art keywords
- puppet
- controller
- gear
- motor
- balance
- 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.)
- Granted
Links
- 230000005484 gravity Effects 0.000 claims abstract description 5
- 239000000203 mixture Substances 0.000 claims description 11
- 230000002159 abnormal effect Effects 0.000 claims description 9
- 238000001514 detection method Methods 0.000 claims description 6
- 230000001133 acceleration Effects 0.000 claims description 3
- 230000000694 effects Effects 0.000 claims description 3
- 238000000034 method Methods 0.000 claims description 3
- 238000002604 ultrasonography Methods 0.000 claims description 3
- 238000010586 diagram Methods 0.000 description 2
- 230000005611 electricity Effects 0.000 description 2
- 238000005034 decoration Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 239000002023 wood Substances 0.000 description 1
Classifications
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0227—Control of position or course in two dimensions specially adapted to land vehicles using mechanical sensing means, e.g. for sensing treated area
-
- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63H—TOYS, e.g. TOPS, DOLLS, HOOPS OR BUILDING BLOCKS
- A63H3/00—Dolls
- A63H3/36—Details; Accessories
-
- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63H—TOYS, e.g. TOPS, DOLLS, HOOPS OR BUILDING BLOCKS
- A63H30/00—Remote-control arrangements specially adapted for toys, e.g. for toy vehicles
- A63H30/02—Electrical arrangements
- A63H30/04—Electrical arrangements using wireless transmission
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/08—Control of attitude, i.e. control of roll, pitch, or yaw
- G05D1/0891—Control of attitude, i.e. control of roll, pitch, or yaw specially adapted for land vehicles
Landscapes
- Engineering & Computer Science (AREA)
- Aviation & Aerospace Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Computer Networks & Wireless Communication (AREA)
- Toys (AREA)
Abstract
A kind of sliding and swaying formula based on electric unicycle balance puppet, it is characterised in that: include puppet body A(1), puppet body B(6), anteversion and retroversion module, the legs and feet module (11) of puppet, electronic control module；By puppet body A(1) can realize balancing that the electric unicycle that puppet drives is left-leaning, Right deviation and balance so realize, turn right and keep straight on, by puppet body B(6), anteversion and retroversion module center of gravity that balance beam can be made even lean forward, swing back, upright and then realize driving electric unicycle and advance, retreat and stand.
Description
Technical field
The present invention relates to balanced robot's technical field, a kind of sliding and swaying formula based on electric unicycle balances
Puppet device.
Background technology
The Self-balancing electronic wheelbarrow sold on current market is called for short: electric unicycle, is that a kind of driver stands in electronic
The walking wheelbarrow of ability on wheelbarrow, when driver does not stands onboard, electric unicycle cannot be walked, say, that when
Electric unicycle before although have certain before and after balanced capacity but not there is left-right balance ability, the most current electronic solely
Wheel car does not have unmanned automatic driving function.Typically demonstrated by people when selling electric unicycle and demonstrating to client and how to ride,
And needing certain skill, when special client is more, the demonstration of a time a time is also the most arduous, is one for salesman
Plant burden.A kind of based on electric unicycle the sliding and swaying formula balance puppet that this patent provides has left-right balance and automatically drives
Sailing function can replace people to carry out riding electric unicycle by remote control, significantly alleviates burden during salesman demonstration；This base
Arm balanced type in electric unicycle balances puppet can show unpiloted auto-steering, automatic Pilot, has amusement merit
Energy；If coordinating charging socket can also realize automatic charging function.
Summary of the invention
The technical problem to be solved in the present invention is to overcome the existing electric unicycle can not the problem of automatic running, it is provided that a kind of
The balance puppet that can drive electric unicycle with automatic balance function.
In order to solve the problems referred to above the technical solution used in the present invention it is: provide a kind of translation based on electric unicycle to put
Dynamic formula balance puppet, including including puppet body A1, puppet body B6, anteversion and retroversion module, the legs and feet module 11 of puppet, automatically controlled mould
Block；Described puppet body A1 is by housing A1.8, motor 1, gear 1, gear 23, gear 34, slide rail 1, cunning
Rail 2 1.3, left limit sensor 1.6, right limit sensor 1.7, U groove 1, U groove 2 1.5 form, wherein motor 1,
Gear 1, gear 23, gear 34, slide rail 1, slide rail 2 1.3, left limit sensor 1.6, right limit sensor 1.7, U
Groove 1, U groove 2 1.5 are arranged on the housing A1.8 of puppet body A1；Described puppet body B6 is by housing B2.5, tooth bar
5, guide groove 1 and guide groove 2 2.2, left limit projection 2.4, protruding 2.3 compositions of right limit, gear 23 respectively with gear 1 and
Gear 34 engages, and gear 1 is identical with the parameter of gear 34, and gear 1 and gear 34 engage with tooth bar 5, and left limit senses
The device 1.6 left end in U groove 1, the right limit sensor 1.7 right-hand member in U groove 2 1.5, the axle of motor 1 and gear
23 are mechanically connected, slide rail 1 guide rail secondary with guide groove 1 composition one, and guide groove 2 2.2 is led with slide rail 2 1.3 composition one pair
Rail.
The further technical scheme used is: described anteversion and retroversion module is by bearing 1, bearing 29, rotary shaft 8, motor two
10 compositions, rotary shaft 8 is fixing with puppet body B6 to be connected, and rotary shaft 8 is fixing with the axle of motor 2 10 to be connected, and rotary shaft 8 is passed through
Bearing 1, bearing 29 are connected with the legs and feet module 11 of puppet, the legs and feet module 11 of motor 2 10 and puppet is fixing be connected and with
Electronic control module electrically connects.
The further technical scheme used is: described electronic control module includes: controller 14, battery 13, charging inlet 12, appearance
State sensor 15, wireless remote control module 16；Wireless remote control module 16 includes wireless receiver and remote controller, described controller 14
With attitude transducer 15, upper limit sensor 2.22 and lower limit sensor 2.23, motor 1, motor 2 10, wireless remote control
The wireless receiver of module 16, battery 13, electrically connect and be fixedly mounted on puppet body 10；Charging inlet 12 and battery 13 electricity
Connect and be fixedly mounted on puppet body 10, described attitude transducer 15 includes gyroscope and/or acceleration of gravity sensing
Device, described remote controller includes wireless transmitter, screen, starting key, shutdown button, button of standing, automatic running button, advance
Button, Reverse keys, left-hand rotation button, right-hand rotation button, turbo and/or deceleration button, described button is mechanical type, touch
And/or touch screen；The wireless signal of described wireless receiver and wireless transmitter is infrared, ultrasound wave, bluetooth and/or radio frequency.
The further technical scheme used is: described controller 14 is by following steps realization control function:
Step one, initializes detection and arranges, the most normal including detection left limit sensor 1.6 and right limit sensor 1.7,
The value of test pose sensor 15 is the most normal, if abnormal, reports to the police；If normal, adjust balance puppet attitude upright, make electronic
Wheelbarrow balances entrance step 2 of standing；
Step 2: wait the information that remote controller is sent, processes the information content that remote controller is sent；
Step 3: if the information content sent of remote controller is for advancing, then controller 14 controls motor 2 10 and makes balance puppet lean forward；
If the information content that remote controller is sent is for retreating, then controller 14 controls motor 2 10 and makes balance puppet hypsokinesis；If remote controller is sent out
The information content come is for standing, then controller 14 controls balance module and makes balance puppet be kept upright；If the letter that remote controller is sent
Breath content is for turning left, then controller 14 controls motor 1 and makes left balance weight 2.16 be moved to the left；If the information that remote controller is sent
Content is for turning right, then controller 14 controls motor 1 and makes left balance weight 2.16 move right；If in the information that remote controller is sent
Hold for accelerate, then controller 14 control motor 2 10 increase puppet body 3 lean forward or hypsokinesis angle make electric unicycle accelerate fortune
Dynamic；If the information content that remote controller is sent for slow down, then controller 14 control motor 2 10 reduce puppet body 3 lean forward or hypsokinesis
Angle makes electric unicycle retarded motion；If the information content that remote controller is sent is automatic running, then controller 14 controls motor
1 and motor 2 10 adjustment puppet make electric unicycle turn left, turn right, advance, retreat right standing activities；
Step 4: the value of test pose sensor is the most normal, if normally returning step 2, if abnormal, shows electric single-wheel
Car is fallen down, and carries out reporting to the police and entering step 5；
Step 5, the value continuing test pose sensor is the most normal, if abnormal, show that electric unicycle is fallen down, reports
Alert, return step 5, if normally returning step one.
The invention have the advantages that: the present invention can realize balancing the electronic of puppet driving by puppet body A1
Wheelbarrow "Left"-deviationist, Right deviation and balance and then realization are turned left, are turned right and keep straight on, and by puppet body B6, anteversion and retroversion module can
So that the center of gravity of balance puppet lean forward, swing back, upright and then realize driving electric unicycle and advance, retreat and stand, pass through
The legs and feet module of puppet makes puppet can be fixed on electric unicycle；The information sent of remote controller is received also by electronic control module
Control puppet body A1, puppet body B6 and anteversion and retroversion module, it is achieved the purpose of electric unicycle driven by remote control balance puppet.
Accompanying drawing explanation
Fig. 1 is that a kind of sliding and swaying formula based on electric unicycle of the present invention balances puppet structural representation.
Fig. 2 is the puppet body A1 plan structure of a kind of sliding and swaying formula based on electric unicycle of present invention balance puppet
Schematic diagram.
Fig. 3 is the puppet body B6 plan structure of a kind of sliding and swaying formula based on electric unicycle of present invention balance puppet
Schematic diagram.
Detailed description of the invention
It is illustrated in figure 1 the detailed description of the invention of a kind of sliding and swaying formula based on electric unicycle balance puppet, it is provided that
A kind of sliding and swaying formula based on electric unicycle balance puppet, including puppet body A1, puppet body B6, anteversion and retroversion module,
The legs and feet module 11 of puppet, electronic control module；Described puppet body A1 is by housing A1.8, motor 1, gear 1, gear two
3, gear 34, slide rail 1, slide rail 2 1.3, left limit sensor 1.6, right limit sensor 1.7, U groove 1, U groove two
1.5 compositions, wherein motor 1, gear 1, gear 23, gear 34, slide rail 1, slide rail 2 1.3, left limit sensing
Device 1.6, right limit sensor 1.7, U groove 1, U groove 2 1.5 are arranged on the housing A1.8 of puppet body A1；Described wood
Even body B6 is by housing B2.5, tooth bar 5, guide groove 1 and guide groove 2 2.2, left limit projection 2.4, protruding 2.3 groups of right limit
Becoming, gear 23 engages with gear 1 and gear 34 respectively, and gear 1 is identical with the parameter of gear 34, gear 1 and gear
34 engage with tooth bar 5, and the left limit sensor 1.6 left end in U groove 1, right limit sensor 1.7 are in U groove 2 1.5
Right-hand member, the axle of motor 1 and gear 23 be mechanically connected, slide rail 1 guide rail secondary with guide groove 1 composition one, guide groove two
2.2 guide rails secondary with slide rail 2 1.3 composition one.
The further technical scheme used is: described anteversion and retroversion module is by bearing 1, bearing 29, rotary shaft 8, motor two
10 compositions, rotary shaft 8 is fixing with puppet body B6 to be connected, and rotary shaft 8 is fixing with the axle of motor 2 10 to be connected, and rotary shaft 8 is passed through
Bearing 1, bearing 29 are connected with the legs and feet module 11 of puppet, the legs and feet module 11 of motor 2 10 and puppet is fixing be connected and with
Electronic control module electrically connects.
The further technical scheme used is: described electronic control module includes: controller 14, battery 13, charging inlet 12, appearance
State sensor 15, wireless remote control module 16；Wireless remote control module 16 includes wireless receiver and remote controller, described controller 14
With attitude transducer 15, upper limit sensor 2.22 and lower limit sensor 2.23, motor 1, motor 2 10, wireless remote control
The wireless receiver of module 16, battery 13, electrically connect and be fixedly mounted on puppet body 10；Charging inlet 12 and battery 13 electricity
Connect and be fixedly mounted on puppet body 10, described attitude transducer 15 includes gyroscope and/or acceleration of gravity sensing
Device, described remote controller includes wireless transmitter, screen, starting key, shutdown button, button of standing, automatic running button, advance
Button, Reverse keys, left-hand rotation button, right-hand rotation button, turbo and/or deceleration button, described button is mechanical type, touch
And/or touch screen；The wireless signal of described wireless receiver and wireless transmitter is infrared, ultrasound wave, bluetooth and/or radio frequency.
The further technical scheme used is: described controller 14 is by following steps realization control function:
Step one, initializes detection and arranges, the most normal including detection left limit sensor 1.6 and right limit sensor 1.7,
The value of test pose sensor 15 is the most normal, if abnormal, reports to the police；If normal, adjust balance puppet attitude upright, make electronic
Wheelbarrow balances entrance step 2 of standing；
Step 2: wait the information that remote controller is sent, processes the information content that remote controller is sent；
Step 3: if the information content sent of remote controller is for advancing, then controller 14 controls motor 2 10 and makes balance puppet lean forward；
If the information content that remote controller is sent is for retreating, then controller 14 controls motor 2 10 and makes balance puppet hypsokinesis；If remote controller is sent out
The information content come is for standing, then controller 14 controls balance module and makes balance puppet be kept upright；If the letter that remote controller is sent
Breath content is for turning left, then controller 14 controls motor 1 and makes left balance weight 2.16 be moved to the left；If the information that remote controller is sent
Content is for turning right, then controller 14 controls motor 1 and makes left balance weight 2.16 move right；If in the information that remote controller is sent
Hold for accelerate, then controller 14 control motor 2 10 increase puppet body 3 lean forward or hypsokinesis angle make electric unicycle accelerate fortune
Dynamic；If the information content that remote controller is sent for slow down, then controller 14 control motor 2 10 reduce puppet body 3 lean forward or hypsokinesis
Angle makes electric unicycle retarded motion；If the information content that remote controller is sent is automatic running, then controller 14 controls motor
1 and motor 2 10 adjustment puppet make electric unicycle turn left, turn right, advance, retreat right standing activities；
Step 4: the value of test pose sensor is the most normal, if normally returning step 2, if abnormal, shows electric single-wheel
Car is fallen down, and carries out reporting to the police and entering step 5；
Step 5, the value continuing test pose sensor is the most normal, if abnormal, show that electric unicycle is fallen down, reports
Alert, return step 5, if normally returning step one.
Can also be with arm on the housing A1.8 of the present invention, hands, head；Mainly play decoration function.
Claims (4)
1. a sliding and swaying formula based on electric unicycle balance puppet, it is characterised in that: include puppet body A(1), puppet
Body B(6), anteversion and retroversion module, the legs and feet module (11) of puppet, electronic control module；Described puppet body A(1) by housing A
(1.8), motor one (1.1), gear one (2), gear two (3), gear three (4), slide rail one (1.2), slide rail two (1.3), left limit
Level sensor (1.6), right limit sensor (1.7), U groove one (1.4), U groove two (1.5) form, wherein motor one (1.1), tooth
Wheel one (2), gear two (3), gear three (4), slide rail one (1.2), slide rail two (1.3), left limit sensor (1.6), right limit
Sensor (1.7), U groove one (1.4), U groove two (1.5) are arranged on puppet body A(1) housing A(1.8) on；Described puppet
Body B(6) by housing B(2.5), tooth bar (5), guide groove one (2.1) and guide groove two (2.2), left limit protruding (2.4), right limit
Protruding (2.3) composition, gear two (3) engages with gear one (2) and gear three (4) respectively, gear one (2) and gear three (4)
Parameter is identical, and gear one (2) and gear three (4) engage with tooth bar (5), and left limit sensor (1.6) is in U groove one (1.4)
Left end, the right limit sensor (1.7) right-hand member in U groove two (1.5), the axle of motor one (1.1) is with gear two (3) machinery even
Connect, slide rail one (1.2) guide rail secondary with guide groove one (2.1) composition one, guide groove two (2.2) guide rail secondary with slide rail two (1.3) composition one.
A kind of sliding and swaying formula based on electric unicycle the most according to claim 1 balance puppet, it is characterised in that: institute
Stating anteversion and retroversion module to be made up of bearing one (7), bearing two (9), rotary shaft (8), motor two (10), rotary shaft (8) is with puppet originally
Body B(6) fixing connection, rotary shaft (8) is fixing with the axle of motor two (10) to be connected, and rotary shaft (8) passes through bearing one (7), bearing
Two (9) are connected with the legs and feet module (11) of puppet, and motor two (10) is fixing with the legs and feet module (11) of puppet to be connected and with automatically controlled
Module electrically connects.
A kind of sliding and swaying formula based on electric unicycle the most according to claim 1 balance puppet, it is characterised in that: institute
State electronic control module to include: controller (14), battery (13), charging inlet (12), attitude transducer (15), wireless remote control module
(16)；Wireless remote control module (16) includes wireless receiver and remote controller, described controller (14) and attitude transducer (15),
Upper limit sensor (2.22) and lower limit sensor (2.23), motor one (1.1), motor two (10), wireless remote control module
(16) wireless receiver, battery (13), electrically connect and be fixedly mounted on puppet body (10)；Charging inlet (12) and battery
(13) electrically connect and be fixedly mounted on puppet body (10), described attitude transducer (15) includes gyroscope and/or gravity
Acceleration transducer, described remote controller includes wireless transmitter, screen, starting key, shutdown button, button of standing, automatic row
Sailing button, forward key, Reverse keys, left-hand rotation button, right-hand rotation button, turbo and/or deceleration button, described button is machine
Tool formula, touch and/or touch screen；The wireless signal of described wireless receiver and wireless transmitter is infrared, ultrasound wave, bluetooth
And/or radio frequency.
A kind of sliding and swaying formula based on electric unicycle the most according to claim 1 balance puppet, it is characterised in that: institute
State controller (14) by following steps realization control function:
Including detection left limit sensor (1.6) and right limit sensor (1.7) whether step one, initializes detection and arranges,
Normally, the value of test pose sensor (15) is the most normal, if abnormal, reports to the police；If normal, adjust balance puppet attitude straight
Vertical, make electric unicycle balance entrance step 2 of standing；
Step 2: wait the information that remote controller is sent, processes the information content that remote controller is sent；
Step 3: if the information content that remote controller is sent is for advancing, then controller (14) control motor two (10) makes balance puppet
Lean forward；If the information content that remote controller is sent is for retreating, then controller (14) control motor two (10) makes balance puppet hypsokinesis；If
The information content that remote controller is sent is for standing, then controller (14) control balance module makes balance puppet be kept upright；If remote control
The information content that device is sent is for turning left, then controller (14) control motor one (1.1) makes left balance weight (2.16) be moved to the left；If
The information content that remote controller is sent is for turning right, then controller (14) control motor one (1.1) makes left balance weight (2.16) move right
Dynamic；If the information content that remote controller is sent is for accelerating, then controller (14) control motor two (10) increase puppet body (3) leans forward
Or hypsokinesis angle makes electric unicycle accelerated motion；If the information content that remote controller is sent is for slowing down, then controller (14) controls
Motor two (10) reduction puppet body (3) leans forward or hypsokinesis angle makes electric unicycle retarded motion；If the letter that remote controller is sent
Breath content is automatic running, then controller (14) control motor one (1.1) and motor two (10) adjustment puppet make electronic solely
Wheel car turns left, and turns right, and advances, retreats right standing activities；
Step 4: the value of test pose sensor is the most normal, if normally returning step 2, if abnormal, shows electric single-wheel
Car is fallen down, and carries out reporting to the police and entering step 5；
Step 5, the value continuing test pose sensor is the most normal, if abnormal, show that electric unicycle is fallen down, reports
Alert, return step 5, if normally returning step one.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610510054.1A CN106125726B (en) | 2016-07-03 | 2016-07-03 | A kind of sliding and swaying formula balance puppet based on electric unicycle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610510054.1A CN106125726B (en) | 2016-07-03 | 2016-07-03 | A kind of sliding and swaying formula balance puppet based on electric unicycle |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106125726A true CN106125726A (en) | 2016-11-16 |
| CN106125726B CN106125726B (en) | 2018-11-20 |
Family
ID=57468887
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610510054.1A Expired - Fee Related CN106125726B (en) | 2016-07-03 | 2016-07-03 | A kind of sliding and swaying formula balance puppet based on electric unicycle |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106125726B (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109591938A (en) * | 2017-09-28 | 2019-04-09 | 陈瑞堂 | Intelligent electric balance car and its intelligent controlling device |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2858016Y (en) * | 2005-12-30 | 2007-01-17 | 北京市通用依耐特技术开发有限公司 | Robot rider |
| US20080295595A1 (en) * | 2007-05-31 | 2008-12-04 | Twill Tech, Inc. | Dynamically balanced in-line wheel vehicle |
| CN101417682A (en) * | 2008-12-02 | 2009-04-29 | 中国海洋大学 | Pre and post direction self balance type electric unicycle |
| CN101623865A (en) * | 2009-07-08 | 2010-01-13 | 北京工业大学 | One-wheel robot system and control method thereof |
| CN104309740A (en) * | 2014-09-26 | 2015-01-28 | 柳州市新锐科技有限公司 | Swinging type electric balance monocycle |
| CN104326047A (en) * | 2014-10-17 | 2015-02-04 | 柳州惠林科技有限责任公司 | Single-balancing-weight electric wheelbarrow |
-
2016
- 2016-07-03 CN CN201610510054.1A patent/CN106125726B/en not_active Expired - Fee Related
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2858016Y (en) * | 2005-12-30 | 2007-01-17 | 北京市通用依耐特技术开发有限公司 | Robot rider |
| US20080295595A1 (en) * | 2007-05-31 | 2008-12-04 | Twill Tech, Inc. | Dynamically balanced in-line wheel vehicle |
| CN101417682A (en) * | 2008-12-02 | 2009-04-29 | 中国海洋大学 | Pre and post direction self balance type electric unicycle |
| CN101623865A (en) * | 2009-07-08 | 2010-01-13 | 北京工业大学 | One-wheel robot system and control method thereof |
| CN104309740A (en) * | 2014-09-26 | 2015-01-28 | 柳州市新锐科技有限公司 | Swinging type electric balance monocycle |
| CN104326047A (en) * | 2014-10-17 | 2015-02-04 | 柳州惠林科技有限责任公司 | Single-balancing-weight electric wheelbarrow |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109591938A (en) * | 2017-09-28 | 2019-04-09 | 陈瑞堂 | Intelligent electric balance car and its intelligent controlling device |
Also Published As
| Publication number | Publication date |
|---|---|
| CN106125726B (en) | 2018-11-20 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN102815357B (en) | Self-balancing manned solowheel based on inertia balance wheel | |
| CN102642584B (en) | Self-balancing electric manned monocycle | |
| CN202879694U (en) | Single wheel self-balancing electric vehicle | |
| CN102795282B (en) | Steering driving device of self-balancing two-wheeled vehicle | |
| CN202806968U (en) | Self-balance electric manned monocycle | |
| CN204184488U (en) | Manned ball shape robot | |
| CN206240033U (en) | Electric return board | |
| CN103895770A (en) | All-around self-balancing electric monocycle | |
| CN106240703A (en) | Electrodynamic balance swing car start self-balancing control method and system thereof | |
| CN211494352U (en) | Electric balance car | |
| CN105561584B (en) | Amplitude of oscillation Multimode Intelligent children swing machine wide | |
| CN106125726A (en) | A kind of sliding and swaying formula based on electric unicycle balance puppet | |
| CN203806063U (en) | Longitudinally and horizontally self-balancing electric monocycle | |
| CN106054892A (en) | Electrical-monocycle-based leg-balancing type balancing puppet | |
| CN106200635A (en) | A kind of formula balance puppet that sways one's hips based on electric unicycle | |
| CN106054891A (en) | Electrical-monocycle-based wing-spreading type balancing puppet | |
| CN106985952A (en) | One kind is ridden instead of walk body-building Multipurpose electric bicycle | |
| CN111284629A (en) | Self-balancing bicycle and control method thereof | |
| CN203916063U (en) | A kind of electronic toy gyro of remote control | |
| CN202087051U (en) | Remote control capable of being operated by one hand and toy | |
| CN203211442U (en) | Electric bicycle | |
| CN106094826A (en) | A kind of track based on electric unicycle sway one's hips formula balance puppet | |
| CN106200634A (en) | A kind of arm balanced type based on electric unicycle balance puppet | |
| CN106094824A (en) | A kind of swing arm based on electric unicycle balance puppet | |
| CN106094825B (en) | A kind of leg swinging balance puppet based on electric unicycle |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| CB02 | Change of applicant information | ||
| CB02 | Change of applicant information |
Address after: 545616 No. 266, No. 3, A plant, No. 19, No. 19, Yang Yang Road, Liu Dong District, Liuzhou, the Guangxi Zhuang Autonomous Region Applicant after: LIUZHOU HUILIN TECHNOLOGY Co.,Ltd. Address before: 545006 the Guangxi Zhuang Autonomous Region City, Liuzhou, 268 East Ring Road, Guangxi science and Technology University automotive College Applicant before: LIUZHOU HUILIN TECHNOLOGY Co.,Ltd. |
|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20181120 |