CN110803244A - Assembly structure and electrodynamic balance car of balance car - Google Patents
Assembly structure and electrodynamic balance car of balance car Download PDFInfo
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- CN110803244A CN110803244A CN201911169087.4A CN201911169087A CN110803244A CN 110803244 A CN110803244 A CN 110803244A CN 201911169087 A CN201911169087 A CN 201911169087A CN 110803244 A CN110803244 A CN 110803244A
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- 230000005520 electrodynamics Effects 0.000 title description 2
- 230000008878 coupling Effects 0.000 claims description 22
- 238000010168 coupling process Methods 0.000 claims description 22
- 238000005859 coupling reaction Methods 0.000 claims description 22
- 238000003780 insertion Methods 0.000 claims description 3
- 230000037431 insertion Effects 0.000 claims description 3
- 238000006073 displacement reaction Methods 0.000 claims description 2
- 238000000926 separation method Methods 0.000 abstract 1
- 230000001133 acceleration Effects 0.000 description 9
- 230000000903 blocking effect Effects 0.000 description 4
- 230000002457 bidirectional effect Effects 0.000 description 3
- 239000011148 porous material Substances 0.000 description 3
- 230000009471 action Effects 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 230000005484 gravity Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 230000003139 buffering effect Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000001914 filtration Methods 0.000 description 1
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- 230000003993 interaction Effects 0.000 description 1
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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
- 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
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62J—CYCLE SADDLES OR SEATS; AUXILIARY DEVICES OR ACCESSORIES SPECIALLY ADAPTED TO CYCLES AND NOT OTHERWISE PROVIDED FOR, e.g. ARTICLE CARRIERS OR CYCLE PROTECTORS
- B62J25/00—Foot-rests; Knee grips; Passenger hand-grips
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62M—RIDER PROPULSION OF WHEELED VEHICLES OR SLEDGES; POWERED PROPULSION OF SLEDGES OR SINGLE-TRACK CYCLES; TRANSMISSIONS SPECIALLY ADAPTED FOR SUCH VEHICLES
- B62M7/00—Motorcycles characterised by position of motor or engine
- B62M7/12—Motorcycles characterised by position of motor or engine with the engine beside or within the driven wheel
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Motorcycle And Bicycle Frame (AREA)
Abstract
The invention provides an assembly structure of a balance car and an electric balance car, which comprise two wheels with built-in motors, wheel shafts connected with the wheels, transverse connecting components and pedal components, wherein the pedal components are rotatably arranged above the transverse components so as to enable the pedal components to swing on the transverse components in a front-back inclined manner, the wheel shafts penetrate into shaft holes in the transverse components, the pedal components and the wheel shafts are mutually fixed through locking pieces, and the locking pieces simultaneously limit the axial separation of the wheel shafts and the transverse components. The pedal component is rotatably connected to the transverse connecting component, the rotating shaft and the transverse connecting component are limited in the axial direction, the pedal component and the transverse connecting component are combined into a whole and are assembled with the wheel shaft at the same time, the assembly is simple, the transverse connecting component and the pedal component are combined when being rotatably connected, and then when the pedal component is limited by the wheel shaft in the axial direction, the transverse connecting component is also limited in the axial direction.
Description
Technical Field
The invention relates to an electric vehicle, in particular to an assembly structure of a balance car driven by a servo motor and an electric balance car.
Background
The electric balance car detects the change of the posture of the car body by using a gyroscope and an acceleration sensor in the car body, and accurately drives a motor to carry out corresponding adjustment by using a servo control system so as to keep the balance of the car body and the system. The electric balance car is used as a riding tool and a leisure and entertainment apparatus by modern people.
The balance cars on the market generally comprise two types, the first type is a swing car with a framework divided into a left structure and a right structure and connected by a rotating part in the middle, and the other type is a balance car with a framework integrated structure and better rigidity.
Application publication is car is felt to human-computer interaction body of CN106560384A, it includes a whole supporting framework, shaft and supporting framework fixed connection on the wheel, the footboard device can be connected on supporting framework rotatoryly, be equipped with buffering resilient means on the footboard device, footboard device rotational position sensor sensing to the footboard device for supporting framework's gradient information, then remove or rotate through controlling means drive wheel, this kind of connected mode assembly is loaded down with trivial details, resilient means is fragile. Application publication number is CN 207241897U's balanced gesture car, including the connecting axle of being connected with the motor, footboard and integrative skeleton are all connected on the connecting axle, but footboard and skeleton can not accomplish the restriction to it by a connecting piece in the axial of connecting axle, consequently every footboard and skeleton all need lock with the connecting axle through multichannel screw, and the assembly is more complicated.
Disclosure of Invention
The invention aims to provide a structure of a vehicle body, which is simple in wheel assembly and saves cost.
The technical scheme adopted for realizing the invention is as follows: the assembly structure of the balance car is characterized by comprising an axle connected with a wheel, a transverse connecting component and a pedal component, wherein the pedal component is rotatably arranged above the transverse component so that the pedal component can swing back and forth on the transverse component in an inclined mode, the axle penetrates into an axle hole in the transverse component, the pedal component and the axle are mutually fixed through a locking piece, and the locking piece simultaneously limits the axle from axially disengaging from the transverse component.
Furthermore, the pedal part is provided with a jack which is inserted into the wheel shaft.
Furthermore, the locking piece is inserted in the radial direction of the axle, the side edge of the axle is provided with an inward-sunk flat notch serving as a limiting part, and two blocking parts are formed at two ends of the flat notch along the axial direction of the axle and used for limiting the axial displacement of the locking piece.
Furthermore, the side edge of the wheel shaft is provided with two sunken flat notches serving as limiting parts, and the locking piece is inserted into and clamped on the two flat notches in the radial direction of the axle.
Further, the locking member is detachably connected to the step member.
Furthermore, the pedal component is provided with an assembly groove, the direction of the locking piece inserted into the assembly groove is the radial direction of the wheel shaft, and the locking piece is connected with the pedal component through screws.
Furthermore, a rotating seat is connected to the transverse connecting component, and a shaft hole for inserting the axle is formed in the rotating seat.
Furthermore, be equipped with integrated into one piece's connecting portion on the horizontal hookup part, be equipped with the shaft hole of interlude axletree on the connecting portion.
Further, the pedal member is hinged to the transverse link member, and the pedal member is axially restrained from movement by rotation of the transverse link member.
Furthermore, the wheel shaft is provided with a pore canal which is radially arranged, the locking piece comprises an insert rod, and the insert rod is inserted into the pore canal.
The electric balance car is characterized by comprising an assembly structure of the balance car and two wheels with built-in motors.
Compared with the prior art, the invention has the advantages that:
1. the pedal member is rotatably connected to the transverse link member, and the pedal member and the transverse link member are mutually restricted in the rotational direction, and the pedal member and the transverse link member are combined into a body and simultaneously assembled with the wheel axle.
2. The assembly is simple, the axle is only required to be inserted into the transverse connecting part and the pedal part, and then the transverse connecting part, the pedal part and the pedal part can be combined after being fixed through a locking piece, and the axial movement of the transverse connecting part and the pedal part relative to the axle can be limited. The transverse coupling member is coupled to the pedal member when the transverse coupling member is rotationally coupled to the pedal member, and then the transverse coupling member is axially restrained when the pedal member is axially restrained by the axle.
Drawings
The present invention will be described in further detail below with reference to the drawings and preferred embodiments, but those skilled in the art will appreciate that the drawings are only drawn for the purpose of illustrating the background art and explaining the preferred embodiments, and therefore should not be taken as limiting the scope of the present invention. Furthermore, unless specifically stated otherwise, the drawings are merely schematic representations based on conceptual representations of elements or structures depicted and may contain exaggerated displays and are not necessarily drawn to scale.
FIG. 1 is a schematic overall appearance diagram of a balance car;
FIG. 2 is a schematic view of the cover removed in a balanced state;
FIG. 3 is an exploded view of the balance car;
FIG. 4 is a schematic view of the pedal member being sliced;
FIG. 5 is a schematic view of a pedal member;
FIG. 6 is a schematic view of a pedal member coupled to an axle for planing;
FIG. 7 is a schematic view of a second embodiment of the pedal assembly coupled to the axle;
fig. 8 is a schematic view of the connection of the motor to the axle.
Fig. 9 shows another alternative pedal member configuration.
In the figure, 1 wheel; 2 a pedal member; 2-1, a recess; 2-2 assembling grooves; 2-3 jacks; 3 a pedal member; 4, 4 wheels; 5 transverse coupling means; 6, covering the cover; 7 wheel shafts; 7-1 flat notch; 7-2 blocking sites; 8, screw holes; 9 rotating the second base; 10, a stud; 11, rotating the first base; 12 a locking member; 121 contact surface; 13 a rod member; 14 pore canals; 15 a rotor module; 16 stator modules; 17 splines; 18 connecting part.
Detailed Description
Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the accompanying drawings. Those skilled in the art will appreciate that the description is illustrative only, and is not to be construed as limiting the scope of the invention.
It should be noted that: like reference numerals refer to like items in the following figures, and thus, once an item is defined in one figure, it may not be further defined and explained in subsequent figures.
In the description of the present invention, it should be noted that the terms "inside", "outside", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings or orientations or positional relationships that the products of the present invention are conventionally placed in use, and are only used for convenience in describing the present invention and simplifying the description, but do not indicate or imply that the devices or elements that are referred to must have a specific orientation, be constructed in a specific orientation, and be operated, and thus should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and the like are used merely to distinguish one description from another, and are not to be construed as indicating or implying relative importance.
As shown in fig. 1 and 8, the electric balance car comprises two wheels (1, 4), wherein motors are arranged in the wheels (1, 4), and an outer rotor servo motor is preferably adopted. Each wheel (1, 4) is connected with the wheel shaft 7, specifically, the rotor module 15 is arranged on the outer ring of the stator module 16, the wheel shaft 7 is directly inserted into the stator module 16 of the motor and is fixedly connected with the stator module 16, for example, a spline 17 or a single key is arranged on the wheel shaft 7, a key groove is arranged in the stator module 16, and the two are connected in a pressing fit manner.
As shown in fig. 1 and 2, a transverse coupling member 5 is provided between the two wheel shafts 7, and the transverse coupling member 5 is hinged to each wheel shaft 7. The transverse coupling part 5 is used to determine the distance between the two wheels (1, 4).
As shown in fig. 3, a first rotary seat 11 is connected to the wheel shaft 7, the wheel shaft 7 is inserted into a shaft hole of the first rotary seat 11, and the first rotary seat 11 is fixedly connected with the transverse connecting component 5. Preferably, the rotating base one 11 is fixedly connected with the transverse connecting part 5 through screws. More preferably, two rotary seats one 11 are provided, connected to one wheel shaft 7.
In fig. 9, in another alternative, the transverse coupling member 5 is provided with an integrally formed coupling portion 18, on which a shaft hole is provided, into which the wheel axle 7 is inserted.
One of the turning points of the pedal parts (2, 3) is rotationally connected with the transverse coupling part 5. Specifically, a second rotary seat 9 is arranged on the transverse connecting component 5, and the second rotary seat 9 is fixedly connected with the transverse connecting component 5 through screws. More specifically, the second rotating seat 9 is hinged to the pedal parts (2 and 3) through a rotating shaft, the second rotating seat 9 is fixed to the transverse connecting part 5 through screws, and the pedal parts (2 and 3) are provided with screw holes 8, so that the screws can penetrate through the pedal parts (2 and 3) and are connected with studs 10 of the transverse connecting part 5. The pedal members (2, 3) and the transverse coupling member (5) are now rotationally axially constrained but are able to rotate relative to each other to form a single assembly.
In the first scheme, two axisymmetric flat notches 7-1 are arranged on the wheel shaft 7, the flat notches 7-1 can be flat surfaces, and when the wheels (1 and 4) reach a balanced state under a balancing system, the flat notches 7-1 are arranged on the side surface of the wheel shaft 7 and are vertical. Preferably, two planes are lathed or milled on two sides of the wheel shaft 7, and the flat notch 7-1 naturally forms the blocking part 7-2 axially forwards and backwards.
The pedal parts (2, 3) are provided with a locking piece (12), and the wheel shaft (7) is directly inserted into a rotating seat (11) of the connecting part (5). Axial locking can then be effected as soon as the locking element 12 is inserted axially into the wheel spindle 7. While the locking member 12 is used for fixing the rotation direction of the pedal parts (2, 3) and the wheel axle 7.
Specifically, the pedal parts (2, 3) are provided with assembling grooves 2-2, and the locking piece 12 and the pedal parts (2, 3) can be detached and fixed by screws. The locking member 12 is inserted into the fitting groove 2-2, and the head of the locking member 12 is inserted in the radial direction of the hub 7. The locking member 12 is provided with two contact surfaces 121, the two contact surfaces 121 form a fork, the contact surfaces 121 are positioned to just contact the flat recesses 7-1 on the wheel axle 7, and the locking member 12 is axially limited by the blocking portion 7-2. This design has two functions, one is that the pedal parts (2, 3) and the transverse coupling part 5 are limited with the wheel axle through one part; secondly, the locking piece 12 and the surface of the wheel axle 7 limit the bidirectional rotation linkage between the rear wheel axle 7 and the pedal parts (2 and 3).
If the second rotary seat 9 is arranged at the middle of the pedal parts (2, 3), the structure of the second rotary seat 9 can support the treading stress of the pedal parts (2, 3).
Preferably, the pedal parts (2, 3) are provided with insertion holes 2-3, and the wheel shaft 7 is directly inserted into the insertion holes 2-3 of the pedal parts (2, 3), so that the pedal parts (2, 3) have two rotation points and can be stressed uniformly when being pedaled. Compared with pedal parts (2 and 3), the two rotating seats II 9 are arranged, so that the assembly is simpler, and the cost of one rotating seat II 9 can be saved.
More preferably, the locking element 12 forms two contact surfaces 121 of the fork with the axle 7 and the top of the fork with the axle 7, so that one more contact point is provided for stepping on, which increases the rigidity.
In the second solution, as shown in fig. 7, a radially arranged hole 14 is provided on the axle 7, and the pedal parts (2, 3) are provided with a locking member 12, the locking member 12 comprising a shaft or rod 13, the locking member 12 being adapted to be inserted into the hole 14 of the axle 7. Therefore, the lock 12 can restrict the axial disengagement of the lateral coupling member 5 and the pedal members (2, 3), and the bidirectional rotational coupling between the wheel shaft 7 and the pedal members (2, 3) is also possible.
The pedal parts (2, 3) and the wheel shaft (7) are in bidirectional rotation linkage.
The pedal parts (2, 3) are provided with sensors and controllers which can sense the inclination of the pedal parts (2, 3), and the sensors respectively sense the inclination of the two pedal parts (2, 3) to control the front and back rotation of the wheels (1, 4). The wheel shaft 7 is always in a balanced state under the action of the servo system, and when the pedal parts (2 and 3) are inclined by treading, the pedal parts (2 and 3) can be rightly returned to the horizontal position through the reverse acting force of the wheel shaft 7, so that the horizontal accuracy of the pedal parts (2 and 3) is maintained.
The sensor and the controller are described by taking the existing structure as a case: the sensor includes an angle sensor, an acceleration sensor, or a gyroscope, and the acceleration sensor may measure acceleration generated by the action of earth gravity or the movement of an object. The vehicle inclination can be calculated by measuring the acceleration value in one direction. For example, an acceleration signal in the X axis direction is used, and when the vehicle is standing upright, the fixed accelerometer is in the X axis horizontal direction, and at this time, the output signal is a zero bias voltage signal. When the vehicle is inclined, the gravity acceleration g forms an acceleration component in the X-axis direction, so that the output signal of the axis is changed. The gyroscope can be used for measuring the rotation angular velocity of an object, measuring the angular velocity of the vehicle inclination, and performing integral processing on the angular velocity signal to obtain the inclination angle of the vehicle. Both sensors alone achieve accurate, stable attitude in dynamic situations, but the two sensors have complementarity, namely: the acceleration sensor has better use effect under the static condition, and the gyroscope has better effect under the dynamic condition. At this time, an algorithm is required: and the variable fuzzy Kalman filtering algorithm with compensation is used for realizing the fusion of attitude data, so that stable and accurate attitude information under a high dynamic environment is obtained.
The controller can be a photoelectric encoder, for example, an existing incremental encoder is adopted, the main working principle of the incremental encoder is also photoelectric conversion, but A, B, Z three groups of square wave pulses are output, wherein A, B two pulses are different in phase difference to judge the rotation direction of the motor, and Z pulse is one pulse per rotation to facilitate the positioning of a reference point.
The pedal parts (2 and 3) comprise pedal boxes and pedal covers, the middle of each pedal box is inwards sunken, sensors and controllers are arranged at the sunken parts 2-1 and arranged in a circuit board, and connecting wires led out from the centers of the wheel shafts 7 are connected with the circuit board. The transverse coupling part 5 is also provided with an upper cover 6, the upper cover 6 is also connected with the pedal parts (2, 3), the upper cover 6 rotates along with the rotation of the pedal parts (2, 3), and in the figure 4, the transverse coupling part 5 is provided with a space S on the side surface, and the space is used for the movement of the upper cover 6.
The transverse coupling member 5 is of plate-like construction with a rechargeable battery located in the cavity. The intermediate cover closes the transverse coupling part 5 so that the rechargeable battery is hidden inside the transverse coupling part 5. The transverse coupling member 5 may also be of an elongate configuration.
The electric balance car provided by the invention is described in detail, and the principle and the implementation mode of the invention are explained by applying specific examples, and the description of the embodiments is only used for helping understanding the invention and the core idea. It should be noted that, for those skilled in the art, it is possible to make various improvements and modifications to the present invention without departing from the principle of the present invention, and those improvements and modifications also fall within the scope of the claims of the present invention.
Claims (11)
1. The assembly structure of the balance car is characterized by comprising an axle connected with a wheel, a transverse connecting component and a pedal component, wherein the pedal component is rotatably arranged above the transverse component so that the pedal component can swing back and forth on the transverse component in an inclined mode, the axle penetrates into an axle hole in the transverse component, the pedal component and the axle are mutually fixed through a locking piece, and the locking piece simultaneously limits the axle from axially disengaging from the transverse component.
2. The balance car assembly structure of claim 1, wherein the pedal member is provided with a socket to be inserted into the axle.
3. The balance car assembly structure according to claim 1, wherein the locking member is inserted in a radial direction of the axle, the side of the axle is provided with a recessed flat notch as a stopper, and two stopping portions are formed at both ends of the flat notch in an axial direction of the axle for limiting axial displacement of the locking member.
4. The balance car assembly structure according to claim 1, wherein the side of the wheel shaft is provided with two recessed flat notches as stoppers, and the locking member is inserted in the radial direction of the wheel shaft and clamped on the two flat notches.
5. The balance car assembly structure of claim 1, wherein the lock member is detachably attached to the step part.
6. The assembling structure of the balance car according to claim 1, wherein the pedal member is provided with an assembling groove, the direction of insertion of the locking member into the assembling groove is radial direction of the wheel shaft, and the locking member is connected with the pedal member by a screw.
7. The assembly structure of the balance car according to claim 1, wherein the transverse linking member is connected to a rotary base, and the rotary base is provided with a shaft hole for inserting the axle.
8. The assembling structure of the balance car according to claim 1, wherein the transverse linking member is provided with an integrally formed linking portion, and the linking portion is provided with a shaft hole through which the axle is inserted.
9. The balance car assembly structure according to claim 1, wherein the pedal member is hinged with the lateral coupling member, and the pedal member axially restricts the movement of the rotation of the lateral coupling member.
10. The balance car assembling structure according to claim 1, wherein the axle is provided with a hole formed in a radial direction, and the locking member includes an insert rod inserted into the hole.
11. The electric balance car is characterized by comprising an assembly structure of the balance car and two wheels with built-in motors.
Applications Claiming Priority (6)
Application Number | Priority Date | Filing Date | Title |
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CN2019104051429 | 2019-05-07 | ||
CN201910405142 | 2019-05-07 | ||
CN2019210132946 | 2019-06-24 | ||
CN201921013294 | 2019-06-24 | ||
CN201921039027 | 2019-06-28 | ||
CN2019210390276 | 2019-06-28 |
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CN110803244A true CN110803244A (en) | 2020-02-18 |
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CN201911169087.4A Pending CN110803244A (en) | 2019-05-07 | 2019-11-25 | Assembly structure and electrodynamic balance car of balance car |
CN201922059647.2U Active CN211468654U (en) | 2019-05-07 | 2019-11-25 | Assembly structure and electrodynamic balance car of balance car |
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CN201922059647.2U Active CN211468654U (en) | 2019-05-07 | 2019-11-25 | Assembly structure and electrodynamic balance car of balance car |
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CN110803244A (en) * | 2019-05-07 | 2020-02-18 | 胡烨 | Assembly structure and electrodynamic balance car of balance car |
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CN208119327U (en) * | 2018-03-06 | 2018-11-20 | 深圳车泰斗科技有限公司 | A kind of wheel hub and pedal fixing structure and its single wheel balance car |
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CN109398555A (en) * | 2018-04-11 | 2019-03-01 | 浙江阿尔郎科技有限公司 | Balance car upper casing and balance car |
CN109533155A (en) * | 2017-09-20 | 2019-03-29 | 常州摩本智能科技有限公司 | Intelligent balance vehicle |
CN211468654U (en) * | 2019-05-07 | 2020-09-11 | 胡烨 | Assembly structure and electrodynamic balance car of balance car |
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2019
- 2019-11-25 CN CN201911169087.4A patent/CN110803244A/en active Pending
- 2019-11-25 CN CN201922059647.2U patent/CN211468654U/en active Active
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CN204415660U (en) * | 2014-12-30 | 2015-06-24 | 纳恩博(天津)科技有限公司 | A kind of mounting structure of wheel hub motor and there is the kinetic balance car of this mounting structure |
CN105523128A (en) * | 2016-01-14 | 2016-04-27 | 常州爱尔威智能科技有限公司 | Electric balance car and steering control method thereof |
CN206606297U (en) * | 2017-04-01 | 2017-11-03 | 美国锐哲有限公司 | Two-wheel electric balance car |
CN207241897U (en) * | 2017-08-04 | 2018-04-17 | 深圳市动平衡科技有限公司 | Statokinetic car |
CN109533155A (en) * | 2017-09-20 | 2019-03-29 | 常州摩本智能科技有限公司 | Intelligent balance vehicle |
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CN109398555A (en) * | 2018-04-11 | 2019-03-01 | 浙江阿尔郎科技有限公司 | Balance car upper casing and balance car |
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