CN106143743A - A kind of omnirange driving wheel and multi-direction balance car - Google Patents
A kind of omnirange driving wheel and multi-direction balance car Download PDFInfo
- Publication number
- CN106143743A CN106143743A CN201610786229.1A CN201610786229A CN106143743A CN 106143743 A CN106143743 A CN 106143743A CN 201610786229 A CN201610786229 A CN 201610786229A CN 106143743 A CN106143743 A CN 106143743A
- Authority
- CN
- China
- Prior art keywords
- balance car
- omnirange
- driving
- housing
- wheel
- 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.)
- Pending
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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
- B62K11/00—Motorcycles, engine-assisted cycles or motor scooters with one or two wheels
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60B—VEHICLE WHEELS; CASTORS; AXLES FOR WHEELS OR CASTORS; INCREASING WHEEL ADHESION
- B60B33/00—Castors in general; Anti-clogging castors
- B60B33/0002—Castors in general; Anti-clogging castors assembling to the object, e.g. furniture
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60B—VEHICLE WHEELS; CASTORS; AXLES FOR WHEELS OR CASTORS; INCREASING WHEEL ADHESION
- B60B33/00—Castors in general; Anti-clogging castors
- B60B33/02—Castors in general; Anti-clogging castors with disengageable swivel action, i.e. comprising a swivel locking mechanism
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62J—CYCLE SADDLES OR SEATS; AUXILIARY DEVICES OR ACCESSORIES SPECIALLY ADAPTED TO CYCLES AND NOT OTHERWISE PROVIDED FOR, e.g. ARTICLE CARRIERS OR CYCLE PROTECTORS
- B62J1/00—Saddles or other seats for cycles; Arrangement thereof; Component parts
-
- 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
Abstract
A kind of omnirange driving wheel and multi-direction balance car, wherein this multi-direction balance car includes an omnirange driving wheel, wherein wheel, motor, differential mechanism, actuating device are all concentrated design together by this omnirange driving wheel, this design of this omnirange driving wheel is conducive to miniaturization and the intellectuality of this omnirange driving wheel, and the manufacturing cost of this omnirange driving wheel can be greatly reduced, thus be conducive to applying the miniaturization of this multi-direction balance car of this omnirange driving wheel and popularizing.Additionally, this multi-direction driving wheel can not only carry out actions such as advancing, retreat, move to left and move to right, but also the movement in the orientation such as left front, right front, left back, right back can be carried out, this can apply the handling and security performance of this multi-direction balance car of this omnirange driving wheel effectively, thus is conducive to enabling this multi-direction balance car to be developed to vehicles direction by recreational vehicle.
Description
Technical field
The present invention relates to a kind of vehicles, particularly to a kind of omnirange driving wheel based on self-balancing technology and in many ways
To balance car.
Background technology
In recent years, constantly improve along with socioeconomic development and people's living standard, intelligence based on self-balancing technology
Can become to become more and more popular by balance car, much the most relatively popular intelligent balance car is bulky two-wheel balance car and solely
Wheel balance car, for two-wheel balance car, single wheel balance car either suffers from substantially on volume or on cost
Advantage.But, what present single wheel balance car used drives carrier is all common wheel, and this wheel needs to use tradition
Steering mechanism perform to turn to, this do not only result in single wheel balance car cannot miniaturization and intellectuality further, but also cause
Handling and the security performance of single wheel balance car are poor, and during specifically used, this single wheel balance car is difficult to be learned
Meeting, even and if user has learned this single wheel balance car of riding, owing to its operability is poor, be in an emergency
Time, it is easy to cause vehicle accident, to such an extent as to the personal safety of user cannot be ensured.It addition, present balance car is all stood
Riding, this mode of riding has no comfort level, and uses scene limited, and much the most present balance car is recreational,
Existing electromobile etc. cannot be substituted use as the vehicles of real trip.Therefore, the present invention provides a kind of complete
Direction driving wheel and multi-direction balance car solve the problems referred to above.
Summary of the invention
It is an object of the invention to provide a kind of simple in construction, easy to use and the space that can be greatly enhanced in car
The omnirange driving wheel of utilization rate and multi-direction balance car.
In order to achieve the above object, the present invention provides a kind of omnirange driving wheel, and it includes:
One axle is installed；
One main driving mechanism, wherein this main driving mechanism includes a master driver, a main driving dish and one group
Main driving rolls, wherein this master driver is arranged at this main driving dish, and this master driver can drive this main driving dish to turn
Dynamic, each this main driving rolls is arranged at this main driving dish spaced reciprocally；
Two side drive mechanisms, wherein each this side drive mechanism includes a side driver, a side driving dish respectively
And one group of side driving rolls, wherein this side driver is arranged at this side driving dish, and this side driver can drive this side
Driving dish rotates, and each this side driving rolls is arranged at this side driving dish spaced reciprocally, and wherein each side drive mechanism is mutual
It is symmetrically disposed on the both sides of this main driving mechanism, so that the rolling of each this side drive wheel is respectively along each this main driving rolls
Tangential direction arranges, and this installation axle is installed on each this side driving dish and this main driving dish simultaneously.
As the further preferred embodiment of this omnirange driving wheel to the present invention, this master driver and each this side
Driver is brushless electric machine respectively.
As the further preferred embodiment of this omnirange driving wheel to the present invention, this side driving rolls is rubber
Wheel.
The present invention further provides a kind of multi-direction balance car, it includes: a body device and an omnirange are driven
Driving wheel, this omnirange driving wheel is arranged at this body device to drive this body device to move, wherein this omnirange driving wheel bag
Include:
One axle is installed；
One main driving mechanism, wherein this main driving mechanism includes a master driver, a main driving dish and one group
Main driving rolls, wherein this master driver is arranged at this main driving dish, and this master driver can drive this main driving dish to turn
Dynamic, each this main driving rolls is arranged at this main driving dish spaced reciprocally；
Two side drive mechanisms, wherein each this side drive mechanism includes a side driver, a side driving dish respectively
And one group of side driving rolls, wherein this side driver is arranged at this side driving dish, and this side driver can drive this side
Driving dish rotates, and each this side driving rolls is arranged at this side driving dish spaced reciprocally, and wherein each side drive mechanism is mutual
It is symmetrically disposed on the both sides of this main driving mechanism, so that the rolling of each this side drive wheel is respectively along each this main driving rolls
Tangential direction arranges, and this installation axle is installed on each this side driving dish and this main driving dish simultaneously, and this installation axle is installed on
This body device.
As the further preferred embodiment of this multi-direction balance car to the present invention, this multi-direction balance car includes one
Individual rechargeable battery, wherein this master driver and each this side driver are electrically coupled respectively in this rechargeable battery.
As the further preferred embodiment of this multi-direction balance car to the present invention, this multi-direction balance car includes one
Individual controlling organization, wherein this controlling organization is electrically coupled in this rechargeable battery, and this controlling organization controllably connects
In this master driver and each this side driver.
As the further preferred embodiment of this multi-direction balance car to the present invention, this body device includes a wheel
Fork and a main body, this main body includes first housing and second housing, wherein this first housing and this second
Housing is arranged symmetrically, and to form an installing space between this first housing and this second housing, this wheel fork is arranged
In this installing space, the two ends of this installation axle are respectively arranged in this wheel fork, so that this omnirange driving wheel is positioned at this installing space.
As the further preferred embodiment of this multi-direction balance car to the present invention, this first housing and this second shell
Body includes an arm element and a footboard element respectively, wherein this arm element of this first housing and this second housing should
Arm element is arranged symmetrically, is somebody's turn to do to be formed between this arm element and this arm element of this second housing of this first housing
Installing space, this footboard element extends this arm element deviously.
As the further preferred embodiment of this multi-direction balance car to the present invention, in this arm unit of this first housing
Forming one further between this arm element of part and this second housing and accommodate space, it is empty that this controlling organization is arranged at this receiving
Between.
As the further preferred embodiment of this multi-direction balance car to the present invention, this body device includes a seat
Chair, this seat is arranged at this wheel fork, and this seat is positioned at the outside of this main body.
The advantage of this multi-direction balance car of the present invention is:
This multi-direction balance car includes an omnirange driving wheel, and wherein this omnirange driving wheel is by wheel, motor, differential
Device, actuating device all concentrate design together, and this design of this omnirange driving wheel is conducive to this omnirange to drive
The miniaturization of wheel and intellectuality, and the manufacturing cost of this omnirange driving wheel can be greatly reduced, thus be conducive to answering
With the miniaturization of this multi-direction balance car of this omnirange driving wheel with universal.It addition, this multi-direction driving wheel can not only enter
The actions such as row advances, retreats, moves to left and moves to right, but also the orientation such as left front, right front, left back, right back can be carried out
Movement, this can apply the handling and security performance of this multi-direction balance car of this omnirange driving wheel effectively, thus
Being conducive to enabling this multi-direction balance car to be developed to vehicles direction by recreational vehicle, this is the single wheel balance of prior art
Car is unexpected, and this multi-direction balance car of the present invention is the most effective for the development that balance car is following.
It addition, this multi-direction balance car provides a seat, it allows user to use this multi-direction balance car, phase with sitting posture
For the wheelbarrow of prior art only allows user by the way of stance uses, this multi-direction balance car of the present invention carries
For this occupation mode user can be made to feel the most comfortable when this multi-direction balance car.
Accompanying drawing explanation
In order to obtain above and other advantage and the feature of the present invention, hereinafter with reference to the tool of the present invention shown in accompanying drawing
Body embodiment carries out more specific description to the present invention outlined above.It should be understood that these accompanying drawings illustrate only the present invention
Exemplary embodiments, be therefore not construed as limiting the scope of the present invention, by use accompanying drawing, the present invention will be carried out more
Concrete and more detailed description and elaboration.In the accompanying drawings:
Fig. 1 is the schematic perspective view of this multi-direction balance car.
Fig. 2 is the schematic side view of this multi-direction balance car.
Fig. 3 is the decomposing schematic representation of this multi-direction balance car.
Fig. 4 is the schematic perspective view of this omnirange driving wheel of this multi-direction balance car.
Fig. 5 is the decomposing schematic representation of this omnirange driving wheel of this multi-direction balance car.
Fig. 6 is the cross-sectional schematic of this omnirange driving wheel of this multi-direction balance car.
Detailed description of the invention
Hereinafter describe and be used for disclosing the present invention so that those skilled in the art are capable of the present invention.Below describe in excellent
Select embodiment to be only used as citing, it may occur to persons skilled in the art that other obvious modification.Define in the following description
The ultimate principle of the present invention can apply to other embodiments, deformation program, improvement project, equivalent and the not back of the body
Other technologies scheme from the spirit and scope of the present invention.
As shown in Figures 1 to 6, the present invention provides a kind of multi-direction balance car, and this multi-direction balance car includes a car body
Device 10 and an omnirange driving wheel 20, this omnirange driving wheel 20 is rollably arranged at this body device 10, with mat
This body device 10 is driven to walk by this omnirange driving wheel 20.
This omnirange driving wheel 20 includes that one is installed 21, main driving mechanism 22 of axle and two side drive mechanisms
23, each this side drive mechanism 23 is symmetrically disposed on the both sides of this main driving mechanism 22, and this installation axle 21 is installed on this simultaneously
Main driving mechanism 22 and each this side drive mechanism 23, and this installation axle 21 is for being installed on this by this omnirange driving wheel 20
Body device 10.Body further, this body device 10 includes a main body 11 and a wheel fork 12, and this main body 11 includes one
First housing 111 and second housing 112, wherein this first housing 111 and this second housing 112 are symmetrically arranged, with
Forming an installing space 113 between this first housing 111 and this second housing 112, it is empty that this wheel fork 12 is arranged at this installation
Between 113, the two ends of this installation axle 21 are respectively arranged in this wheel fork 12, so that this omnirange driving wheel 20 is positioned at this installing space
113, such as Fig. 2, so, the major part of this omnirange driving wheel 20 can be wrapped by this first housing 111 and this second housing 112
Wrap up in, thus the stability of this multi-direction balance car can not only be improved, but also the safety of this omnirange balance car can be improved
Property.
This first housing 111 and this second housing 112 include an arm element 1111 and a footboard element respectively
1112, wherein this arm element 1111 of this first housing 111 and this arm element 1111 of this second housing 112 set symmetrically
Put, to form this installation between this arm element 1111 of this first housing 111 and this arm element 1111 of this second housing 112
Space 113, this wheel fork 12 is arranged at this arm element 1111 and this arm element of this second housing 112 of this first housing 111
Between 1111.This footboard element 1112 extends this arm element 1111 deviously, so that user is using this multi-direction balance car
Time, it is possible to foot is placed on this footboard element 1112.Further, this body device 10 farther includes a seat 13,
Wherein this seat 13 is arranged at this wheel fork 12, and this seat 13 is positioned at the outside of this main body 11, to allow user to make with seat
With this omnirange balance car.
Such as Fig. 4 to Fig. 6, this main driving mechanism 22 includes the main driving dish 222 of a master driver 221, and one group
Main driving rolls 223, wherein this master driver 221 is arranged at this main driving dish 222, and this master driver 221 can drive
This main driving dish 222 rotates, and each this main driving rolls 223 is arranged at this main driving dish 222 spaced reciprocally.Each this side is driven
Motivation structure 23 includes 231, side driving dish 232 of a side driver and one group of side driving rolls 233, wherein this side respectively
Driver 231 is arranged at this side driving dish 232, and this side driver 231 can drive this side driving dish 232 to rotate, each
This side driving rolls 233 is arranged at this side driving dish 232 spaced reciprocally, and this installation axle 21 is installed on each this side simultaneously and drives
Dish 232 and this main driving dish 222.Each side drive mechanism 23 is arranged at the both sides of this main driving mechanism 22 symmetrically, with
Make each this side drive wheel rolling 233 respectively along the tangential direction arrangement of each this main driving rolls 223.Preferably, this master drives
Dynamic device 221 and each this side driver 231 are brushless electric machine respectively.It is highly preferred that each this side driving rolls 233 is rubber respectively
Rubber tire.
Such as Fig. 3, this multi-direction balance car includes a rechargeable battery 30, wherein this master driver 221 and each this side
Driver 231 is electrically coupled respectively in this rechargeable battery 30.This multi-direction balance car includes a controlling organization 40, wherein
This controlling organization 40 is electrically coupled in this rechargeable battery 30, and this controlling organization 40 is controllably connected to this main driving
Device 221 and each this side driver 231.It addition, at this arm element 1111 of this first housing 111 and this second housing 112
Forming one further between this arm element 1111 and accommodate space 114, this controlling organization 40 is arranged at this receiving space 114.
This controlling organization 40 includes gyro sensor, acceleration transducer, attitude controller and driven by servomotor
Devices etc., wherein this motor servo driver connects each this side driver 231.When user uses this multi-direction balance car with sitting posture
Time, this controlling organization 40 is able to detect that the forward leaning angle during forward lean of user, this servomotor by each sensor
Driver can control two these side driver 231 and rotate forward simultaneously, and now, this master driver 221 also is able to the most forward
Rotate with the balance controlling this multi-direction balance car.It is understood that the principle of the rearward movement of this multi-direction balance car is also
It is consistent.This control structure 40 is able to detect that the angle that the body bilateral of user tilts, this servo by each sensor
Motor driver controlled by this master driver 221 this multi-direction balance car movable while, it is possible to make two these sides
Driver 231 produces speed discrepancy, and now, this omnirange driving wheel will be horizontal to the side that this side driving dish 232 rotating speed is higher
Mobile.It is understood that the change that the motion of this multi-direction balance car can all rely on the center of gravity of user completes, thus
This multi-direction balance car is made to be easier to control and safer.
It addition, the operation principle of this omnirange driving wheel 20 is, when each this side drive mechanism 23 in the same direction and turns with speed
Time dynamic, this main driving mechanism 22 will rotate, if wherein along with the rotation direction of two these side drive mechanisms 23 and synchronization
The rotating ratio of one this side drive mechanism 23 is very fast, and this main driving mechanism 22 then can produce this side drive mechanism with fast rotation
The horizontal resultant motion in 23 directions, so that this multi-direction balance car is like movement.It addition, this side if located in left side drives machine
Structure 23 rotates forward this side drive mechanism 23 on the right side of being positioned at and inverts, then this main driving mechanism 22 can produce transverse shifting to the left,
Vice versa, and this feature of this omnirange driving wheel 20 is particularly suitable for this multi-direction balance car of the present invention.
Above one embodiment of the present of invention is described in detail, but described content has been only the preferable enforcement of the present invention
Example, it is impossible to be considered the practical range for limiting the present invention.All impartial changes made according to the present patent application scope and improvement
Deng, within all should still belonging to the patent covering scope of the present invention.
Claims (10)
1. an omnirange driving wheel, it is characterised in that this omnirange driving wheel includes:
One axle is installed；
One main driving mechanism, wherein this main driving mechanism includes that a master driver, a main driving dish and one group of master drive
Dynamic roller, wherein this master driver is arranged at this main driving dish, and this master driver can drive this main driving dish to rotate, respectively
This main driving rolls individual is arranged at this main driving dish spaced reciprocally；
Two side drive mechanisms, wherein each this side drive mechanism include respectively a side driver, a side driving dish and
One group of side driving rolls, wherein this side driver is arranged at this side driving dish, and this side driver can drive this side to drive
Dish rotates, and each this side driving rolls is arranged at this side driving dish spaced reciprocally, and wherein each side drive mechanism is symmetrical
Be arranged at the both sides of this main driving mechanism, so that the rolling of each this side drive wheel is respectively along the tangent line of each this main driving rolls
Direction arranges, and this installation axle is installed on each this side driving dish and this main driving dish simultaneously.
2. a kind of omnirange driving wheel as claimed in claim 1, it is characterised in that this master driver and each this side driver
It is brushless electric machine respectively.
3. a kind of omnirange driving wheel as claimed in claim 1 or 2, it is characterised in that this side driving rolls is rubber wheel.
4. a multi-direction balance car, it is characterised in that this how square balance car includes a body device and a full side
To driving wheel, this omnirange driving wheel is arranged at this body device to drive this body device to move, and wherein this omnirange drives
Wheel includes:
One axle is installed；
One main driving mechanism, wherein this main driving mechanism includes that a master driver, a main driving dish and one group of master drive
Dynamic roller, wherein this master driver is arranged at this main driving dish, and this master driver can drive this main driving dish to rotate, respectively
This main driving rolls individual is arranged at this main driving dish spaced reciprocally；
Two side drive mechanisms, wherein each this side drive mechanism include respectively a side driver, a side driving dish and
One group of side driving rolls, wherein this side driver is arranged at this side driving dish, and this side driver can drive this side to drive
Dish rotates, and each this side driving rolls is arranged at this side driving dish spaced reciprocally, and wherein each side drive mechanism is symmetrical
Be arranged at the both sides of this main driving mechanism, so that the rolling of each this side drive wheel is respectively along the tangent line of each this main driving rolls
Direction arranges, and this installation axle is installed on each this side driving dish and this main driving dish simultaneously, and this installation axle is installed on this car
Body device.
A kind of multi-direction balance car the most as claimed in claim 4, it is characterised in that this multi-direction balance car includes that one can be filled
Electricity battery, wherein this master driver and each this side driver are electrically coupled respectively in this rechargeable battery.
A kind of multi-direction balance car the most as claimed in claim 5, it is characterised in that this multi-direction balance car includes a control
Mechanism, wherein this controlling organization is electrically coupled in this rechargeable battery, and this controlling organization is controllably connected to this master
Driver and each this side driver.
A kind of multi-direction balance car the most as claimed in claim 6, it is characterised in that this body device include a wheel fork and
One main body, this main body includes first housing and second housing, wherein this first housing and this second housing phase
Being symmetrically arranged mutually, to form an installing space between this first housing and this second housing, this wheel fork is arranged at this peace
Dress space, the two ends of this installation axle are respectively arranged in this wheel fork, so that this omnirange driving wheel is positioned at this installing space.
A kind of multi-direction balance car the most as claimed in claim 7, it is characterised in that this first housing and this second housing are respectively
Including an arm element and a footboard element, wherein this arm element of this first housing and this arm element of this second housing
Arrange symmetrically, empty to form this installation between this arm element of this first housing and this arm element of this second housing
Between, this footboard element extends this arm element deviously.
A kind of multi-direction balance car the most as claimed in claim 8, it is characterised in that at this arm element and this of this first housing
Forming one further between this arm element of second housing and accommodate space, this controlling organization is arranged at this receiving space.
A kind of multi-direction balance car the most as claimed in claim 9, it is characterised in that this body device includes a seat, should
Seat is arranged at this wheel fork, and this seat is positioned at the outside of this main body.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610786229.1A CN106143743A (en) | 2016-08-27 | 2016-08-27 | A kind of omnirange driving wheel and multi-direction balance car |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610786229.1A CN106143743A (en) | 2016-08-27 | 2016-08-27 | A kind of omnirange driving wheel and multi-direction balance car |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106143743A true CN106143743A (en) | 2016-11-23 |
Family
ID=57345487
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610786229.1A Pending CN106143743A (en) | 2016-08-27 | 2016-08-27 | A kind of omnirange driving wheel and multi-direction balance car |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106143743A (en) |
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| CN102114753A (en) * | 2011-01-13 | 2011-07-06 | 鲁卡本斯(天津)自动化科技有限公司 | Universal caster with driving function |
| CN102458962A (en) * | 2009-06-19 | 2012-05-16 | 国立大学法人丰桥技术科学大学 | Steerable drive mechanism and omnidirectional moving vehicle |
| CN103129310A (en) * | 2011-11-24 | 2013-06-05 | 本田技研工业株式会社 | Friction drive device and traction wheel |
| CN103419860A (en) * | 2012-05-14 | 2013-12-04 | 本田技研工业株式会社 | Inverted pendulum type vehicle |
| CN203528693U (en) * | 2013-11-13 | 2014-04-09 | 唐永木 | Portable single-wheel balance car |
| CN104960609A (en) * | 2015-07-28 | 2015-10-07 | 常州爱尔威智能科技有限公司 | Electric balancing car and motor assembly thereof |
| CN206012817U (en) * | 2016-08-27 | 2017-03-15 | 彭良 | A kind of omnirange driving wheel and multi-direction balance car |
-
2016
- 2016-08-27 CN CN201610786229.1A patent/CN106143743A/en active Pending
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102458962A (en) * | 2009-06-19 | 2012-05-16 | 国立大学法人丰桥技术科学大学 | Steerable drive mechanism and omnidirectional moving vehicle |
| JP2011068217A (en) * | 2009-09-24 | 2011-04-07 | Honda Motor Co Ltd | Vehicle |
| CN102114753A (en) * | 2011-01-13 | 2011-07-06 | 鲁卡本斯(天津)自动化科技有限公司 | Universal caster with driving function |
| CN103129310A (en) * | 2011-11-24 | 2013-06-05 | 本田技研工业株式会社 | Friction drive device and traction wheel |
| CN103419860A (en) * | 2012-05-14 | 2013-12-04 | 本田技研工业株式会社 | Inverted pendulum type vehicle |
| CN203528693U (en) * | 2013-11-13 | 2014-04-09 | 唐永木 | Portable single-wheel balance car |
| CN104960609A (en) * | 2015-07-28 | 2015-10-07 | 常州爱尔威智能科技有限公司 | Electric balancing car and motor assembly thereof |
| CN206012817U (en) * | 2016-08-27 | 2017-03-15 | 彭良 | A kind of omnirange driving wheel and multi-direction balance car |
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