CN109591938A - Intelligent electric balance car and its intelligent controlling device - Google Patents
Intelligent electric balance car and its intelligent controlling device Download PDFInfo
- Publication number
- CN109591938A CN109591938A CN201710895268.XA CN201710895268A CN109591938A CN 109591938 A CN109591938 A CN 109591938A CN 201710895268 A CN201710895268 A CN 201710895268A CN 109591938 A CN109591938 A CN 109591938A
- Authority
- CN
- China
- Prior art keywords
- universal
- intelligent
- balance car
- gravity
- intelligent electric
- 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
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62K—CYCLES; CYCLE FRAMES; CYCLE STEERING DEVICES; RIDER-OPERATED TERMINAL CONTROLS SPECIALLY ADAPTED FOR CYCLES; CYCLE AXLE SUSPENSIONS; CYCLE SIDE-CARS, FORECARS, OR THE LIKE
- B62K11/00—Motorcycles, engine-assisted cycles or motor scooters with one or two wheels
- B62K11/007—Automatic balancing machines with single main ground engaging wheel or coaxial wheels supporting a rider
-
- 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
- B62K2202/00—Motorised scooters
-
- 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
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Motorcycle And Bicycle Frame (AREA)
Abstract
The invention discloses a kind of intelligent electric balance car and its intelligent controlling devices, intelligent electric balance car is configured at electrodynamic balance vehicle below fixed frame, it is articulated in gravity installation is universal on fixed frame, again to be configured at the intelligent controller on fixed frame, come control gravity installation centre-of gravity shift position and direction, deviation post and direction so as to electrodynamic balance vehicle energy according to the center of gravity of gravity installation, to drive the advance of intelligent electric balance car, the direction for retreating and turning, therefore it can be in response to the demand of different application, to plan, instruct the delivery path of goods of intelligent electric balance car, to meet the requirement of the application function of modern industry automation.
Description
Technical field
The invention relates to a kind of intelligent carriers, and control in particular to a kind of intelligent electric balance car and its intelligence
Device processed.
Background technique
With the evolution of social civilization, human lives are also more in busy, while it is past also to create more frequent traffic
Come.In early days, the power source of transport facility is nothing more than vapour, diesel motor, so that causing the increasingly evil of urban air pollution
Change.
In order to improving air pollution situation, such as electric bicycle, electric motor car or electric car will not discharge it is useless
The electric transportation tool of gas is being born like the mushrooms after rain.Since electric bicycle, electric motor car or electric car etc. are electronic
The energy source of means of transport is thus creating the miniaturization of rechargeable battery and electric power storage is held for onboard rechargeable battery
The promotion of amount.
Then, a kind of small-sized and the electrodynamic balance vehicle of manipulation is facilitated just to come into being.The people of the multiplied load of electrodynamic balance vehicle
Member is usually midstance, and the mode that manipulation advances, retreats and turns, is the inclination for passing through body by the personnel of multiplied load
Direction operates, for example, electrodynamic balance vehicle can advance toward front when the forward lean of multiplied manned member, when hypsokinesis
Advance toward rear, when such as to be turned, then in addition to lean forward or direction of travel of the hypsokinesis to maintain electrodynamic balance vehicle other than, only need to be again by body
Body is tilted toward the side to be turned.As for the travel speed of electrodynamic balance vehicle, can also be manipulated by its gradient, therefore
It operates really very convenient.
Only it has been observed that being operated since well known electrodynamic balance vehicle must be dependent on the personnel of multiplied load, thus its purposes just by
It is limited to the carrying of personnel, and the otherwise demand such as the transport of article that is used in can not be expanded.Furthermore it is well known electronic
Balance car is also without the control function of wisdom, from the application function requirement for not also being inconsistent industry automation.
Summary of the invention
In view of this, the present invention provides a kind of intelligent electric balance car and its intelligent controlling device, in addition to can reach object
Outside the demand that product transport, it can more meet the requirement of the application function of industry automation.
The present invention provides a kind of intelligent electric balance car and its intelligent controlling device, wherein intelligent electric balance car in addition to
Outside with electrodynamic balance vehicle, be also configured with to wisdomization control electrodynamic balance Chinese herbaceous peony into, retreat and turning direction intelligence
Control device.
Intelligent controlling device includes fixed frame, gravity installation and intelligent controller, and gravity installation is universal to be articulated in fixation
On frame, in order to provide the gravity for the position and direction that can change its centre-of gravity shift, intelligent controller is arranged on fixed frame, is used
To control the position and direction of the centre-of gravity shift of gravity installation.Electrodynamic balance vehicle is then configured at below fixed frame, to according to weight
The deviation post of the center of gravity of power device and direction, come drive intelligent electric balance car advance, retrogressing and turning direction.
In one embodiment, the gravity installation of this intelligent electric balance car includes steel ball case and support plate, and steel ball case has cone
Shape pedestal, upper cover and the multiple steel balls being configured in the accommodating space between sloped footing and upper cover, support plate is then to carry steel
Pearl case, with the universal shaft of ball-type and multiple universal axis holes.
In one embodiment, the intelligent controller of this intelligent electric balance car includes two power telescopic rods and main control
Device, every power telescopic rod have stock and engine, and one end of stock has universal bearing, and universal bearing is arranged in support plate
One of them universal axis hole in, for engine then to drive the stock of power telescopic rod to go up and down, master controller is to control
The power of two power telescopic rod operation liftings.
In one embodiment, the fixed frame of this intelligent electric balance car includes that upper plate, lower plate, more pillars and two are collateral
Frame, upper plate are to device two power telescopic rods above-mentioned, with the universal shaft seat of ball-type, so that the ball-type of support plate is universal
Shaft can be configured in the universal shaft seat of ball-type, and form the structure of universal pivot joint.Every pillar both ends of more pillars, is point
It is not connected and fixed on upper plate and lower plate, two side stands are then separately connected the left and right sides for being fixed on electrodynamic balance vehicle and lower plate, borrow
Intelligent controlling device to be incorporated into the top of electrodynamic balance vehicle.
In one embodiment, this intelligent electric balance car further includes turntable and variable speed driver, a side dress of turntable
It is equipped with counterweight, variable speed driver is device in the center of upper plate, to receive the manipulation of master controller, when this intelligence electricity
When dynamic balancing vehicle is stationary, turntable can be driven to rotate, so as to maintaining the static balancing of intelligent electric balance car.
In one embodiment, this intelligent electric balance car further includes two elastic telescoping bars, and every elastic telescoping bar has
One end of upper boom, lower beam and compressed spring, upper boom and lower beam is respectively provided with a universal bearing, and the universal bearing of upper boom is configured at load
In the universal axis hole of one of them of plate, to be articulated in upper plate for lower beam is universal, upper boom is phase with lower beam for the universal bearing of lower beam
Mutually socket, and the compression elasticity between upper boom and lower beam is provided with compressed spring.
In one embodiment, the stock of two power telescopic rods of this intelligent electric balance car with engine is walked by straight line
There is provided into motor, to receive the control of master controller, come operate power telescopic rod stock lifting.
In conclusion due to a kind of intelligent electric balance car provided by the present invention and its intelligent controlling device, being can be according to
According to the demand of different application, to plan, instruct the descending operation of intelligent controller, so as to control intelligent electric balance car
Advance, retrogressing and turn direction, therefore in addition to that can be gone back outside achieving the purpose that article transports in response to the demand of different application
The requirement of the application function of modern industry automation can be met.
For above and other purpose, feature and advantage of the invention can be clearer and more comprehensible, hereafter spy is to be preferably implemented
Example, and cooperate appended attached drawing, it is described in detail below:
Detailed description of the invention
Fig. 1 is to show a kind of intelligent electric balance car perspective view according to a first embodiment of the present invention.
Fig. 2 is the intelligent electric balance car optical cable for showing Fig. 1.
Fig. 3 is the gravity installation exploded view for showing Fig. 2.
Fig. 4 is the exploded view for showing the intelligent controller members of Fig. 2.
Fig. 5 is a kind of intelligent electric balance car perspective view shown according to a second embodiment of the present invention.
Fig. 6 is the intelligent electric balance car optical cable for showing Fig. 5.
Fig. 7 is the gravity installation exploded view for showing Fig. 6.
Fig. 8 is the exploded view for showing the intelligent controller members of Fig. 6.
Specific embodiment
Please join shown in Fig. 1 to 4, be a kind of intelligent electric balance car according to a first embodiment of the present invention solid with point
Xie Tu.As shown, this intelligent electric balance car 10 other than with electrodynamic balance vehicle 12, is also configured with to control electronic put down
The intelligent controlling device 11 in the direction that weighing apparatus vehicle 12 advances, retreats and turns.
Wherein, intelligent controlling device 11 includes being made of upper plate 111, lower plate 112, pillar 113 and two side stands 114
Fixed frame, the gravity installation being made of steel ball case 115 and support plate 116 and by power telescopic rod 117 and master controller 118
The intelligent controller constituted.Intelligent controlling device 11 is to refine mandrels 13 with two strands, be each passed through two side stands 114 with it is electronic
The axis hole of balance car 12, to be incorporated into the top of electrodynamic balance vehicle 12, so that electrodynamic balance vehicle 12 can be according to gravity installation
Center of gravity deviation post and direction, come drive intelligent electric balance car 10 advance, retrogressing and turning direction.
In addition, this intelligent electric balance car 10 is also in order to allow this intelligent electric balance car 10 can be also steadily to operate
Configured with turntable 119, variable speed driver 120 and include upper boom 1211, lower beam 1212 and compressed spring 1213 two elastic force
Telescopic rod 121.A side device of turntable 119 has counterweight 1191, and variable speed driver 120 is device at the center of upper plate 111
Position, it is static with the intelligent electric balance car 10 for working as the single-wheel for being not equipped with auxiliary wheel to receive the manipulation of master controller 118
When motionless, turntable 119 can be driven to rotate, by variable speed driver 120 to maintain the static balancing of intelligent electric balance car 10.
In figure, lower plate 112 is stretched to device master controller 118 above-mentioned, upper plate 111 to device two power above-mentioned
Contracting bar 117 and two elastic telescoping bars 121 are configured with the universal shaft seat 125 of ball-type above upper plate 111.Every 113 liang of pillar
End, is to be separately connected to be fixed on upper plate 111 and lower plate 112, and two side stands 114, which are then separately connected, is fixed on 112 lower section of lower plate.
The steel ball case 115 of gravity installation have sloped footing 1151, upper cover 1152 and be configured at sloped footing 1151 and on
Multiple steel balls 1153 in accommodating space between lid 1152, the quantity and diameter of steel ball 1153, being can be in response to difference
Design requirement change, it is preferable that the steel ball 1153 that quantity and size not equal a variety of patterns can be used is constituted, to subtract
Gap between few steel ball 1153, and promote the gravity center shift control effect of gravity installation.
Support plate 116 be to carry steel ball case 115, with the universal shaft of ball-type 1161 and multiple universal axis holes 1162,
In the universal shaft seat 125 of ball-type that upper plate 111 can be configured at so as to the universal shaft 1161 of the ball-type of support plate 116, and then by gravity
Device is universal to be articulated on fixed frame, can change the gravity of the position and direction of its centre-of gravity shift so as to providing.
Two power telescopic rods 117 of intelligent controller are symmetrically to be configured at 10 advance axis of intelligent electric balance car
On the direction at each 45 degree of angles in the left and right of D1, every power telescopic rod 117 is that the straight line with stock 1172 and engine 1171 walks
Into motor.Engine 1171 is fixed on the lower section of upper plate 111, and stock 1172 passes through one end of the perforation of upper plate 111 1111, then via
Shaft coupling 1173 connects universal bearing 1174, and universal bearing 1174 is arranged in one of them universal axis hole 1162 of support plate 116
In, engine 1171 then receives the dynamic Control of master controller 118, to drive the stock 1172 of power telescopic rod 117 to go up and down, with
Gradient and the direction of gravity installation are controlled, and then changes the position and direction of its centre-of gravity shift.
Two elastic telescoping bars 121 are the opposite direction positions for being symmetrically configured at two power telescopic rods 117, to provide weight
The inclined Auxiliary support power of power device.The upper boom 1211 of every elastic telescoping bar 121 and one end of lower beam 1212 are respectively provided with ten thousand
To bearing 12111,12121, the universal bearing 12111 of upper boom 1211 is arranged in one of them universal axis hole of support plate 116
In 1162, the universal bearing 12121 of lower beam 1212 is then configured on the bearing block 1215 of 111 lower section of upper plate, by lower beam 1212
It is universal to be articulated in upper plate 111.Bearing block 1215 is that the lower section for being fixed on upper plate 111 is hung with more hexagonal posts 1216, upper boom
1211 are mutually socketed in the perforation 1112 of upper plate 111 with lower beam 1212, and to be sheathed on outside upper boom 1211 and lower beam 1212
Side and respectively contact in the compressed spring 1213 of 1211 upper end flange of upper boom and 1212 lower end flange of lower beam, to provide upper boom
Compression elasticity between 1211 and lower beam 1212.
Wherein, master controller 118 can be according to the demand of different application in addition to having, and carrying out sequencing, it instructs operation
Processor outside the application demand for reaching industry automation, can also be matched with the travel path of advance planning intelligent electric balance car 10
Such as WIFI, infrared ray or bluetooth communication transmitting and receiving device are had, is instructed with receiving from the Numerical Control of computer or running gear,
The lifting of power telescopic rod 117 is operated accordingly, and then controls advance, retrogressing and the turn direction of intelligent electric balance car 10, is reached
To the purpose of remote control operation.
Please join shown in Fig. 5 to 8, be a kind of intelligent electric balance car according to a second embodiment of the present invention solid with point
Xie Tu.It, will no longer since this intelligent electric balance car 20 and the intelligent electric balance car 10 of first embodiment are extremely similar
Its detailed structure composition is repeated, and only with regard to its different place's simple declaration as after.
In the first embodiment, two power telescopic rods 117 of the intelligent controller of intelligent electric balance car 10, are pair
It is configured on the direction at each 45 degree of angles in left and right of 10 advance axis D1 of intelligent electric balance car with claiming, and two elastic telescoping bars
121 be the opposite direction position for being symmetrically configured at two power telescopic rods 117.So as shown in figure, two of the present embodiment move
The position of power telescopic rod 217, then the advance axis D2 and its right side an angle of 90 degrees to be respectively configured at intelligent electric balance car 20
Direction on, and the position of two elastic telescoping bars 221 is then ordinatedly changed to be symmetrical with the anti-of two power telescopic rods 217
On direction.
In addition, the compressed spring 1213 of first embodiment, is the upper boom 1211 and lower beam for being sheathed on elastic telescoping bar 121
1212 outsides, and it is the exposed design pattern of compressed spring 1213.So as shown in figure, the compressed spring in the present embodiment
2213, then to be set in the upper boom 2211 of elastic telescoping bar 221 and the hollow space of lower beam 2212, become compressed spring 2213
Built-in design pattern, and be slightly different with first embodiment.
Although the present invention is disclosed as above with preferred embodiment, however, it is not to limit the invention, any fields
Those skilled in the art, without departing from the spirit and scope of the present invention made by it is various change and retouch, also belong to of the invention
Range.Therefore, subject to protection scope of the present invention ought be defined depending on claim.
Claims (14)
1. a kind of intelligent electric balance car characterized by comprising
Fixed frame；
Gravity installation, it is universal to be articulated on the fixed frame, to provide gravity；
Intelligent controller is configured on the fixed frame, to control the centre-of gravity shift position and direction of the gravity installation；With
And
Electrodynamic balance vehicle is configured at below the fixed frame, deviation post and side to the center of gravity according to the gravity installation
To drive advance, retrogressing and the direction of turning.
2. intelligent electric balance car as described in claim 1, which is characterized in that the gravity installation includes:
Steel ball case, in sloped footing, upper cover and the accommodating space that is configured between the sloped footing and the upper cover
Multiple steel balls；And
Support plate, to carry the steel ball case, the support plate has the universal shaft of ball-type and multiple universal axis holes.
3. intelligent electric balance car as claimed in claim 2, which is characterized in that the intelligent controller includes:
Two power telescopic rods, every power telescopic rod have stock and engine, and one end of the stock has universal bearing,
The universal bearing is configured in one of them the multiple universal axis hole of the support plate, and the engine is described to drive
Stock lifting；And
Master controller, to control the power of two power telescopic rods operation lifting.
4. intelligent electric balance car as claimed in claim 3, which is characterized in that the fixed frame includes:
Upper plate, to two power telescopic rods described in device, the upper plate has a universal shaft seat of ball-type, the support plate it is described
The universal shaft of ball-type is configured in the universal shaft seat of the ball-type；
Lower plate；
More pillars, every pillar both ends, which is separately connected, is fixed on the upper plate and the lower plate；And
Two side stands are separately connected the left and right sides for being fixed on the electrodynamic balance vehicle and the lower plate.
5. intelligent electric balance car as claimed in claim 4, which is characterized in that further include:
A side device of turntable, the turntable has counterweight；And
Variable speed driver, device is in the center of the upper plate, to receive the manipulation of the master controller, to drive the rotation
The rotation of turntable.
6. intelligent electric balance car as claimed in claim 4, which is characterized in that further include two elastic telescoping bars, every bullet
Power telescopic rod has upper boom, lower beam and compressed spring, and one end of the upper boom and the lower beam is respectively provided with universal bearing, described
The universal bearing of upper boom is configured in one of them the multiple universal axis hole of the support plate, and described the ten thousand of the lower beam
To bearing to be articulated in the upper plate for the lower beam is universal, the upper boom is mutually socketed with the lower beam, and with the pressure
Contracting spring provides the compression elasticity between the upper boom and the lower beam.
7. intelligent electric balance car as claimed in claim 3, which is characterized in that the stock of two power telescopic rods
It with the engine is provided by linear step motor.
8. a kind of intelligent controlling device, be suitable for configuration on electrodynamic balance vehicle, with control the electrodynamic balance Chinese herbaceous peony into, retreat
And the direction of turning, comprising:
Fixed frame；
Gravity installation, it is universal to be articulated on the fixed frame, to provide gravity；And
Intelligent controller is configured on the fixed frame, the position and direction of the centre-of gravity shift to control the gravity installation.
9. intelligent controlling device as claimed in claim 8, which is characterized in that the gravity installation includes:
Steel ball case, in sloped footing, upper cover and the accommodating space that is configured between the sloped footing and the upper cover
Multiple steel balls；And
Support plate, to carry the steel ball case, the support plate has the universal shaft of ball-type and multiple universal axis holes.
10. intelligent controlling device as claimed in claim 9, which is characterized in that the intelligent controller includes:
Two power telescopic rods, every power telescopic rod have stock and engine, and one end of the stock has universal bearing,
The universal bearing is configured in one of them the multiple universal axis hole of the support plate, and the engine is described to drive
Stock lifting；And
Master controller, to control the power of two power telescopic rods operation lifting.
11. intelligent controlling device as claimed in claim 10, which is characterized in that the fixed frame includes:
Upper plate, to two power telescopic rods described in device, the upper plate has a universal shaft seat of ball-type, the support plate it is described
The universal shaft of ball-type is configured in the universal shaft seat of the ball-type；
Lower plate；
More pillars, are often separately connected with pillar both ends and are fixed on the upper plate and the lower plate；And
Two side stands, one end are connected and fixed on the lower plate, left and right of the other end to be connected and fixed on the electrodynamic balance vehicle
Two sides.
12. intelligent electric balance car as claimed in claim 11, which is characterized in that further include:
A side device of turntable, the turntable has counterweight；And
Variable speed driver, device is in the center of the upper plate, to receive the manipulation of the master controller, to drive the rotation
The rotation of turntable.
13. intelligent controlling device as claimed in claim 11, which is characterized in that further include two elastic telescoping bars, often with bullet
Power telescopic rod has upper boom, lower beam and compressed spring, and one end of the upper boom and the lower beam is respectively provided with universal bearing, described
The universal bearing of upper boom is configured in one of them the multiple universal axis hole of the support plate, and described the ten thousand of the lower beam
To bearing to be articulated in the upper plate for the lower beam is universal, the upper boom is mutually socketed with the lower beam, and with the pressure
Contracting spring provides the compression elasticity between the upper boom and the lower beam.
14. intelligent controlling device as claimed in claim 10, which is characterized in that the stock of two power telescopic rods
It with the engine is provided by linear step motor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710895268.XA CN109591938A (en) | 2017-09-28 | 2017-09-28 | Intelligent electric balance car and its intelligent controlling device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710895268.XA CN109591938A (en) | 2017-09-28 | 2017-09-28 | Intelligent electric balance car and its intelligent controlling device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109591938A true CN109591938A (en) | 2019-04-09 |
Family
ID=65955433
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710895268.XA Pending CN109591938A (en) | 2017-09-28 | 2017-09-28 | Intelligent electric balance car and its intelligent controlling device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109591938A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR20210123794A (en) * | 2020-04-06 | 2021-10-14 | 부산대학교 산학협력단 | Personal mobility with active suspension and operating method thereof |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104228985A (en) * | 2013-06-05 | 2014-12-24 | 泰金宝电通股份有限公司 | Carrier tool |
| CN106054891A (en) * | 2016-07-03 | 2016-10-26 | 柳州惠林科技有限责任公司 | Electrical-monocycle-based wing-spreading type balancing puppet |
| CN106125726A (en) * | 2016-07-03 | 2016-11-16 | 柳州惠林科技有限责任公司 | A kind of sliding and swaying formula based on electric unicycle balance puppet |
| CN106200635A (en) * | 2016-07-03 | 2016-12-07 | 柳州惠林科技有限责任公司 | A kind of formula balance puppet that sways one's hips based on electric unicycle |
| CN106249741A (en) * | 2016-09-18 | 2016-12-21 | 广东工业大学 | A kind of dynamic equilibrium two-wheel robot automatically controlled and control method |
| WO2017048065A1 (en) * | 2015-09-15 | 2017-03-23 | 김대우 | Vehicle control device and method using gyroscope |
-
2017
- 2017-09-28 CN CN201710895268.XA patent/CN109591938A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104228985A (en) * | 2013-06-05 | 2014-12-24 | 泰金宝电通股份有限公司 | Carrier tool |
| WO2017048065A1 (en) * | 2015-09-15 | 2017-03-23 | 김대우 | Vehicle control device and method using gyroscope |
| CN106054891A (en) * | 2016-07-03 | 2016-10-26 | 柳州惠林科技有限责任公司 | Electrical-monocycle-based wing-spreading type balancing puppet |
| CN106125726A (en) * | 2016-07-03 | 2016-11-16 | 柳州惠林科技有限责任公司 | A kind of sliding and swaying formula based on electric unicycle balance puppet |
| CN106200635A (en) * | 2016-07-03 | 2016-12-07 | 柳州惠林科技有限责任公司 | A kind of formula balance puppet that sways one's hips based on electric unicycle |
| CN106249741A (en) * | 2016-09-18 | 2016-12-21 | 广东工业大学 | A kind of dynamic equilibrium two-wheel robot automatically controlled and control method |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR20210123794A (en) * | 2020-04-06 | 2021-10-14 | 부산대학교 산학협력단 | Personal mobility with active suspension and operating method thereof |
| KR102364155B1 (en) * | 2020-04-06 | 2022-02-17 | 부산대학교 산학협력단 | Personal mobility with active suspension and operating method thereof |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| Sun et al. | A transformable wheel-legged mobile robot: Design, analysis and experiment | |
| CN104163215A (en) | Transport vehicle capable of climbing cylinders | |
| CN105620572B (en) | Service robot omni-directional moving mechanism | |
| WO2020151537A1 (en) | Robot chassis and robot | |
| CN105644410B (en) | Modular lower frame transportation system, its driving and carrier module and assemble method | |
| CN203715177U (en) | Device for automatically pushing and putting cargo | |
| US20220308585A1 (en) | Two-wheel In-Line Robots | |
| CN104760492A (en) | Full-step walking spherical robot | |
| CN108858250A (en) | Intelligent steward robot | |
| CN206485575U (en) | Unmanned plane throwing device | |
| CN102937139A (en) | Pivoting support, boom system and elevating fire truck | |
| CN109591938A (en) | Intelligent electric balance car and its intelligent controlling device | |
| US20220062075A1 (en) | Low-profile and high-load ball-balancing rolling system | |
| WO2016150299A1 (en) | A mobile chassis and a wheelchair using the same | |
| CN107685675A (en) | Integrated monitoring explosive-removal robot aircraft carrier chassis | |
| CN103786159B (en) | Robot | |
| CN109278623A (en) | A kind of extension vehicle mounted square cabin and movable expanded vehicle automatically | |
| CN205998050U (en) | The vehicles | |
| CN205468494U (en) | All -round intelligent vehicle drive of heavy grade bears device | |
| CN205469474U (en) | Man -machine interactive motion car | |
| CN107030675A (en) | Power exoskeleton and rock-steady structure | |
| US8231131B1 (en) | Staircase movable cart | |
| CN207129043U (en) | A kind of two-wheeled omnidirectional self-balancing chassis | |
| TWI622518B (en) | Intelligent electric balance car and its intelligent control device | |
| CN109987163A (en) | A kind of creeper undercarriage and robot |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| WD01 | Invention patent application deemed withdrawn after publication | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20190409 |