CN201999131U - Spherical two-wheel bidirectional sedan - Google Patents
Spherical two-wheel bidirectional sedan Download PDFInfo
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- CN201999131U CN201999131U CN2010202952622U CN201020295262U CN201999131U CN 201999131 U CN201999131 U CN 201999131U CN 2010202952622 U CN2010202952622 U CN 2010202952622U CN 201020295262 U CN201020295262 U CN 201020295262U CN 201999131 U CN201999131 U CN 201999131U
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Abstract
The utility model discloses a spherical two-wheel bidirectional sedan. The spherical two-wheel bidirectional sedan comprises spherical wheels or oval sedan wheels, a control cabin, a shock adsorption system, a driving device, a power device, two groups of double-arm torsion bar type swerving devices, a hanging system and the like. In the sedan, a tumbler principle is used; two spherical or oval wheels with flanges are used; the section of the middle section of a control cabin body which is connected with two wheels has a shape of an irregular curved surface, such as a circular shape, an oval shape, or an approximately oval shape; a power cabin which is positioned at the bottommost part of the control cabin ensures that the gravity center of the whole sedan is positioned below an axle center line; the vertical height from the gravity center to the ground is smaller than the radius of the spherical wheel; and when inclined, the sedan body swings left and right along the cambered surface of the spherical wheels, the gravity center rises to generate the moment which ensures the sedan body recovers the vertical state, so that the two wheels have the performance of stability and the performance that the two wheels swing left and right in a certain range and do not title in the stationary state without being supported.
Description
Technical field the present invention relates to the two-wheel car technical field, relates to a kind of spherical double-wheel bidirectional car specifically.
Two-wheeled motor vehicle that background technology is traditional or battery-driven car are compared with car, and be with the obvious advantage on partial properties, such as: portable and smart, economical and practical, fault rate is low.But shortcoming also is fatal, safety, and traveling comfort will be stood wind, drench with rain far from when riding, scorching sun or sharp cold wind.In case generation traffic accident, very easily permanent disability even threat to life.Therefore, on the basis that keeps two-wheeled vehicle or the original advantage of battery-driven car, making two-wheel car obtain stability, increase safety, improve traveling comfort, create a kind of vehicle that substitute existing two-wheeled motor vehicle or battery-driven car, is departure point of the present invention.
By retrieval in the technical field of two-wheel car, application number is 200920080819.8 and 99203171.0 " two wheel carriage ", the two has all expected installing for two-wheel car the driving compartment of similar car, this can improve the traveling comfort of two-wheel car really, but the crawler body to car is not made bigger improvement, the former needs with opening the weight that way that portable plate stretches out pin supports vehicle body, the latter then adopts the way of putting down support wheel to keep the balance of car, such design is actually has sacrificed safety when having improved traveling comfort, if do not have to set up under the basic raising situation driving compartment in stability, will cause car load top-heavy, can increase the difficulty and the insecurity of driver's operation on the contrary, and employing increases the way of support wheel in the vehicle body both sides, at body inclination, under the situation that center of gravity changes, be danger close equally, a lot of traffic accidents is to take place in the moment that the people does not also react, above-mentioned two kinds of cars make the people have little time to react under very little scratching or slight bump probably and overturning take place, and cause the generation of bigger traffic accident.
The utility model patent more above-mentioned two " two wheel carriages " of application number 98209380.2 " a kind of self-propelled vehiclees " by name should make progress, he has adopted global wheel, stability to two-wheel car has raising, but and the present invention compares very big gap is still arranged: improvement is only arranged on wheel, its effect only is the overturning time that has delayed self-propelled vehicle, that is to say that car also can fall; Enumerated the application of a variety of global wheels among its appended claims and the embodiment, comprise sphere, oval sphere, two semisphere, two semiellipse spheries etc., but strictly speaking, two semisphere wheels in fact have been two wheels, separately wheel hub and tire are arranged respectively, the combination that no matter is placed on front or back and another wheel has just constituted three-wheel vehicle, and three-wheel vehicle adopts global wheel and common wheel to have no difference.Having only Figure of description 6 and accompanying drawing 7 can be the spherical double-wheel car, if but reality of being applied to, its problem is just more, at first, when two-wheel car turns to, vehicle body all can tilt, and rely on global wheel merely is to play the effect that delays to fall down, I do not know whether the contriver did experiment, as long as center of gravity is on axle center, just have no difference with common wheel, the oval-shaped ball wheel of comparatively wide flat similar rugby ball shape can play the effect that delays to fall down really, the length of wheel shaft is greater than the diameter of wheel, but when turning, equal vehicle body rather than center of gravity have been raise, need overcome the downward gravity of vehicle body, exerted oneself little and changeed only curved next, it is excessive to exert oneself the body inclination angle big, be positioned at the phenomenon that the transmission shaft at two ends can mop floor, abnormally dangerous, therefore, two-wheel car adopts global wheel to have only center of gravity that effect is just arranged under axle centerline, has only the flanged global wheel of employing could solve the problem that transmission shaft or vehicle body mop floor.Have again, its front-wheel turn to " front fork " that adopts common wheel, how its damping solves, the inventor does not provide answer yet, as seen, the patent No. is that 98209380.2 utility model is difficult to possess practicality.
Therefore we can say that former technology does not well solve the problem of the stability of two-wheel car, can not solve the problem of this essence of poor stability of two-wheel car, blindly pursue safety and traveling comfort, is to attend trifles and neglect essentials, and puts the cart before the horse.
Summary of the invention the present invention provides a kind of spherical double-wheel bidirectional car in order to overcome the shortcoming and defect part of prior art.It than common car safety and stability, comfortable energy-conservation, floor area is little.
Technical scheme of the present invention is as follows:
A kind of spherical double-wheel bidirectional car comprises global wheel, vehicle body, chassis assembly, driving compartment, shock mitigation system, electrical motor, composite battery, two groups of both arms torsion bar inner sliding type suspension or the outer sliding type suspension system of both arms torsion bar etc.
Described both arms torsion bar inner sliding type suspension comprises transmission levers, both arms torsion bar type guide frame framework, semicircle bogie truck.Arm torsion bar type guide frame framework becomes hinged with vehicle body, and the rear end is connected with bumper.Semicircle bogie truck adopts movable the connection with both arms torsion bar type guide frame framework, and semicircle bogie truck turns round in the guiding framework, and semicircle bogie truck two ends are connected with global wheel by hollow shaft, and the middle part, rear end is connected with transmission levers.
The outer sliding type suspension system of described both arms torsion bar is by transmission levers, both arms torsion bar type guide frame framework, and semicircle bogie truck, bumper is formed.Both arms torsion bar type guide frame framework becomes hinged with vehicle body, and the both sides, upper end are connected with bumper respectively.Semicircle bogie truck adopts movable the connection with both arms torsion bar type guide frame framework, and semicircle bogie truck turns round in the guiding framework, and semicircle bogie truck two ends are connected with global wheel by hollow shaft, and the middle part, rear end is connected with transmission levers.
Transmission levers, both arms torsion bar type guide frame framework and electrical motor air flue constitute a fully enclosed circulation wind path, for the vehicle that adopts the compact internal combustion engine direct drive, with this wind path as intake and exhaust, cooling channel.The power control line of power lead, brake cable or the compact internal combustion engine of electrical motor also can enter global wheel inside through this path simultaneously.
Actuating device is in the global wheel wheel hub, hang on the bottom of hollow shaft, by the both arms torsion bar type turn to, suspension and vehicle body be hinged, this car adopts electrical motor to drive, gear, chain, belt-driving that described electrical motor can select for use the built-in axle of wheel hub to hang down, or the high-speed motor of planetary wheel direct drive wheel hub, also can adopt mode at built-in small-sized explosive motor direct drive axletree of wheel hub or wheel hub.
The power of this car can adopt the series type hybrid form of combustion engine+battery pack, also can adopt the composite battery of flying wheel battery and lithium ion battery as power.
Described global wheel can adopt single cambered surface flanged pin shape tire, and flange and cover tire are one, and flange is a solid rubber, and wheel hub has a groove that tire is installed; Also can adopt three fluted body wheel hubs, be the arc surfaced main tire in the middle of the global wheel, increases a flange respectively in the both sides of main tire, these two flanges and main tire can be one, also can be splits, for one or split, can be gas filed.
It is the irregular curved surface of circular, avette or approximate ellipsoidal that described driving compartment adopts cab body stage casing cross-sectional plane, can be that similar orthodox car adopts two-door or four doors like that, also can adopt the bubble type glass cockpit, canopy can also can be opened forward backward.Can adopt two kinds of forms of a multiplier or saddle-type in the passenger cabin.The seat that adopts the seat multiplier be satisfy the needs of two way can manual or electronic rotation.The backrest of saddle-type is to hang down from roof, with vehicle seat certain clearance is arranged, and is convenient to stride the leg advanced in years of taking the opportunity, and backrest can be that single face is rotatable, also can be two-sided non-rotatable, but regulates before and after can doing or just.No matter be all configurable safety strap of a multiplier or saddle-type.
This car also can adopt sealing wheel hub and sealing driving compartment, and increase the air compressor and the pipeline of cover wheel hub and a driving compartment supercharging, ventilation, through transmission levers, bogie truck is blown in the wheel hub of global wheel, from the opposite side air-out,, also can make sealing wheel hub pressure interior and driving compartment be higher than barometric pressure except that to the electrical motor cooling cooling, and at the bottom of car, set up retractable subtracting and shake aerofoil device, make this car possess amphibious performance.Because be to strike by the rotation of global wheel to advance in water, propulsion coefficient is lower, speed on the water can be very not high, if adopt the higher cross-country type tire of tread to make moderate progress.
This car is the vehicle that is become two set of wheels by a plurality of wheel tandems.
The invention has the advantages that: 1, this car adopts two flanged spheries or oval spherical wheel and is attached thereto the cab body stage casing cross-sectional plane that connects and is circle, the irregular curved driving compartment of avette or approximate ellipsoidal, the car load center of gravity is positioned at below the shaft centre line, center of gravity is to the radius of ground-surface vertical dimension less than global wheel, during body inclination, vehicle body swings along the cambered surface of global wheel, center of gravity raises, can produce makes vehicle body return to the moment of plumbness, make two-wheel car under static state can possess homeostasis without any need for supporting or helping, wigwag motion in certain amplitude and performance that can overturning, in extraordinary circumstances, overturning need take place as violent bump or stunt, even after rolling, can automatically restore to erectility when stopping; 2, suspension of the both arms torsion bar inner sliding type of two groups of global wheels and shock mitigation system can make two-wheel car possess the ability of two ends driving, two way; 3, adopt sealing wheel hub and sealing driving compartment and increase a cover wheel hub and driving compartment supercharging, drafting apparatus and car at the bottom of retractable subtract shake aerofoil device after, possess amphibious performance; 4, both arms torsion bar and car body direct connection have intensity height and good damping effect, underslung characteristics, and the ability of the vertical obstacle of ascending is strong, and cross country power is better than automobile and motor bike; 5, this car adopts composite battery as power, energy-conserving and environment-protective.
Description of drawings Fig. 1 is a block diagram of the present invention;
Fig. 2 is that both arms torsion bar inner sliding type of the present invention hangs and the shock mitigation system block diagram;
The lateral plan of outer sliding type suspension of Fig. 3 both arms torsion bar of the present invention and shock mitigation system;
Fig. 4 is outer sliding type suspension of both arms torsion bar of the present invention and shock mitigation system section-drawing;
Fig. 5 is the outer sliding steering of both arms torsion bar, suspension A-A face cutaway view;
Fig. 6 is the schematic top plan view of the application embodiment 3 of patent No. ZL 98209380.2;
Fig. 7 is the schematic top plan view of the application embodiment 4 of patent No. ZL 98209380.2.
A kind of spherical double-wheel bidirectional car of the specific embodiment comprises global wheel 5, vehicle body, chassis assembly, cockpit, shock mitigation system 12, electrical motor, composite battery, two groups of both arms torsion bar inner sliding type suspension or the outer sliding type suspension system of both arms torsion bar etc.
Described both arms torsion bar inner sliding type suspension comprises transmission levers 2, both arms torsion bar type guide frame framework 3, semicircle bogie truck 4.Both arms torsion bar type guide frame framework 3 becomes hinged with vehicle body, and the rear end is connected with bumper 12.Semicircle bogie truck 4 adopts movable the connection with both arms torsion bar type guide frame framework 3, semicircle bogie truck 4 turns round in both arms torsion bar type guide frame framework 3, semicircle bogie truck 4 two ends are connected with global wheel 5 by hollow shaft 6, and the middle part, rear end is connected with transmission levers 2.
The outer sliding type suspension system of described both arms torsion bar is by transmission levers, both arms torsion bar type guide frame framework 3, and semicircle bogie truck 4, bumper 12 is formed.Two torsion bar type guide frame frameworks 3 are hinged with vehicle body, and the both sides, upper end are connected with bumper 12 respectively.Semicircle bogie truck 4 adopts movable the connection with both arms torsion bar type guide frame framework 3, semicircle bogie truck 4 turns round in both arms torsion bar type guide frame framework 3, semicircle bogie truck 4 two ends are connected with global wheel 5 by hollow shaft 6, and the middle part, rear end is connected with transmission levers 2.Transmission levers 2, both arms torsion bar type guide frame framework 3 constitutes a fully enclosed circulation wind path with electrical motor air flue 10, for the vehicle that adopts the compact internal combustion engine direct drive, with this wind path as intake and exhaust, cooling channel.The power control line of power lead, brake cable or the compact internal combustion engine of electrical motor also can enter global wheel 5 inside through this path simultaneously.
This car both arms torsion bar type turns to, suspension has two groups, and the rear and front end is identical, and all there is aviation rudder formula bearing circle 1 at two ends.At which end drive just to open the aviation rudder formula bearing circle of where holding 1, the locked aviation rudder formula bearing circle 1 of the other end can doublely be done the three-seater backrest, also can fold contraction.Two torsion bar type guide frame frameworks and car body direct connection have intensity height and good damping effect, underslung characteristics, and the ability of the vertical obstacle of ascending is strong, and cross country power is better than automobile and motor bike.Can adopt roller or the antifriction-bearing box resistance of reducing friction between both arms torsion bar type guide frame framework and semicircle bogie truck,
This car adopts electrical motor to drive, gear, chain, belt-driving that described electrical motor can select for use the built-in axle of wheel hub to hang down, or the high-speed motor of planetary wheel direct drive wheel hub, also can adopt mode at built-in small-sized explosive motor direct drive axletree of wheel hub or wheel hub.Can remove driving system from like this, solve the problem of global wheel two-wheel drive mechanical drive difficulty.
The power of this car can adopt the series type hybrid form of combustion engine+battery pack, also can adopt the composite battery of flying wheel battery and lithium ion battery as power.
Described global wheel 5 can adopt single cambered surface flanged pin shape tire, and flange and cover tire are one, and flange is a solid rubber, and wheel hub has a groove that tire is installed; Also can adopt three fluted body wheel hubs, be the arc surfaced main tire in the middle of the global wheel, increases a flange respectively in the both sides of global wheel, and these two flanges and main tire can be one, also can be splits, can be gas filed.
It can play the effect of auxiliary wheel flange: limit the maximum inclination angle of this car, prevent to topple over; Flange the position is set: near more apart from the vertical line of centers of global wheel, the tiltable angle of vehicle body is more little, otherwise, far away more apart from the vertical line of centers of global wheel, the closer to two ends, the tiltable angle of vehicle body is big more, if flange is the Puffer-type that is independent of main tire, when main tire is blown out or leak gas in a large number, can play the effect of spare tyre, keep low speed driving, be unlikely on the way to cast anchor.
With respect to the wheel of common comparatively thin two-wheel car, global wheel 5 is comparatively roomy, and impact-resistant better performances when traffic accident takes place, can play the effect of energy-absorbing damping preferably, reduces the injury to the occupant; When travelling on hard surfacing, wheel and ground-surface contact surface are less, help running at high speed, and when travelling in the place of softer mire, have larger area with ground to contact, and wheel can not be sagged easily, and through performance is better; The two-wheel car that adopts global wheel is when turning, meeting can be not needing automatic deceleration under the artificial situation about controlling, when the flange of global wheel 5 contacts the road surface to take turns less part contact road surface, footpath behind the body inclination, can also play the effect of breakking away of preventing, improve the safety when travelling.Because the 3D car self has stability, therefore vehicle body can suitably extend, develop into three of tandems, all the people present even multi-place vehicle more, perhaps tandem three-wheel, four-wheel vehicle, air resistance when its long and narrow and fleetline vehicle body helps reducing high-speed cruising, and can on narrow or crowded road, walk, can have than four-wheel car application widely.
It is the irregular curved surface of circular, avette or approximate ellipsoidal that described driving compartment adopts cab body stage casing cross-sectional plane, can be that similar orthodox car adopts two-door or four doors like that, also can adopt the bubble type glass cockpit as the fighter plane canopy, the integral glass canopy can also can be opened forward backward.Can adopt two kinds of forms of a multiplier or saddle-type in the passenger cabin.The seat that adopts the seat multiplier be satisfy the needs of two way can manual or electronic rotation.The backrest of saddle-type is to hang down from roof, with vehicle seat certain clearance is arranged, and is convenient to stride the leg advanced in years of taking the opportunity, and backrest can be that single face is rotatable, also can be two-sided non-rotatable, but regulates before and after can doing or just.No matter be all configurable safety strap of a multiplier or saddle-type.
This car also can adopt sealing wheel hub and sealing driving compartment, and increase the air compressor and the pipeline of cover wheel hub and a driving compartment supercharging, ventilation, through transmission levers, bogie truck is blown in the wheel hub of global wheel, from the opposite side air-out,, also can make sealing wheel hub pressure interior and driving compartment be higher than barometric pressure except that to the electrical motor cooling cooling, and at the bottom of car, set up retractable subtracting and shake aerofoil device, make this car possess amphibious performance.Because be to strike by the rotation of global wheel to advance in water, propulsion coefficient is lower, speed on the water can be very not high, if adopt the higher cross-country type tire of tread to make moderate progress.
This car weight heart is positioned at below the shaft centre line, and center of gravity is to the radius of ground-surface vertical dimension less than global wheel.During body inclination, vehicle body swings along the cambered surface of global wheel, center of gravity raises, can produce makes vehicle body return to the moment of plumbness, make two-wheel car under static state without any need for support or help can possess homeostasis, wigwag motion and performance that can overturning in certain amplitude, after extraordinary circumstances (needing as violent bump or stunt) overturning take place even roll, can automatically restore to " uprightly " state when stopping;
The present invention can be applied to motor scooter, can adopt global wheel built-in motor direct drive wheel hub, comparatively speaking, is more suitable in developing into battery-driven car.This be because: 1. big, the installation site of the volume of explosive motor is not suitable for being integrated in the vehicle body bottommost to greatest extent, is difficult to satisfy the requirement of low center of gravity.2. if do not adopt the form of global wheel built-in motor direct drive wheel hub, transmission device is complicated, wants to realize difficulty of two-wheel drive ratio.3. be difficult to possess the amphicheirality, installing additional behind the leak free driving compartment can not go-cart as common two-wheel car, can not move backward as four-wheeled, can increase some troubles in the daily use.Therefore be more suitable for making pure electric vehicle or series hybrid electric vehicle.Electrokinetic cell can be made suitable shape as the case may be, be placed in the bottommost of vehicle body, help satisfying the requirement of low center of gravity, and do not need complicated transmission device, it is much simple that the commutation of electrical motor is also wanted, but be fit to make the car of two way, two-wheel driving.
Claims (7)
1. spherical double-wheel bidirectional car, comprise that wheel, vehicle body, driving compartment, shock mitigation system, both arms torsion bar type turn to, suspension, engine installation, actuating device, it is characterized in that: described wheel is global wheel or parabolic wheel, global wheel (5) is for adopting single cambered surface flanged pin shape tire, and wheel hub (7) has a groove that tire is installed; Or adopt three groove shape wheel hubs, in the middle of the global wheel (5) is the arc surfaced main tire, increase a flange respectively in the both sides of main tire, actuating device is in global wheel wheel hub (7), hang on the bottom of hollow shaft (6), turn to by the both arms torsion bar type, suspension and vehicle body are hinged, driving compartment cab body stage casing cross-sectional plane is circular, the irregular curved of avette or approximate ellipsoidal, be equipped with aviation rudder formula bearing circle (1) before and after the driving compartment, to the aviation rudder formula bearing circle (1) which end travels and where holds with regard to opening, other end aviation rudder formula bearing circle (1) is locked, double backrest or folding contraction of doing back seat; Engine installation is positioned at the bottommost of driving compartment, and the position of engine installation is lower than axle centerline, and the car load center of gravity also is positioned at below the shaft centre line, and center of gravity is to the radius of ground-surface vertical dimension less than global wheel; The both arms torsion bar type turns to, suspension has two groups, the rear and front end is identical, comprise both arms torsion bar type guide frame framework (3), semicircle hollow bogie truck (4), both arms torsion bar type guide frame framework (3), both arms torsion bar type guide frame framework (3) is hinged with vehicle body, both arms torsion bar type guide frame framework (3) bumper (9) connects, semicircle hollow bogie truck (4) adopts movable the connection with both arms torsion bar type guide frame framework (3), semicircle hollow bogie truck (4) turns round in both arms torsion bar type guide frame framework (3), its two ends are connected with global wheel (5) by hollow shaft (6), the middle part, rear end is connected with transmission levers (2), transmission levers (2), semicircle hollow bogie truck (4) constitutes fully enclosed circulation wind path with actuating device air flue (10), as the actuating device intake and exhaust, cooling channel, the power lead of while electrical motor, brake cable, the fuel pipe of compact internal combustion engine, the power control line, the hydraulic oil pipe of hydraulic transmission enters global wheel (5) inside through this path.
2. spherical double-wheel bidirectional car according to claim 1, it is characterized in that: this car adopts sealing wheel hub and sealing driving compartment, and increase by a cover wheel hub and give the air compressor and the pipeline of driving compartment supercharging, ventilation, through transmission levers (2), semicircle hollow bogie truck (4) is blown in the wheel hub (7) of global wheel (5), from the opposite side air-out, set up and to shake aerofoil device by subtracting of folding and unfolding in the car bottom.
3. spherical double-wheel bidirectional car according to claim 1, it is characterized in that: adopt seat multiplier or two kinds of forms of saddle-type in the driving compartment, the seat of seat multiplier is manual or electronic rotation, the backrest of saddle-type is to hang down from roof, with vehicle seat certain clearance is arranged, backrest is single face rotation or two-sided non-rotatable, but can do height or front and back adjusting.
4. spherical double-wheel bidirectional car according to claim 1 is characterized in that: semicircle hollow bogie truck (4) turns round outside both arms torsion bar type guide frame framework (3).
5. spherical double-wheel bidirectional car according to claim 1 is characterized in that: the flange of global wheel (5) be Puffer-type, with main tire be one or split.
6. spherical double-wheel bidirectional car according to claim 1 is characterized in that: the flange of global wheel (5) be solid rubber, with main tire be one or split.
7. spherical double-wheel bidirectional car according to claim 1 is characterized in that: this car is the vehicle that is become two set of wheels by a plurality of wheel tandems.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2010202952622U CN201999131U (en) | 2010-08-18 | 2010-08-18 | Spherical two-wheel bidirectional sedan |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2010202952622U CN201999131U (en) | 2010-08-18 | 2010-08-18 | Spherical two-wheel bidirectional sedan |
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| CN201999131U true CN201999131U (en) | 2011-10-05 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN2010202952622U Expired - Lifetime CN201999131U (en) | 2010-08-18 | 2010-08-18 | Spherical two-wheel bidirectional sedan |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101920730A (en) * | 2010-08-18 | 2010-12-22 | 于雪松 | Spherical double-wheel bidirectional car |
| CN108945233A (en) * | 2018-07-10 | 2018-12-07 | 上海电机学院 | It is a kind of to use spherical wheel and drive preposition two-wheeled motor vehicle and its control method |
-
2010
- 2010-08-18 CN CN2010202952622U patent/CN201999131U/en not_active Expired - Lifetime
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101920730A (en) * | 2010-08-18 | 2010-12-22 | 于雪松 | Spherical double-wheel bidirectional car |
| CN101920730B (en) * | 2010-08-18 | 2012-11-21 | 于雪松 | Spherical double-wheel bidirectional car |
| CN108945233A (en) * | 2018-07-10 | 2018-12-07 | 上海电机学院 | It is a kind of to use spherical wheel and drive preposition two-wheeled motor vehicle and its control method |
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| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| AV01 | Patent right actively abandoned |
Granted publication date: 20111005 Effective date of abandoning: 20130227 |
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| RGAV | Abandon patent right to avoid regrant |