CN111169579A - Two-wheeled electrodynamic balance car - Google Patents
Two-wheeled electrodynamic balance car Download PDFInfo
- Publication number
- CN111169579A CN111169579A CN202010016341.3A CN202010016341A CN111169579A CN 111169579 A CN111169579 A CN 111169579A CN 202010016341 A CN202010016341 A CN 202010016341A CN 111169579 A CN111169579 A CN 111169579A
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- Prior art keywords
- pedal
- balance car
- pivoting
- rotating shaft
- motor wheels
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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
- B60—VEHICLES IN GENERAL
- B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- B60K7/00—Disposition of motor in, or adjacent to, traction wheel
- B60K7/0007—Disposition of motor in, or adjacent to, traction wheel the motor being electric
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L15/00—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles
- B60L15/20—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed
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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
-
- 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
- B62J99/00—Subject matter not provided for in other groups of this subclass
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/72—Electric energy management in electromobility
Abstract
The invention provides a dual-purpose two-wheeled electric balance car which can realize the standing and the control running in two orthogonal directions; the device comprises a single pedal, two groups of foot switches, two motor wheels, a pivoting mechanism and an electric driving unit; a single pedal provides two orthogonal pedal positions; the two groups of foot switches are fixed on the upper cover of the pedal and respectively sense whether a user stands on the electric balance car to open or close; the two motor wheels are coaxially and symmetrically arranged below the middle position of the pedal; the pivoting mechanism is a hollow shell and is rotatably connected between the pedal and the two motor wheels; the electric driving unit is electrically connected with the two groups of foot switches and the two motor wheels, detects pedal posture signals and respectively controls and drives the two motor wheels. The electric balance car has compact structure, simple and convenient operation and control and dual purposes.
Description
Technical Field
The invention relates to the technical field of two-wheeled electric balance cars.
Background
The electric balance car, also called a body sensing car, mainly adopts the working principle of dynamic stability, utilizes a gyroscope and an acceleration sensor in the car body to detect the change of the posture of the car body, and utilizes a servo control system to accurately drive a motor to perform corresponding adjustment so as to keep the balance of the car body.
With the arrival of the intelligent era and the development of the rechargeable battery technology, the application of the intelligent electric balance car is increasingly wide, such as environmental protection instead of walk, sports and entertainment and intelligent service robots.
The existing electric balance vehicle currently known by the inventor has room for further improvement:
1) the single-wheel electric balance car is driven by a single wheel, is not easy to control steering and drive;
2) the double-wheel electric balance car with the operating rod has the advantages that the single pedal controls the steering by means of the operating rod, and the double-wheel electric balance car is called as 'manual control', and is characterized in that: the vehicle body is large and the structure is complex;
3) the double-pedal electric balance car and the double-pedal car body utilize the foot to control the steering, namely the foot control, and is characterized in that: the automobile body is great, the structure is complicated, and user's both legs keep upright state for a long time, easily produces fatigue.
The electric balance cars are driven in a single-direction standing mode, either in the forward direction or in the lateral direction, and the forward and lateral standing driving cannot be achieved.
Disclosure of Invention
The invention aims to provide a 'body control' two-wheeled electric balance car which has a compact structure, is simple and convenient to operate and control and has two purposes of one car.
In order to achieve the purpose, the invention adopts the following technical scheme:
a dual-purpose two-wheeled electrodynamic balance car can realize two orthogonal directions to stand and control running; comprising a single pedal, two sets of foot switches, two motor wheels, a pivoting mechanism and an electric drive unit.
The single pedal provides two pedal positions in orthogonal directions and comprises a pedal upper cover and a pedal lower cover which are fixedly connected; at least two pedal switches are arranged in each group, are orthogonally and symmetrically fixed on the pedal upper cover by the center of the pedal, and two of the symmetrical positions form a group and respectively sense whether a user stands on the electric balance car to open or close; the two motor wheels are coaxially and symmetrically arranged below the middle position of the pedal and respectively comprise a hub motor and a wheel fixedly sleeved outside the hub motor; the pivoting mechanism is a hollow shell and is rotatably connected between the pedal and the two motor wheels; the electric drive unit is fixed in the pedal, electrically connected with the two groups of foot switches and the two motor wheels, and used for detecting the pedal posture signal and respectively controlling and driving the two motor wheels.
Further, the pivoting mechanism of the electric balance car comprises a first pivoting part and a second pivoting part, wherein the first pivoting part is provided with a first rotating shaft and is rotatably and coaxially fixed between the two motor wheels; the second pivoting piece extends out of the first pivoting piece, is fixed on the pedal, is provided with a second rotating shaft and is rotatably connected with the first pivoting piece by a limit angle; the first rotating shaft and the second rotating shaft are arranged in a two-dimensional orthogonal mode.
Further, the hub motor of the electric balance car comprises a motor shaft, and the motor shaft is fixedly connected with the first pivoting piece.
The pivoting mechanism of the electric balance car has the following two realization modes:
the first method comprises the following steps: the first rotating shaft of the electric balance car is an X shaft, and the second rotating shaft comprises a Y shaft; the first pivoting piece is provided with a limiting opening, and the limiting opening and the extending part of the second pivoting piece form a rotating angle limiting around a Y axis;
secondly, the first rotating shaft of the electric balance car is an X shaft, and the second rotating shaft comprises a Z shaft; the second pivoting part is provided with a limit stop along the radial direction, the first pivoting part is provided with a limit groove corresponding to the limit stop, and the limit stop and the limit groove form rotation angle limit around the Z axis.
Further, the electric drive unit of the electric balance car includes: power supply unit, gesture appearance and control assembly.
The power supply assembly comprises a rechargeable battery, a power switch and a charging interface; the rechargeable battery is uniformly fixed in the pedal, the power switch is fixed on the side edge of the pedal and used for turning on or turning off a power supply, and the charging interface is fixed on the side edge of the pedal and used for charging the battery.
The attitude indicator comprises a gyroscope and an acceleration sensor, and is fixed in the second pivoting part of the pivoting mechanism at the intersection point of the first rotating shaft and the second rotating shaft.
The control assembly comprises an alarm circuit, a control circuit and a driving circuit, and is fixed in the pedal, and all parts of the electric driving unit are electrically connected; the alarm circuit is used for alarming when the electric quantity is too low, alarming when the current is too high and alarming when the vehicle speed is too high; the control circuit comprises a microprocessor, and is used for calculating and processing the attitude signal to generate a control signal; and the driving circuit receives the control signal and respectively drives the rotating speed and the steering of the two motor wheels.
Further, with respect to a second implementation manner of the pivot mechanism, the attitude indicator of the electric balance car further includes a rotation angle sensor for sensing an attitude signal of the second pivot member rotating around the Z axis; the rotation angle sensor is rotatably connected between the first pivoting member and the attitude indicator.
Further, the shape of the pedal of the electric balance car includes a circle.
The invention has the following effective effects: 1) the single round or symmetrical pedal and the batteries are distributed in a balanced manner, so that the gravity center of the vehicle body is balanced, and the structure is more compact; 2) the pedal rotates around the X axis, the Y axis or the Z axis in two dimensions, so that a user can conveniently control the forward and backward movement or the left and right inclination or the turning by the forward and backward inclination, the left and right inclination or the twisting of the body, which is called as 'body control', and the control is simpler, more convenient and easier; 3) the user can select to travel with the forward or the side direction of traveling standing, and the one car is dual-purpose, and user experience is abundanter.
Drawings
Fig. 1 is a schematic structural view of a dual-purpose two-wheeled electric balance car according to an embodiment of the present invention;
fig. 2 is a schematic cross-sectional view of a dual-purpose two-wheeled electric balance car according to an embodiment of the present invention;
fig. 3 is an exploded view of a pivot mechanism of the dual-purpose two-wheeled electric balance car according to an embodiment of the present invention;
fig. 4 is an exploded view of a pivot mechanism of a two-wheeled electric balance car according to another embodiment of the present invention;
FIG. 5 is a block diagram of a system of a two-wheeled electric balance car according to an embodiment of the present invention;
FIG. 6 is a schematic view illustrating the rotation of pedals of the two-wheeled electric balance car about the X-axis according to an embodiment of the present invention;
fig. 7 is a schematic view illustrating rotation of pedals around the Y axis of the dual-purpose two-wheeled electric balance car according to the embodiment of the invention;
FIG. 8 is a schematic view of the pedals of the two-wheeled electric balance car rotating around the Z-axis according to the embodiment of the present invention;
fig. 9 is a schematic view of two standing positions of the dual-purpose two-wheeled electric balance car according to the embodiment of the invention.
Detailed Description
The invention is further explained with reference to the drawings and the embodiments.
Referring to fig. 1 and 2, a dual-purpose two-wheeled electric balance car according to an embodiment of the present invention can stand in two orthogonal directions and control the running; comprising a single pedal 10, two sets of foot switches 20, two motor wheels 30, a pivoting mechanism 40 and an electric drive unit 50.
The single pedal 10 provides two pedal positions in orthogonal directions and comprises a pedal upper cover 11 and a pedal lower cover 12 which are fixedly connected; the two groups of foot switches 20 are respectively 20X and 20Y, each two groups are orthogonally and symmetrically fixed on the pedal upper cover 11 by the center of the pedal 10, and two symmetrical positions are one group and respectively sense whether a user stands on the electric balance car to open or close; the two motor wheels 30 are coaxially and symmetrically arranged below the middle position of the pedal 10 and respectively comprise a wheel hub motor 31 and a wheel 32 fixedly sleeved outside the wheel hub motor 31; the pivoting mechanism 40 is a hollow housing, and is rotatably connected between the pedal 10 and the two motor wheels 30; and the electric driving unit 50 is electrically connected with the two groups of foot switches 20 and the two motor wheels 30, detects the posture signal of the pedal 10 and respectively controls and drives the two motor wheels 30.
In the above embodiment, the pedal 10 is circular, the upper pedal cover 11 and the lower pedal cover 12 are both made of aluminum alloy, so that the whole strength is better, the weight is lighter, and the two sets of pedal switches 20 are infrared photoelectric switches.
Referring to fig. 3 and 4, the pivot mechanism structure of the present invention is shown in an exploded view.
The pivot mechanism 40 of the electric balance car comprises a first pivot member 41 and a second pivot member 42, wherein the first pivot member 41 is provided with a first rotating shaft and is rotatably and coaxially fixed between the two motor wheels 30; a second pivoting member 42 extending from the inside of the first pivoting member 41 and fixed to the pedal 10; and has a second rotating shaft rotatably connected to the first pivoting member 41 at a limited angle; the first rotating shaft and the second rotating shaft are arranged in a two-dimensional orthogonal mode.
The hub motor 31 of the electric balance car comprises a motor shaft 311, wherein the motor shaft 311 is fixedly connected with a first pivoting piece 41; the hub motor 31 adopts an outer rotor brushless direct current motor, which can be accurately controlled in rotation speed and steering and has a high response speed.
The pivoting mechanism 40 of the present invention has the following two implementations:
FIG. 3 shows, in one embodiment: the first rotating shaft of the electric balance car is an X shaft, and the second rotating shaft comprises a Y shaft; the first pivoting member 41A has a limit opening 411A, and the limit opening 411A and the protruding portion of the second pivoting member 42A constitute a limit of the rotational angle about the Y axis.
In another embodiment, as shown in fig. 4, the first rotating shaft of the electric balance car is an X-axis, and the second rotating shaft includes a Z-axis; the second pivoting member 42B is provided with a limit stopper 421B along the radial direction, the first pivoting member 41B is provided with a limit groove 411B corresponding to the limit stopper 421B, and the limit stopper 421B and the limit groove 411B constitute a limit of the rotational angle around the Z axis.
Referring to fig. 5, the electric drive unit 50 of the electric balance car includes a power supply module 51, an attitude indicator 52, and a control module 53, and the components of the electric drive unit 50 are electrically connected to each other.
The power supply component 51 comprises a rechargeable battery 511, a power switch 512 and a charging interface 513; the rechargeable batteries 511 are uniformly fixed in the pedal 10, the power switch 512 is fixed on the side of the pedal 10 and used for turning on or off the power supply, and the charging interface 513 is fixed on the side of the pedal 10 and used for charging the batteries; the rechargeable battery 511 is a high-capacity lithium battery, and the power switch 512 is a metal-shell key switch.
The attitude indicator 52 includes a gyroscope 521 and an acceleration sensor 522, and is fixed in the second pivot member 42 of the pivot mechanism 40 at the intersection of the first rotation shaft and the second rotation shaft.
The control component 53 comprises an alarm circuit 531, a control circuit 532 and a drive circuit 533, and is fixed in the pedal 10; the alarm circuit 531 is used for alarming for over-low electric quantity, over-high current and over-high vehicle speed; the control circuit 532 comprises a microprocessor, and is used for calculating and processing the attitude signal to generate a control signal; the driving circuit 533 receives the control signal, and drives the rotation speed and the steering of the two motor wheels 30, respectively.
The control assembly 53 of the present invention is described in the prior art, such as the chinese patent application No. 201310516158.X and other patents. And will not be described in detail herein.
The alarm circuit 531 employs a buzzer and an LED, the microprocessor employs an ARM processor, and the driving circuit 533 employs a three-phase bridge circuit.
Further, for another embodiment of the above-mentioned pivoting mechanism (shown in fig. 4), the attitude indicator 52 of the electric balance car further includes a rotation angle sensor 523 for sensing an attitude signal of the second pivoting member 42 rotating around the Z axis; the rotation angle sensor 523 is rotatably connected between the first pivot member 41B and the attitude indicator 52.
From the above, in another embodiment, the attitude indicator 52 adds the rotation angle sensor 523, and in both embodiments, the gyroscope 521 and the acceleration sensor 522 may adopt the same model specification.
In the above embodiment, the MEMS gyroscope 521 and the acceleration sensor 522 are used for at least two axes, and the rotation angle sensor 523 is a hall non-contact sensor, which can accurately detect the inclination angle, the angular velocity signal, and the rotation angle signal of the pedal 10; since the functions of the gyroscope 521, the acceleration sensor 522, and the rotation angle sensor 523 are well known in the art, they will not be further described here.
The posture meter 52 of the present invention is located at the rotation center position of the pedal 10, and when the rotation angles of the pedal 10 are all zero, the posture meter 52 is at the initial position, so that an accurate initial value of the posture signal can be conveniently obtained.
Referring to fig. 6, 7 and 8, the operation of the dual-purpose electric balance car of the present invention will be further described as follows:
1) electrifying: turning on the power switch 512;
2) standing the plate: the electric balance car is in an opening standby state when one group of the pedals 10 and the foot switches 20 is stepped down at the double-foot stand;
3) initially: the pedal 10 is in a horizontal state, no inclination and no rotation exist, the output of the attitude instrument 52 is a set initial value, at the moment, the motor wheel 30 does not rotate, and the electric balance car is in an initial state;
4) advancing and retreating: as shown in fig. 6, the body tilts forward or backward, the pedal 10 rotates around the X axis, the attitude instrument 52 outputs an attitude signal of an inclination angle around the X axis, the control component 53 controls and drives the two motor wheels 30 to rotate forward or backward respectively, the electric balance car moves forward or backward, the rotation speed corresponds to the inclination angle, and the rotation speed is faster when the inclination angle is larger;
5) turning: in an embodiment, as shown in fig. 7, when the body tilts left and right, the pedal 10 drives the second pivoting member 42A to rotate around the Y axis, the attitude indicator 52 outputs attitude signals of weighted tilt angles around the X axis and the Y axis, the control component 53 controls and drives the two motor wheels 30 to generate a rotation speed difference, and the electric balance car turns, the steering radian corresponds to the rotation angle of the pedal 10, and the larger the tilt angle is, the smaller the steering radian is.
In another embodiment, as shown in fig. 8, the body is twisted, the pedal 10 drives the second pivoting member 42B to rotate around the Z-axis, the attitude indicator 52 outputs weighted signals of the tilt angle around the X-axis and the rotational angle around the Z-axis, and the control component 53 controls and drives the two motor wheels 30 to generate a rotational speed difference, respectively, so that the electrodynamic balance car turns.
Referring to fig. 9, which is a schematic diagram of two standing positions of the present invention, a user can select to stand and run in a forward direction (X-axis direction) or a lateral direction (Y-axis direction) with respect to a running direction, and one electric balance car has a user experience of two balance cars, which is one of the obvious features of the present invention.
The above embodiments are merely illustrative, not restrictive, and all equivalent or similar technical solutions derived from the teachings of the present invention are within the scope of the present invention.
Claims (1)
1. A dual-purpose two-wheeled electrodynamic balance car is characterized in that the two-wheeled electrodynamic balance car can realize the standing and the control running in two orthogonal directions; the method comprises the following steps: the device comprises a single pedal, two groups of pedal switches, two motor wheels, a pivoting mechanism and an electric driving unit;
the single pedal provides two pedal positions in orthogonal directions and comprises a pedal upper cover and a pedal lower cover which are fixedly connected;
at least two pedal switches are arranged in each group, are orthogonally and symmetrically fixed on the pedal upper cover by the center of the pedal, and two of the symmetrical positions form a group and respectively sense whether a user stands on the electric balance car to open or close;
the two motor wheels are coaxially and symmetrically arranged below the middle position of the pedal and respectively comprise a hub motor and a wheel fixedly sleeved outside the hub motor;
the pivoting mechanism is a hollow shell and is rotatably connected between the pedal and the two motor wheels;
the electric driving unit is electrically connected with the two groups of foot switches and the two motor wheels, detects the pedal posture signal and respectively controls and drives the two motor wheels;
the pivoting mechanism comprises a first pivoting part and a second pivoting part, the first pivoting part is provided with a first rotating shaft and is rotatably and coaxially fixed between the two motor wheels;
the second pivoting piece extends out of the first pivoting piece and is fixed on the pedal; the second rotating shaft is provided with a second rotating shaft and is rotationally connected with the first pivoting piece by a limit angle;
the first rotating shaft and the second rotating shaft are arranged in a two-dimensional orthogonal mode;
the shape of the pedal comprises a circle;
the first rotating shaft is an X shaft, and the second rotating shaft comprises a Z shaft;
the second pivoting part is provided with a limit stop along the radial direction, the first pivoting part is provided with a limit groove corresponding to the limit stop, and the limit stop and the limit groove form rotation angle limit around the Z axis.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010016341.3A CN111169579A (en) | 2016-01-27 | 2016-01-27 | Two-wheeled electrodynamic balance car |
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610051100.6A CN107021167B (en) | 2016-01-27 | 2016-01-27 | Dual-purpose two-wheeled electrodynamic balance car |
| CN202010016341.3A CN111169579A (en) | 2016-01-27 | 2016-01-27 | Two-wheeled electrodynamic balance car |
Related Parent Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610051100.6A Division CN107021167B (en) | 2016-01-27 | 2016-01-27 | Dual-purpose two-wheeled electrodynamic balance car |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN111169579A true CN111169579A (en) | 2020-05-19 |
Family
ID=59523879
Family Applications (6)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010016367.8A Withdrawn CN111169580A (en) | 2016-01-27 | 2016-01-27 | Two-wheeled electrodynamic balance car |
| CN202010016368.2A Withdrawn CN111169581A (en) | 2016-01-27 | 2016-01-27 | Two-wheeled electrodynamic balance car |
| CN202010016312.7A Withdrawn CN111169577A (en) | 2016-01-27 | 2016-01-27 | Two-wheeled electrodynamic balance car |
| CN202010016330.5A Withdrawn CN111169578A (en) | 2016-01-27 | 2016-01-27 | Two-wheeled electrodynamic balance car |
| CN202010016341.3A Withdrawn CN111169579A (en) | 2016-01-27 | 2016-01-27 | Two-wheeled electrodynamic balance car |
| CN201610051100.6A Active CN107021167B (en) | 2016-01-27 | 2016-01-27 | Dual-purpose two-wheeled electrodynamic balance car |
Family Applications Before (4)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010016367.8A Withdrawn CN111169580A (en) | 2016-01-27 | 2016-01-27 | Two-wheeled electrodynamic balance car |
| CN202010016368.2A Withdrawn CN111169581A (en) | 2016-01-27 | 2016-01-27 | Two-wheeled electrodynamic balance car |
| CN202010016312.7A Withdrawn CN111169577A (en) | 2016-01-27 | 2016-01-27 | Two-wheeled electrodynamic balance car |
| CN202010016330.5A Withdrawn CN111169578A (en) | 2016-01-27 | 2016-01-27 | Two-wheeled electrodynamic balance car |
Family Applications After (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610051100.6A Active CN107021167B (en) | 2016-01-27 | 2016-01-27 | Dual-purpose two-wheeled electrodynamic balance car |
Country Status (1)
| Country | Link |
|---|---|
| CN (6) | CN111169580A (en) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108609098B (en) * | 2018-04-29 | 2019-12-27 | 周一峰 | Traveling device with dual operation modes and control method thereof |
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2016
- 2016-01-27 CN CN202010016367.8A patent/CN111169580A/en not_active Withdrawn
- 2016-01-27 CN CN202010016368.2A patent/CN111169581A/en not_active Withdrawn
- 2016-01-27 CN CN202010016312.7A patent/CN111169577A/en not_active Withdrawn
- 2016-01-27 CN CN202010016330.5A patent/CN111169578A/en not_active Withdrawn
- 2016-01-27 CN CN202010016341.3A patent/CN111169579A/en not_active Withdrawn
- 2016-01-27 CN CN201610051100.6A patent/CN107021167B/en active Active
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Also Published As
| Publication number | Publication date |
|---|---|
| CN111169581A (en) | 2020-05-19 |
| CN107021167A (en) | 2017-08-08 |
| CN111169577A (en) | 2020-05-19 |
| CN111169580A (en) | 2020-05-19 |
| CN107021167B (en) | 2020-08-18 |
| CN111169578A (en) | 2020-05-19 |
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