CN108791620B - Intelligent balance steering folding electric tricycle capable of tilting and control method thereof - Google Patents
Intelligent balance steering folding electric tricycle capable of tilting and control method thereof Download PDFInfo
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- CN108791620B CN108791620B CN201810564024.8A CN201810564024A CN108791620B CN 108791620 B CN108791620 B CN 108791620B CN 201810564024 A CN201810564024 A CN 201810564024A CN 108791620 B CN108791620 B CN 108791620B
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- rocker arm
- reset
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- 238000000034 method Methods 0.000 title abstract description 10
- 230000005540 biological transmission Effects 0.000 claims abstract description 19
- 230000005484 gravity Effects 0.000 claims description 31
- 238000009434 installation Methods 0.000 claims description 4
- 238000005096 rolling process Methods 0.000 abstract description 9
- 230000009471 action Effects 0.000 description 4
- 125000006850 spacer group Chemical group 0.000 description 3
- 230000001133 acceleration Effects 0.000 description 2
- 230000008878 coupling Effects 0.000 description 2
- 238000010168 coupling process Methods 0.000 description 2
- 238000005859 coupling reaction Methods 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 230000000149 penetrating effect Effects 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 230000035939 shock Effects 0.000 description 2
- 238000003860 storage Methods 0.000 description 2
- 238000010521 absorption reaction Methods 0.000 description 1
- 230000006978 adaptation Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 229910052799 carbon Inorganic materials 0.000 description 1
- 239000003153 chemical reaction reagent Substances 0.000 description 1
- 238000007796 conventional method Methods 0.000 description 1
- 238000000151 deposition Methods 0.000 description 1
- 238000003912 environmental pollution Methods 0.000 description 1
- 238000002474 experimental method Methods 0.000 description 1
- 230000036541 health Effects 0.000 description 1
- 210000001503 joint Anatomy 0.000 description 1
- 238000005461 lubrication Methods 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 239000004033 plastic Substances 0.000 description 1
- 230000002035 prolonged effect Effects 0.000 description 1
- 230000035945 sensitivity Effects 0.000 description 1
Classifications
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- 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
- B62K5/00—Cycles with handlebars, equipped with three or more main road wheels
- B62K5/02—Tricycles
- B62K5/027—Motorcycles with three wheels
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62K—CYCLES; CYCLE FRAMES; CYCLE STEERING DEVICES; RIDER-OPERATED TERMINAL CONTROLS SPECIALLY ADAPTED FOR CYCLES; CYCLE AXLE SUSPENSIONS; CYCLE SIDE-CARS, FORECARS, OR THE LIKE
- B62K15/00—Collapsible or foldable cycles
- B62K15/006—Collapsible or foldable cycles the frame being foldable
-
- 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
- B62K5/00—Cycles with handlebars, equipped with three or more main road wheels
- B62K5/02—Tricycles
- B62K5/05—Tricycles characterised by a single rear 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
- B62K5/00—Cycles with handlebars, equipped with three or more main road wheels
- B62K5/10—Cycles with handlebars, equipped with three or more main road wheels with means for inwardly inclining the vehicle body on bends
-
- 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
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Automatic Cycles, And Cycles In General (AREA)
Abstract
The invention discloses an intelligent balanced steering folding electric tricycle capable of tilting, which comprises: a vehicle body; the two front wheel rocker arms are oppositely arranged at two sides of the front end of the vehicle body, and are connected with the front end of the vehicle body through a transmission assembly arranged between the two front wheel rocker arms; when the gyroscope senses that the vehicle is in a rolling state, the controller drives the steering motor to rotate, and the steering turbine rod and the steering turbine fluted disc drive the rear wheels to steer, so that the vehicle is in a balanced state, and the steering angle and the rolling amplitude are in a direct proportion relation and an inverse proportion relation with the running speed. The electric tricycle has the advantages of being capable of being tilted, intelligent in balance steering, simple in operation, safe and reliable and the like; the steering method changes active steering into passive steering, and can control the steering angle of the rear wheels according to the side-tipping angle and the running speed, thereby realizing intelligent balance.
Description
Technical Field
The invention relates to the field of electric balance vehicles. More particularly, the invention relates to an intelligent balanced steering folding electric tricycle capable of tilting.
Background
Along with the increasingly serious environmental pollution problem, low-carbon travel has become trend, but traditional two-wheeled bicycle or electric bicycle travel in-process unstable, easy side turning, and inconvenient storage and carrying, tricycle stability is good, but turns to inflexibly, and the volume is great, more inconvenient storage and carrying.
Disclosure of Invention
The invention aims to provide an electric tricycle which combines the advantages of the traditional two-wheel vehicle and the tricycle, and has the advantages of side tilting of front wheels, flexible steering, simple operation, safety, reliability and portability.
The invention also aims to provide a passive steering intelligent control method of the electric tricycle.
To achieve the objects and other advantages in accordance with the purpose of the invention, there is provided an intelligent balanced steering foldable electric tricycle capable of tilting, comprising: a vehicle body; the two front wheel rocker arms are oppositely arranged at two sides of the front end of the vehicle body, and are connected with the front end of the vehicle body through a transmission assembly arranged between the two front wheel rocker arms; wherein, the driven subassembly includes:
The front wheel rocker arm shaft is connected with the front end of the vehicle body, and two ends of the front wheel rocker arm shaft are respectively and movably connected with the two front wheel rocker arms;
The double-shaft reset rocker is arranged in front of the front-wheel rocker arm shaft, and two ends of the double-shaft reset rocker are respectively and movably linked with the two front-wheel rocker arms;
And at least one connecting piece is arranged between the front wheel rocker arm shaft and the double-shaft reset rocker, one end of any connecting piece is connected with the front wheel rocker arm shaft, and the other end of any connecting piece is connected with the double-shaft reset rocker.
Preferably, the intelligent balance steering folding electric tricycle that can roll, the connecting piece include the slope rotation axis, it inserts biax reset rocker's inside and with its swing joint, drive assembly still includes: at least one rocker reset elastic piece is arranged in one-to-one correspondence with the inclined rotating shafts, any rocker reset elastic piece is arranged in the double-shaft reset rocker above the inclined rotating shafts, the lower end of the rocker reset elastic piece is in butt joint with the inclined rotating shafts, and the elastic direction provided by the rocker reset elastic piece is perpendicular to the inclined rotating shafts.
Preferably, the intelligent balanced steering folding electric tricycle capable of tilting is characterized in that the transmission assembly is perpendicular to the two front wheel rocker arms; the two inclined rotating shafts are arranged in parallel, one end of each inclined rotating shaft is connected with the middle part of the front wheel rocker shaft, and the middle part of each inclined rotating shaft is sleeved with a rocker arm folding limiting pin; the number of the rocker reset elastic pieces is two, and the rocker reset elastic pieces are springs; the middle part that biax reset the rocker is equipped with two levels and sets up hold two first mounting holes of inclination rotation axis, the middle part top that biax reset the rocker is equipped with two vertical settings hold the second mounting hole of rocker reset elastic component, the top of second mounting hole is equipped with rather than matched with can dismantle the briquetting of being connected, just the lower extreme of second mounting hole with the top of first mounting hole communicates with each other, still be equipped with the third mounting hole that holds locating pin reset spring that the level set up between two first mounting holes, just locating pin reset spring protrusion the one end of third mounting hole with the folding locating pin rigid coupling of rocking arm.
Preferably, the intelligent balanced steering folding electric tricycle capable of tilting is characterized in that the front end of the tricycle body is provided with a slot with an opening at the front end and penetrating up and down, the left side wall and the right side wall of the slot are provided with opposite installation through holes, the connecting piece comprises a rocker folding shaft sleeve arranged in the slot and two inclined rotating shafts which are arranged on the outer wall of the rocker folding shaft sleeve along the radial direction of the rocker folding shaft sleeve and are positioned in the same plane, the rear end of the rocker folding shaft sleeve is pivoted with the front end of the tricycle body, the middle part of a front wheel rocker shaft is sleeved in the rocker folding shaft sleeve, and two ends of the rocker folding shaft sleeve penetrate through the installation through holes and are pivoted with the two front wheel rockers respectively; the transmission assembly further comprises two front wheel rocker arm shaft sleeves which respectively and horizontally penetrate through one ends of the two front wheel rocker arms, which are close to the vehicle body, and are symmetrically arranged, wherein ball holes which are symmetrically arranged are formed in the upper side and the lower side of the middle part of any front wheel rocker arm shaft sleeve, symmetrically arranged ball grooves are formed in the outer walls of the two ends of a front wheel rocker arm shaft, the initial part of any ball groove is horizontally arranged, the rest part of the front wheel rocker arm shaft sleeve is spirally arranged around the outer wall of the front wheel rocker arm shaft, the two ends of the front wheel rocker arm shaft are pivoted with the two front wheel rocker arms through rocker arm axial positioning balls, one end of each rocker arm axial positioning ball is clamped in each ball hole, and the other end of each rocker arm axial positioning ball is clamped in each ball groove; the two reset rocker shaft sleeves are respectively and horizontally penetrated through the two front wheel rocker arms and symmetrically arranged, the two reset rocker shaft sleeves are positioned in front of the two front wheel rocker arm shaft sleeves and are parallel to the two front wheel rocker arm shaft sleeves, the two reset rocker shaft sleeves are fixedly connected with the outer ends of the two front wheel rocker arm shaft sleeves through connecting rods, two ends of the double-shaft reset rocker are respectively clamped in the two reset rocker arm shaft sleeves and are movably connected with the two reset rocker arm shaft sleeves, and spaces for the front wheel rocker arm shaft and the double-shaft reset rocker arm shaft to axially move are reserved in the two front wheel rocker arm shaft sleeves and the two reset rocker arm shaft sleeves.
Preferably, the intelligent balanced steering folding electric tricycle capable of tilting further comprises two front wheel mounting frames, wherein the two front wheel mounting frames are respectively arranged at one ends of the two front wheel rocker arms far away from the vehicle body and fixedly connected with the vehicle body, and front wheels vertically and rotatably connected with the two front wheel mounting frames are respectively arranged on the two front wheel mounting frames; the rear wheel mounting frame is arranged at the rear end of the vehicle body and is horizontally and rotatably connected with the vehicle body, a rear wheel which is vertically and rotatably connected with the rear wheel mounting frame is arranged on the rear wheel mounting frame, and a hub motor is arranged on the rear wheel; the saddle is arranged in the middle of the upper part of the car body and is detachably connected with the car body through a saddle telescopic vertical pipe which is vertically arranged; the two gravity sensing pedals are respectively arranged on the outer sides of the two front wheel mounting frames, and the front end and the rear end of any gravity sensing pedal are respectively provided with a gravity sensor; the steering motor is arranged above the rear wheel mounting frame, and an output shaft of the steering motor is in transmission connection with a steering turbine fluted disc which is arranged above the rear wheel mounting frame, fixedly connected with the steering turbine fluted disc and horizontally arranged, so that the rear wheel mounting frame is driven by the steering motor to horizontally rotate; the controller is arranged at the rear end of the vehicle body, a gyroscope is arranged on the controller, and the controller is respectively and electrically connected with the gyroscope, the gravity sensor, the steering motor and the hub motor and is powered by a battery.
Preferably, but intelligent balance steering folding electric tricycle that heels, be equipped with vertical setting and the locking pipe that link up from top to bottom on the automobile body, upper portion one side opening of locking pipe and be equipped with the mounting panel, be equipped with the locker mounting hole on the mounting panel, still include, the locker, it includes locking spanner and rather than the locking screw rod of tip pin joint, locking screw rod passes locker mounting hole and rather than threaded connection, the middle part of locking screw rod still overlaps with the opening relative department on the locking pipe and is equipped with flexible button, the flexible riser cover of saddle is located in the locking pipe, still the interval be equipped with on the flexible riser of saddle a plurality of with flexible button matched with shrinkage pool, so that when flexible button is opened, flexible button can block and establish in the shrinkage pool.
Preferably, the intelligent balance steering folding electric tricycle that can incline, any front wheel rocking arm be the cavity arc arm of downwarping, the front wheel rocking arm be close to the one end opening of automobile body and be equipped with rather than matched with end cover, the upper and lower both sides of end cover extend forward to cover the ball hole, and be equipped with the ball locating hole of ball hole looks adaptation, rocking arm axial positioning ball's one end card is established the ball hole with in the ball locating hole, the other end card is established in the ball recess.
Preferably, the intelligent balance steering folding electric tricycle capable of tilting further comprises a controller box, wherein the controller box is arranged at the rear end of the vehicle body above the rear wheel mounting frame, the controller, the steering motor and the turbine fluted disc are all arranged in the controller box, and the battery box is arranged above the controller box and detachably connected with the controller box, and is internally provided with the battery.
Preferably, the intelligent balanced steering folding electric tricycle capable of tilting further comprises a handrail, wherein the handrail is arranged in front of the vehicle body and is detachably connected with the saddle telescopic stand pipe; the bicycle basket is arranged at the rear of the bicycle body and is detachably connected with the saddle telescopic vertical pipe; the front lighting headlight is arranged in the front middle of the double-shaft reset rocker and is detachably connected with the double-shaft reset rocker; and the two rubber anti-skid sleeves are respectively arranged on the surfaces of the two gravity sensing pedals and are detachably connected with the two gravity sensing pedals.
When the gyroscope senses that the vehicle is in a rolling state, the controller drives the steering motor to rotate, and the steering turbine rod and the steering turbine fluted disc drive the rear wheels to steer, so that the vehicle is in a balanced state, and the steering angle and the rolling amplitude are in a direct proportion relation and an inverse proportion relation with the running speed.
The invention at least comprises the following beneficial effects:
Firstly, by arranging the transmission component of the two front wheel rocker arms, the two front wheels of the tricycle can tilt and reset under the action of the gravity of a rider and the vehicle, and meanwhile, the tricycle has the characteristics of stability and flexibility of the two-wheel vehicle, and the front wheel rocker shaft is coaxial with the folding shaft and the shock absorption shaft in a triaxial manner, so that the tricycle is simpler, more compact and more reliable in structure;
Secondly, by arranging the rocker arms to axially position the balls, the ball holes and the ball grooves, when the two front wheel rocker arms are folded, the front wheel rocker arms automatically shrink along the axial direction of the front wheel rocker shaft, the width of the vehicle body is compressed, the occupied space is reduced to the maximum extent, and under the condition that armrests and bicycle baskets are not installed, the whole folding process can be completed in two steps, namely the front wheel rocker arms are folded, and the saddle is folded in a telescopic way;
thirdly, by arranging a gravity sensor, a gyroscope, a steering motor and a hub motor which are electrically connected with the controller, automatic acceleration or deceleration is realized according to the trampling force sensed by the gravity sensor, and the steering motor is controlled to drive a rear wheel to steer according to the inclination angle sensed by the gyroscope and the running speed of the tricycle so as to match the steering angle for keeping the balance of the vehicle, so that intelligent balance is realized;
Fourthly, through the arrangement of the locking pipe and the locking device which are vertically communicated, the height of the telescopic stand pipe of the saddle can be adjusted according to the requirement, when the tricycle is folded, the tricycle can be folded into a bench shape according to the requirement, and the tricycle is in a standing mode when stored at home, so that the occupied space is reduced to the maximum extent, or the tricycle is folded into a draw-bar box shape, and is pulled and carried with people to reduce the body load;
fifthly, the electric tricycle combines the rocker side tilting technology and intelligent steering, so that the operation is simpler, safer and more reliable; the control method changes active steering into passive steering, and controls the steering angle of the rear wheels according to the side-tipping angle and the running speed, thereby realizing intelligent balance.
Additional advantages, objects, and features of the invention will be set forth in part in the description which follows and in part will become apparent to those having ordinary skill in the art upon examination of the following or may be learned from practice of the invention.
Drawings
FIG. 1 is a schematic view of an overall structure of an electric tricycle according to one embodiment of the present invention;
FIG. 2 is a schematic side view of an electric tricycle according to one embodiment of the invention;
FIG. 3 is a schematic diagram of a front view of an electric tricycle according to one embodiment of the invention;
FIG. 4 is a schematic side view of an electric tricycle in a folded configuration according to one embodiment of the present invention;
FIG. 5 is a schematic diagram of a front view of an electric tricycle in a folded state according to one embodiment of the present invention;
FIG. 6 is an exploded schematic view of a two front wheel rocker arm roll structure of an electric tricycle in accordance with one embodiment of the present invention;
FIG. 7 is an exploded schematic view of a rear wheel steering structure of an electric tricycle according to one embodiment of the invention;
FIG. 8 is an exploded schematic view of a quick release structure of a handlebar, saddle, basket of an electric tricycle in accordance with one embodiment of the present invention;
FIG. 9 is a partial front view schematic of a right roll condition of an electric tricycle according to one embodiment of the invention;
FIG. 10 is a schematic view of a partial front view of a balanced state of an electric tricycle according to one embodiment of the invention;
FIG. 11 is a partial front view schematic of a left roll condition of an electric tricycle according to one embodiment of the invention;
FIG. 12 is a schematic view of a partial cross-sectional structure of a dual-shaft reset rocker in a balanced state of an electric tricycle according to one embodiment of the present invention;
FIG. 13 is a schematic view of a partial cross-sectional structure of a front rocker shaft in a balanced state of an electric tricycle in accordance with one embodiment of the present invention;
Fig. 14 is an overall schematic view of a rear wheel steering structure of an electric tricycle according to one embodiment of the invention.
Detailed Description
The present invention is described in further detail below with reference to examples and drawings to enable those skilled in the art to practice the same and to refer to the description.
It should be noted that the experimental methods described in the following embodiments, unless otherwise specified, are all conventional methods, and the reagents and materials, unless otherwise specified, are all commercially available; in the description of the present invention, the terms "transverse", "longitudinal", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, are merely for convenience in describing the present invention and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a specific orientation, be configured and operated in a specific orientation, and thus are not to be construed as limiting the present invention.
As shown in fig. 1-14, the tiltable intelligent balanced steering folding electric tricycle comprises: a vehicle body 1; the two front wheel rocker arms 2 are oppositely arranged at two sides of the front end of the vehicle body 1, and the two front wheel rocker arms 2 are connected with the front end of the vehicle body 1 through a transmission assembly arranged between the two front wheel rocker arms 2; wherein, the driven subassembly includes:
a front wheel rocker arm shaft 3 connected to the front end of the vehicle body 1, wherein both ends of the front wheel rocker arm shaft 3 are respectively and movably connected to the two front wheel rocker arms 2;
The double-shaft reset rocker 4 is arranged in front of the front-wheel rocker arm shaft 3, and two ends of the double-shaft reset rocker 4 are respectively and movably linked with the two front-wheel rocker arms 3;
and at least one connecting piece is arranged between the front wheel rocker arm shaft 3 and the double-shaft reset rocker 4, one end of any connecting piece is connected with the front wheel rocker arm shaft 3, the other end of any connecting piece is connected with the double-shaft reset rocker 4, and the connecting piece can be a straight rod connecting piece or a bent rod connecting piece.
The transmission assembly movably connected with the two front wheel rocker arms is arranged between the two front wheel rocker arms, so that the two front wheel rocker arms can roll and reset under the action of gravity of a rider and a vehicle, and the electric tricycle has the characteristics of stability of the tricycle and flexibility of the two wheelers.
In another technical solution, as shown in fig. 6, the intelligent balance steering foldable electric tricycle capable of being tilted, the connecting piece comprises a tilting rotation shaft 15, which is inserted into the double-shaft reset rocker 4 and is movably connected with the double-shaft reset rocker, and the transmission assembly further comprises: at least one rocker reset elastic member 406 is disposed in one-to-one correspondence with the inclined rotating shaft 15, any rocker reset elastic member 406 is disposed in the double-shaft reset rocker 4 above the inclined rotating shaft 15, and the lower end of the rocker reset elastic member 406 abuts against the inclined rotating shaft 15, the elastic direction provided by the rocker reset elastic member 406 is perpendicular to the inclined rotating shaft 15, and the rocker reset elastic member 406 includes a spring, a shrapnel and a torsion spring. Through inserting the tilting rotation axis into the biax reset rocker inside and setting up rocker reset elastic component, when the vehicle is sideslip, because of the rotation axis of sideslip is not in intermediate position, the long one side atress of moment is greater than the little one side of moment, under the action of the gravity of passenger and vehicle, the vehicle can automatic re-setting, unless the roll force is greater than reset force, the vehicle can be in the vertical state all the time, the reset force and the passenger weight of vehicle are proportional relation like this, the rocker reset elastic component ensures also can remain reset state all the time when the vehicle does not bear a burden.
In another technical scheme, as shown in fig. 1 and 6, the intelligent balanced steering foldable electric tricycle capable of being tilted is characterized in that the transmission assembly is perpendicular to the two front wheel rocker arms 2; the two inclined rotating shafts 15 are arranged in parallel, one end of each inclined rotating shaft 15 is connected with the middle part of the front wheel rocker shaft 3, and a rocker arm folding limiting pin 405 is sleeved at the middle part; two rocker return elastic pieces 406 are arranged, and the rocker return elastic pieces 406 are springs; the middle part of biax reset rocker 4 is equipped with two first mounting holes 403 that two levels set up hold inclined rotation axis 15, the middle part top of biax reset rocker 4 is equipped with two vertical setting hold rocker reset elastic component 406's second mounting hole 401, the top of second mounting hole 401 be equipped with rather than the matched with briquetting 407 that can dismantle the connection, just the lower extreme of second mounting hole 401 with the top of first mounting hole 403 communicates with each other, still be equipped with the third mounting hole 402 that holds spacer pin reset spring 404 that the level set up between two first mounting holes 403, just spacer pin reset spring 404 protrusion the one end of third mounting hole 402 with the folding spacer pin 405 rigid coupling of rocking arm. The inclined rotating shafts are arranged to be two and connected with the middle part of the front wheel rocker arm, the rocker arm folding limiting pin and the limiting pin reset spring are arranged on the inclined rotating shafts, and the rocker arm reset elastic piece is arranged to be a spring, so that on one hand, the structure of the transmission assembly is simpler, the cost is low, on the other hand, the steering flexibility and the stability of the vehicle can be improved, and the service performance of the vehicle is improved.
In another technical scheme, as shown in fig. 6, the front end of the vehicle body 1 is provided with a slot 101 with an opening front end and penetrating up and down, the left and right side walls of the slot 101 are provided with opposite mounting through holes 102, the connecting piece comprises a rocker folding shaft sleeve 14 arranged in the slot 101 and two inclined rotating shafts 15 arranged on the outer wall of the rocker folding shaft sleeve 14 along the radial direction and positioned in the same plane, the rear end of the rocker folding shaft sleeve 14 is pivoted with the front end of the vehicle body 1, the middle part of the front wheel rocker shaft 3 is sleeved in the rocker folding shaft sleeve 14, and the two ends of the front wheel rocker shaft 3 are respectively pivoted with the two front wheel rockers 2 through the mounting through holes 102; the transmission assembly further comprises: the two front wheel rocker arm shaft sleeves 201 respectively penetrate through one end of the two front wheel rocker arms 2 close to the vehicle body 1 in a horizontal mode and are symmetrically arranged, ball holes which are symmetrically arranged are formed in the upper side and the lower side of the middle of any front wheel rocker arm shaft sleeve 201, symmetrically arranged ball grooves 301 are formed in the outer walls of the two ends of the front wheel rocker arm shaft 3, the initial part of any ball groove 301 is horizontally arranged, the rest part of the front wheel rocker arm shaft sleeve is spirally arranged around the outer wall of the front wheel rocker arm shaft 3, two ends of the front wheel rocker arm shaft 3 are pivoted with the two front wheel rocker arms 2 through rocker arm axial positioning balls 302, one end of each rocker arm axial positioning ball 302 is clamped in each ball hole, and the other end of each rocker arm axial positioning ball 302 is clamped in each ball groove 301; two reset rocker shaft sleeves 202 which respectively penetrate through the two front wheel rocker arms 2 horizontally and are symmetrically arranged, the two reset rocker shaft sleeves 202 are positioned in front of the two front wheel rocker arm shaft sleeves 201 and are parallel to the two front wheel rocker arm shaft sleeves, the two reset rocker shaft sleeves 202 are fixedly connected with the outer ends of the two front wheel rocker arm shaft sleeves 201 through connecting rods 203, two ends of the double-shaft reset rocker 4 are respectively clamped in the two reset rocker arm shaft sleeves 202 and are movably connected with the two reset rocker arm shaft sleeves 202, wherein, the two front wheel rocker arm shaft sleeves 201 and the two reset rocker arm shaft sleeves 202 are respectively provided with a space for the front wheel rocker arm shaft 3 and the double-shaft reset rocker 4 to axially move, in particular, the diameter of the double-shaft reset rocker 4 can be gradually reduced from the middle to two ends, two ends of the double-shaft reset rocker 4 are connected with a sphere, the diameter of the sphere is larger than that of the double-shaft reset rocker 4 at the joint of the sphere and the double-shaft reset rocker, the sphere is clamped in a reset rocker shaft sleeve, so that the double-shaft reset rocker 4 can rotate around the front wheel rocker 2 in a small range in the vertical direction, plastic clamping pieces are arranged between the surface of the sphere and the reset rocker shaft sleeve and between the front wheel rocker shaft and the front wheel rocker shaft sleeve, self lubrication is formed between the sphere, the reset rocker shaft sleeve, the front wheel rocker shaft and the front wheel rocker shaft sleeve, and the rotation and sliding of the sphere and the front wheel rocker shaft are facilitated. Through setting up rocking arm axial positioning ball, ball hole and ball recess, make two front wheel rocking arms automatic shrink along the axial of front wheel rocking arm axle when folding, compress automobile body width, furthest reduces occupation space.
In another technical scheme, as shown in fig. 1-7 and 14, the intelligent balanced steering foldable electric tricycle capable of tilting further comprises two front wheel mounting frames 5, wherein the two front wheel mounting frames 5 are respectively arranged at one ends of the two front wheel rocker arms 2 far away from the vehicle body 1 and fixedly connected with the vehicle body, and front wheels 51 which are vertically and rotatably connected with the two front wheel mounting frames 5 are respectively arranged on the two front wheel mounting frames; the rear wheel mounting frame 6 is arranged at the rear end of the vehicle body 1 and is horizontally and rotatably connected with the vehicle body 1, a rear wheel 61 vertically and rotatably connected with the rear wheel mounting frame 6 is arranged on the rear wheel mounting frame 6, and a hub motor is arranged on the rear wheel 61; a saddle 9 disposed at the upper middle part of the vehicle body 1, wherein the saddle 9 is detachably connected with the vehicle body 1 through a saddle telescopic vertical pipe 91 disposed vertically; the two gravity sensing pedals 10 are respectively arranged at the outer sides of the two front wheel mounting frames 5, and the front end and the rear end of any gravity sensing pedal 10 are respectively provided with a gravity sensor 1001; the steering motor 20 is arranged above the rear wheel mounting frame 6, and an output shaft of the steering motor 20 is in transmission connection with a steering turbine fluted disc 2002 which is arranged above the rear wheel mounting frame 6, fixedly connected with the steering turbine fluted disc and horizontally arranged through a steering turbine rod 2001, so that the rear wheel mounting frame 6 horizontally rotates under the drive of the steering motor 20; a controller 19 disposed at the rear end of the vehicle body 1, wherein a gyroscope is disposed on the controller 19, and the controller 19 is electrically connected to the gyroscope, the gravity sensor 1001, the steering motor 20, and the hub motor, respectively, and is powered by a battery; the rear wheel mounting frame 6 comprises a rear wheel fixing fork 601, a rear wheel 61 vertically rotatably connected with the lower end of the rear wheel fixing fork 601, a rear wheel cover 602 wrapped on the outer side of the rear wheel 61 and fixedly connected with two sides of the rear wheel fixing fork 601 through screws, threads are arranged on the side wall of the upper end of the rear wheel fixing fork 601, and the upper end of the rear wheel fixing fork 601 is fixedly arranged in the steering turbine fluted disc 2002 through a steering bearing 2004 and a mounting nut 2005.
And 4 gravity sensors on the 2 gravity sensing pedals transmit data to a controller, and the controller controls the acceleration and deceleration of the rear wheel hub motor. When the feet step on the middle position of the cambered surface of the pedal, the front sensor and the rear sensor cannot sense gravity data, the rear wheel hub motor is in a power-off state, if the vehicle is stationary at the moment, the vehicle can keep the stationary state and is slowly decelerated under the action of inertial force if the vehicle is running. When both feet are simultaneously stepped on the front end of the pedal, and the data can be read by the 2 gravity sensors, the controller controls the vehicle to accelerate according to smaller data, and the accelerating current and the stepping force are in a proportional relation. When both feet are simultaneously stepped on the rear end of the pedal, the two gravity sensors can read data, and the controller controls the vehicle to electrically brake according to smaller data, so that the brake current and the stepping force are in a proportional relation. When the gyroscope on the controller senses that the vehicle is in a rolling state, the controller drives the steering motor to rotate, and the steering turbine rod and the steering turbine fluted disc drive the rear wheels to steer, so that the vehicle is in a balanced state, and the steering angle and the rolling amplitude are in a direct proportion relation and an inverse proportion relation with the form speed. When the vehicle is kept in a vertical state, the rear wheels have no steering angle, and a straight running state is kept.
In another technical scheme, as shown in fig. 8 and 14, the intelligent balanced steering foldable electric tricycle capable of tilting is characterized in that a locking pipe 16 which is vertically arranged and vertically penetrated is arranged on the vehicle body 1, a mounting plate 1601 is arranged on one side of the upper part of the locking pipe 16 and is provided with a locker mounting hole, a locker 17 comprises a locking spanner 1701 and a locking screw 1702 pivoted with the end part of the locking spanner, the locking screw 1702 passes through the locker mounting hole and is in threaded connection with the locker mounting hole, a telescopic button 18 is sleeved at the opposite position of the opening on the locking pipe 16 at the middle part of the locking screw 1702, the saddle telescopic vertical pipe 91 is sleeved in the locking pipe 16, and a plurality of concave holes matched with the telescopic button 18 are formed in the saddle telescopic vertical pipe 91 at intervals, so that when the telescopic button 18 is opened, the telescopic button 18 can be clamped in the concave holes. Through setting up locking pipe and the locker that link up from top to bottom, make the flexible riser of saddle adjust height as required, when folding, can fold tricycle into the bench shape as required, be the mode of standing when depositing in the family, furthest reduces occupation space, perhaps fold into draw-bar box shape, carry with dragging to reduce the health loading.
In another technical scheme, as shown in fig. 6 and 13, the intelligent balanced steering folding electric tricycle capable of tilting is characterized in that any front wheel rocker arm 2 is a hollow arc arm bent downwards, the front wheel rocker arm 2 is close to an opening at one end of the vehicle body 1 and is provided with an end cover 204 matched with the front wheel rocker arm, the upper side and the lower side of the end cover 204 extend forwards to cover the ball hole and are provided with a ball positioning hole 205 matched with the ball hole, one end of the rocker arm axial positioning ball 302 is clamped in the ball hole and the ball positioning hole 205, and the other end of the rocker arm axial positioning ball is clamped in the ball groove 301, so that the front wheel rocker arm 2 automatically rotates at the rocker arm axial positioning ball 302 and axially contracts along the rocker arm during folding, the width of the vehicle body is compressed, and occupied space is reduced to the greatest extent.
In another technical scheme, as shown in fig. 7 and 14, the intelligent balanced steering foldable electric tricycle capable of tilting further comprises a controller box 7, wherein the controller box 7 is arranged at the rear end of the vehicle body 1 and above the rear wheel mounting frame 6, the controller 19, the steering motor 20 and the turbine fluted disc 2002 are all arranged in the controller box 7, the battery box 8 is arranged above the controller box 7 and detachably connected with the controller box 7, the battery box 8 is internally provided with the battery, a rear wheel frame mounting hole for the upper end of the rear wheel mounting frame 6 to pass through is formed in the bottom of the controller box 7, and the steering motor 20 is fixed in the controller box 7 through a motor fixing bracket 2003. The controller box and the battery box are arranged, so that on one hand, components in the controller box can be protected, the service life of the components is prolonged, and on the other hand, the appearance of the vehicle can be beautified.
In another technical scheme, as shown in fig. 1 and 8, the intelligent balanced steering foldable electric tricycle capable of being tilted further comprises an armrest 12, which is arranged in front of the vehicle body 1 and is detachably connected with the saddle telescopic stand pipe 91; the bicycle basket 13 is arranged at the rear of the bicycle body 1 and is detachably connected with the bicycle seat telescopic vertical pipe 91, the detachable connection mode comprises, but is not limited to, a mode that the bicycle seat telescopic vertical pipe 91 is provided with a quick-release locking pipe 2101 which can wrap the bicycle seat telescopic vertical pipe 91 at one end of the bicycle seat telescopic vertical pipe 91, a quick-release opening is formed in the quick-release locking pipe 2101, one side of the quick-release opening is vertically provided with a quick-release locking pressure plate shaft sleeve 2102 for accommodating the quick-release locking pressure plate shaft 2103, the middle part of the quick-release locking pressure plate shaft 2103 and the quick-release locking pressure plate shaft sleeve 2102 is provided with a pin through hole for the quick-release pin 2104 to pass through, the other side of the quick-release opening is provided with a fixing plate 2107 which is vertically arranged, the fixing plate 2107 is arranged at the opposite position of the pin through hole, the quick-release pin 2104 is close to the quick-release locking pressure plate shaft sleeve one side of the quick-release locking pressure plate 2102 is provided with a groove for accommodating a reset spring 2105, the other side of the quick-release pin 2104 is provided with an inner threaded hole, and the quick-release locking pressure plate shaft sleeve is provided with a quick-release pin 2106, and the middle part of the quick-release locking plate shaft is provided with a fixing hole for the quick-release pin 2106, and the quick-release pressure plate 2106 is provided with an inner fixing hole, and the fixing hole for the quick-release pin 2106. The armrests and the bicycle basket are optional components which can be quickly disassembled, and the armrests and the bicycle basket can not be installed when the bicycle is required to be carried. As shown in fig. 1 and 6, the intelligent balanced steering folding electric tricycle capable of tilting further comprises a front lighting headlight 11, wherein the front lighting headlight is arranged in the middle of the front of the double-shaft reset rocker 4 and is detachably connected with the double-shaft reset rocker, and when light is poor, the front lighting headlight can be turned on to improve driving safety. As shown in fig. 6, the intelligent balanced steering folding electric tricycle capable of tilting further comprises two rubber anti-skid sleeves 1002, which are respectively arranged on the surfaces of the two gravity sensing pedals 10 and detachably connected with the two gravity sensing pedals, wherein the rubber anti-skid sleeves are arranged to increase the friction force between the soles and the gravity sensing pedals and prevent skid, and protect the gravity sensor and improve the sensitivity and accuracy of the gravity sensor.
According to the electric tricycle, the rocker arm side-tipping technology is combined with the intelligent steering system, so that the operation is simpler, safer and more reliable. The tricycle is a tricycle capable of being tilted, so that the tricycle has the characteristics of stability and flexibility of a two-wheeled vehicle. A spring reset device is arranged on a transmission component on a front wheel rocker arm, and the vehicle always keeps a vertical state when no external force is applied to the vehicle in a rolling way. The front wheel mounting frames are respectively provided with pedals, the front and rear of each pedal are respectively provided with a gravity sensor, when the sensors at the front ends of the two pedals sense that the pedaling force controller drives the rear wheel hub motor to start accelerating, the vehicle speed is in direct proportion to the pedaling force, and when the sensors at the rear ends sense the pedaling force, the rear wheel is controlled to brake and decelerate, and meanwhile, the front wheel is started to brake. When the force of stepping on the pedal on one side is larger than that on the other side, the vehicle can roll, the rolling angle is judged through the gyroscope on the controller, the steering motor drives the rear wheels to match with the steering angle for keeping balance of the vehicle, and when the rolling angle reaches a mechanical limit, the controller reduces turning radius in a speed reducing mode. The front wheel rocker shaft, the folding shaft and the shock absorbing shaft of the electric tricycle are coaxial in three axes, the structure is simpler, more compact and more reliable, and the front wheel rocker is folded and simultaneously axially stretches and folds to compress the width of the vehicle body through the ball grooves on the surface of the front wheel rocker shaft. Under the condition that armrests and bicycle baskets are not installed, the whole folding process can be completed in two steps, namely, the front wheel rocker is folded, and the saddle is folded in a telescopic mode.
The invention also provides a control method of the intelligent balanced steering folding electric tricycle capable of tilting, when the gyroscope senses that the vehicle is in a tilting state, the controller drives the steering motor to rotate, and the steering turbine rod and the steering turbine fluted disc drive the rear wheels to steer, so that the vehicle is in a balanced state, and the steering angle is in a direct proportion relation with the tilting amplitude and in an inverse proportion relation with the running speed. The control method changes the existing active steering mode into the passive steering mode, and achieves intelligent balance.
Although embodiments of the present invention have been disclosed above, it is not limited to the details and embodiments shown and described, it is well suited to various fields of use for which the invention would be readily apparent to those skilled in the art, and accordingly, the invention is not limited to the specific details and illustrations shown and described herein, without departing from the general concepts defined in the claims and their equivalents.
Claims (1)
1. Intelligent balance steering folding electric tricycle that can heels, its characterized in that includes: a vehicle body; the two front wheel rocker arms are oppositely arranged at two sides of the front end of the vehicle body, and are connected with the front end of the vehicle body through a transmission assembly arranged between the two front wheel rocker arms; wherein, the transmission assembly includes:
The front wheel rocker arm shaft is connected with the front end of the vehicle body, and two ends of the front wheel rocker arm shaft are respectively and movably connected with the two front wheel rocker arms;
The double-shaft reset rocker is arranged in front of the front-wheel rocker arm shaft, and two ends of the double-shaft reset rocker are respectively and movably linked with the two front-wheel rocker arms;
At least one connecting piece arranged between the front wheel rocker arm shaft and the double-shaft reset rocker, one end of any connecting piece is connected with the front wheel rocker arm shaft, the other end is connected with the double-shaft reset rocker,
The connecting piece includes the slope rotation axis, and it inserts biax reset rocker's inside and with its swing joint, drive assembly still includes: at least one rocker reset elastic piece which is arranged in one-to-one correspondence with the inclined rotating shaft, any rocker reset elastic piece is arranged in the double-shaft reset rocker above the inclined rotating shaft, the lower end of the rocker reset elastic piece is abutted with the inclined rotating shaft, the elastic direction provided by the rocker reset elastic piece is perpendicular to the inclined rotating shaft,
The transmission component is perpendicular to the two front wheel rocker arms; the two inclined rotating shafts are arranged in parallel, one end of each inclined rotating shaft is connected with the middle part of the front wheel rocker shaft, and the middle part of each inclined rotating shaft is sleeved with a rocker arm folding limiting pin; the number of the rocker reset elastic pieces is two, and the rocker reset elastic pieces are springs; the middle part of the double-shaft reset rocker is provided with two first mounting holes which are horizontally arranged and used for accommodating the inclined rotating shaft, the upper part of the middle part of the double-shaft reset rocker is provided with two second mounting holes which are vertically arranged and used for accommodating the rocker reset elastic piece, the upper part of the second mounting holes is provided with a pressing block which is matched with the second mounting holes and is detachably connected with the second mounting holes, the lower ends of the second mounting holes are communicated with the tops of the first mounting holes, a third mounting hole which is horizontally arranged and used for accommodating a limiting pin reset spring is also arranged between the two first mounting holes, the limiting pin reset spring protrudes out of one end of the third mounting hole and is fixedly connected with the rocker folding limiting pin,
The front end of the vehicle body is provided with a slot with an opening front end and a through up-down slot, the left side wall and the right side wall of the slot are provided with opposite installation through holes, the connecting piece comprises a rocker arm folding shaft sleeve arranged in the slot and two inclined rotating shafts which are arranged on the outer wall of the rocker arm folding shaft sleeve along the radial direction of the rocker arm folding shaft sleeve and are positioned in the same plane, the rear end of the rocker arm folding shaft sleeve is pivoted with the front end of the vehicle body, the middle part of a front wheel rocker arm shaft is sleeved in the rocker arm folding shaft sleeve, and two ends of the front wheel rocker arm shaft pass through the installation through holes and are pivoted with the two front wheel rocker arms respectively; the transmission assembly further comprises two front wheel rocker arm shaft sleeves which respectively and horizontally penetrate through one ends of the two front wheel rocker arms, which are close to the vehicle body, and are symmetrically arranged, wherein ball holes which are symmetrically arranged are formed in the upper side and the lower side of the middle part of any front wheel rocker arm shaft sleeve, symmetrically arranged ball grooves are formed in the outer walls of the two ends of a front wheel rocker arm shaft, the initial part of any ball groove is horizontally arranged, the rest part of the front wheel rocker arm shaft sleeve is spirally arranged around the outer wall of the front wheel rocker arm shaft, the two ends of the front wheel rocker arm shaft are pivoted with the two front wheel rocker arms through rocker arm axial positioning balls, one end of each rocker arm axial positioning ball is clamped in each ball hole, and the other end of each rocker arm axial positioning ball is clamped in each ball groove; two reset rocker shaft sleeves which respectively horizontally penetrate through the two front wheel rocker arms and are symmetrically arranged, the two reset rocker shaft sleeves are positioned in front of the two front wheel rocker arm shaft sleeves and are parallel to the two front wheel rocker arm shaft sleeves, the two reset rocker shaft sleeves are fixedly connected with the outer ends of the two front wheel rocker arm shaft sleeves through connecting rods, two ends of the double-shaft reset rocker are respectively clamped in the two reset rocker arm shaft sleeves and are movably connected with the two reset rocker arm shaft sleeves, wherein the two front wheel rocker arm shaft sleeves and the two reset rocker arm shaft sleeves are respectively provided with a space for the front wheel rocker arm shaft and the double-shaft reset rocker arm shaft to axially move,
The two front wheel mounting frames are respectively arranged at one ends of the two front wheel rocker arms far away from the vehicle body and fixedly connected with the vehicle body, and front wheels vertically and rotatably connected with the two front wheel mounting frames are respectively arranged on the two front wheel mounting frames; the rear wheel mounting frame is arranged at the rear end of the vehicle body and is horizontally and rotatably connected with the vehicle body, a rear wheel which is vertically and rotatably connected with the rear wheel mounting frame is arranged on the rear wheel mounting frame, and a hub motor is arranged on the rear wheel; the saddle is arranged in the middle of the upper part of the car body and is detachably connected with the car body through a saddle telescopic vertical pipe which is vertically arranged; the two gravity sensing pedals are respectively arranged on the outer sides of the two front wheel mounting frames, and the front end and the rear end of any gravity sensing pedal are respectively provided with a gravity sensor; the steering motor is arranged above the rear wheel mounting frame, and an output shaft of the steering motor is in transmission connection with a steering turbine fluted disc which is arranged above the rear wheel mounting frame, fixedly connected with the steering turbine fluted disc and horizontally arranged, so that the rear wheel mounting frame is driven by the steering motor to horizontally rotate; the controller is arranged at the rear end of the vehicle body, a gyroscope is arranged on the controller, the controller is respectively and electrically connected with the gyroscope, the gravity sensor, the steering motor and the wheel hub motor and is powered by a battery,
The vehicle body is provided with a locking pipe which is vertically arranged and vertically penetrated, one side of the upper part of the locking pipe is provided with an opening and a mounting plate, the mounting plate is provided with a locker mounting hole, the vehicle body further comprises a locker which comprises a locking spanner and a locking screw rod pivoted with the end part of the locking spanner, the locking screw rod penetrates through the locker mounting hole and is in threaded connection with the locking spanner, a telescopic button is sleeved at the opposite part of the middle part of the locking screw rod and the opening on the locking pipe, a telescopic stand pipe of the vehicle seat is sleeved in the locking pipe, a plurality of concave holes matched with the telescopic button are further arranged on the telescopic stand pipe of the vehicle seat at intervals, so that when the telescopic button is opened, the telescopic button can be clamped in the concave holes,
Any front wheel rocker arm is a hollow arc arm which is bent downwards, the front wheel rocker arm is close to an opening at one end of the vehicle body and is provided with an end cover matched with the front wheel rocker arm, the upper side and the lower side of the end cover extend forwards to cover the ball hole and are provided with ball positioning holes matched with the ball hole, one end of each rocker arm axial positioning ball is clamped in the ball hole and the ball positioning hole, the other end of each rocker arm axial positioning ball is clamped in the ball groove,
The steering motor and the turbine fluted disc are arranged in the controller box, the battery box is arranged above the controller box and detachably connected with the controller box, the battery box is internally provided with the battery,
The armrest is arranged in front of the vehicle body and is detachably connected with the saddle telescopic vertical pipe; the bicycle basket is arranged at the rear of the bicycle body and is detachably connected with the saddle telescopic vertical pipe; the front lighting headlight is arranged in the front middle of the double-shaft reset rocker and is detachably connected with the double-shaft reset rocker; two rubber antiskid covers, it locates respectively the surface of two gravity sensing footboard and rather than dismantling the connection, handrail or bicycle basket are close to one end setting of saddle telescopic riser can wrap up the quick detach locking tube of saddle telescopic riser, be equipped with the quick detach opening on the quick detach locking tube the vertical quick detach locking clamp plate axle sleeve that holds quick detach locking clamp plate axle that is equipped with in one side of quick detach open-ended, the middle part of quick detach locking clamp plate axle and quick detach locking clamp plate axle sleeve is equipped with the pin through-hole that supplies quick detach pin to pass through, the opposite side of quick detach open-ended is equipped with the fixed plate of vertical setting, on the fixed plate with the relative department of pin through-hole is equipped with the fixed orifices, the quick detach pin is close to one side of quick detach locking clamp plate axle sleeve is equipped with the recess that holds pin reset spring, and the tip is equipped with the internal thread hole to make quick detach pin and quick detach locking clamp plate axle sleeve pass through the screw connection, the tip of the opposite side of quick detach pin be equipped with the boss joint with in the fixed orifices, quick detach opening inside is equipped with quick detach clamp plate, quick detach clamp plate setting up the horizontal clamp plate is equipped with the quick detach clamp plate and installs the quick detach pin and installs the side of the quick detach pin through the side of the clamp plate.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201810564024.8A CN108791620B (en) | 2018-06-04 | 2018-06-04 | Intelligent balance steering folding electric tricycle capable of tilting and control method thereof |
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| CN201810564024.8A CN108791620B (en) | 2018-06-04 | 2018-06-04 | Intelligent balance steering folding electric tricycle capable of tilting and control method thereof |
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| CN108791620B true CN108791620B (en) | 2024-05-14 |
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Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN110562377B (en) * | 2019-10-12 | 2024-08-30 | 廖伟华 | Manned type Universal deformation robot |
| CN112498549A (en) * | 2020-12-16 | 2021-03-16 | 深圳市喜德盛自行车股份有限公司 | Intelligent tricycle and method for realizing turning and automatic driving turning thereof |
| CN113212620B (en) * | 2021-06-11 | 2022-05-03 | 浙江群英车业有限公司 | Electrodynamic balance swing car |
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| US6953203B2 (en) * | 2003-11-03 | 2005-10-11 | Bw Designs, Llc | Human powered vehicle |
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| CN201971100U (en) * | 2011-03-09 | 2011-09-14 | 姜适 | Anti-overturning foldable tricycle for mother and child |
| CN103129684A (en) * | 2013-03-15 | 2013-06-05 | 蔡国辉 | Outdoor exercise bicycle |
| WO2014174140A1 (en) * | 2013-04-24 | 2014-10-30 | Luis Maria Saracho Rotaeche | Vehicle |
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| CN108791620A (en) | 2018-11-13 |
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