CN203186511U - Segway without handle - Google Patents

Segway without handle Download PDF

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Publication number
CN203186511U
CN203186511U CN 201320184311 CN201320184311U CN203186511U CN 203186511 U CN203186511 U CN 203186511U CN 201320184311 CN201320184311 CN 201320184311 CN 201320184311 U CN201320184311 U CN 201320184311U CN 203186511 U CN203186511 U CN 203186511U
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China
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segway
body
wheel
vehicle body
installed
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CN 201320184311
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Chinese (zh)
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刘辉
刘志勇
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西北农林科技大学
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Publication of CN203186511U publication Critical patent/CN203186511U/en

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Abstract

The utility model discloses a Segway without a handle. The Segway without the handle comprises a Segway body, wherein Segway wheels are installed on the two sides of the Segway body. Each Segway wheel is connected with one end of a main shaft through an insert bearing. The other end of each main shaft is connected with a direct-current speed reduction motor through a plum shaft coupler. Each direct-current speed reduction motor is installed on the lower side of the Segway body through a motor fixing support. An incremental encoder is installed on each direct-current speed reduction motor. Two pedals used for treading are arranged on the Segway body. A storage battery is installed in the middle of the two pedals through a battery fixing support. A protective outer shell is installed outside the storage battery. A driving motor is installed on each Segway wheel. A three-shaft tilt angle sensor is arranged at the position where each Segway wheel is connected with the Segway body. The three-shaft tilt angle sensors and a control system are further installed on the Segway body. The control system is sequentially connected with the incremental encoders, the three-shaft tilt angle sensors and three-shaft tilt angle sensor data lines. In the moving process of the Segway, data are collected through a sensor module, and the objective that balancing of the Segway body can be automatically kept is achieved after the data are processed by the control system.

Description

—种无手柄自平衡两轮电动车 - kind of handle-free self-balancing two electric cars

技术领域 FIELD

[0001] 本实用新型属于机械控制技术领域,具体涉及一种无手柄自平衡两轮电动车。 [0001] The present invention belongs to the technical field of mechanical control, in particular to a self-balanced by the non-grip electric bike.

背景技术 Background technique

[0002] 传统的电动自行车的轮子前后分布,车辆转弯半径大,无法在小空间范围内灵活运动,而且完全依靠驾驶者的身体控制能力来保持车体平衡,容易发生侧翻。 [0002] the front and rear wheels of the traditional distribution of electric bicycles, large vehicle turning radius, not flexible movement range in a small space, and rely entirely on physical control of the driver's ability to maintain body balance, prone to rollover. 目前市场上出现了两轮平衡车(Segway),其车轮是左右分布的,车辆的控制装置根据驾驶者的姿态来自动调节车辆的速度,以使车辆达到平衡。 Currently on the market balance of the two vehicles (the Segway), distributed around its wheels, the vehicle control device to automatically adjust the speed of the vehicle according to the attitude of the driver so that the vehicle reaches equilibrium. 驾驶者身体前倾车速加快,身体后仰则车速减慢。 The driver leaned forward speed to speed up, lean back the car down. 这种为人代步、运行灵活、控制方便而又体积小巧的自平衡车可以很好的解决在步行街、广场、游乐场和大型会场等场合汽车无法通行的难题。 This man means of transport, flexible operation, control convenient and compact self-balancing vehicle can be a good solution in the pedestrian street, plaza, playground and large venues and other places that cars can not pass the problem.

发明内容 SUMMARY

[0003] 针对上述现有技术中存在的问题与缺陷,本实用新型的目的在于提供一种无手柄自平衡两轮电动车,该车在运动过程中通过传感模块采集数据,经过控制系统处理来实现自动保持车体平衡。 [0003] In view of the above prior art problems and shortcomings, the present invention aims to provide a self-balanced by the non-grip electric bike, car data collected by the sensor during the movement, processing through the control system to automatically keep the body balanced.

[0004] 本实用新型所涉及的自平衡两轮电动车包括:一种无手柄自平衡两轮电动车,包括两边安装有车轮的车体,所述车轮通过外球面轴承与主轴的一端连接,所述主轴的另一端通过梅花联轴器与直流减速电动机连接,所述直流减速电动机通过电机固定架安装在车体的下边;所述直流减速电动机上安装有增量式编码器;所述车体上设有两块用于踩踏的踏板; [0004] The present invention relates to a self-balancing two electric vehicle comprising: a non-self-balancing electric bike handle, comprising a wheel mounted on both sides of a vehicle body, the wheel end by a spherical bearing connected to the spindle, the other end of the main shaft by the DC motor deceleration plum coupling connected to a DC geared motor through a motor bracket installed in the lower side of the vehicle body; the current deceleration incremental encoder attached to the motor; said vehicle It is provided for the two depressed pedal body;

[0005] 所述两块踏板的中间通过电池固定架安装有蓄电池,所述蓄电池的外面安装有保护外壳; [0005] The two intermediate pedal bracket is attached to the battery by the battery, the battery is mounted outside the protective housing;

[0006] 所述车轮上安装有驱动电机; [0006] The driving motor is mounted on the wheel;

[0007] 在所述车轮与所述车体的连接处有三轴倾角传感器,所述车体上还安装有三轴倾角传感器、控制系统; [0007] The three-axis tilt sensor is connected at the wheel of the vehicle body, the three-axis tilt sensor is also mounted on the vehicle body control system;

[0008] 所述控制系统依次与所述增量式编码器、所述三轴倾角传感器、所述三轴倾角传感器数据线连接。 [0008] The control system compares the incremental encoder, the three-axis tilt sensor, the three-axis tilt sensor data line is connected.

[0009] 车体、左右分布的车轮、车轮驱动电机、传感器模块和控制系统。 [0009] the vehicle body, the left and right wheel distribution, the wheel drive motor, a sensor module and a control system. 车轮与车体之间为转轴连接,左右车轮的转轴中心线位于同一条直线上,在车体上设有用于支撑人体的平台,车体能够绕车轮的转轴摆动;传感器模块包括车轮转速传感器和位姿检测系统;控制系统电路中存储或固化了相应的用于控制平衡的程序。 Between the wheel and the vehicle body is connected to the shaft, the shaft centerline of left and right wheels located on the same line, with a platform for supporting the body on the vehicle body, the vehicle body can be swung around the rotation shaft of the wheel; wheel speed sensor comprises a sensor module and posture detecting system; control system circuit or curing stored program for controlling the corresponding balance. 驾驶者通过自身姿态调整来控制电动车的运行速度,控制系统接收车轮转速传感器和位姿检测系统所输入的信号,根据上述信号计算出车轮驱动电机所需要的控制信号,进而控制车轮驱动电机使得电动车能够自动调节车体姿态,最终实现车体的自平衡。 The driver is adjusted by its own attitude controlling an electric vehicle running speed, a control signal system receives wheel speed sensor and a position and orientation detection system input, calculates a control signal of the wheel drive motor needed based on the signal, and thus controls the wheel drive motor so that electric cars can automatically adjust the body posture, and ultimately self-balancing vehicle body.

[0010] 所述车体的人体支撑是依靠认得双腿来实现,并无杆状手柄。 [0010] The human body is to rely on the support legs is achieved know, no lever-type handle. 也就是说,本实用新型是利用程序来实现车体的自动平衡,从而简化了车体的结构。 That is, the present invention is implemented using a program automatic balancing of the vehicle body, thereby simplifying the structure of the body. [0011] 本实用新型的结构仅包括车体、车轮和电驱动系统等。 [0011] The structure of the present invention comprises only a body, wheels and electric drive system. 其车轮采用普通自行车辐条车轮,车轮安装在车体两侧,形成两轮左右分布结构,以减小车辆的转弯半径。 Its wheels ordinary bicycle spoke wheel, a wheel mounted on both sides of the vehicle body, left and right two distribution structure is formed to reduce the turning radius of the vehicle. 车轮与车体之间为转轴连接,是车体可以绕车轮的转轴形成水平摆动。 Between the wheel and the vehicle body is connected to the shaft, a body may be formed about a horizontal pivot shaft of the wheel. 车体只有车身并且应该具有足够的承载强度。 Only vehicle body and the vehicle body should have sufficient bearing strength. 车身是板式的,这适合电源、控制系统的放置。 A plate body, which is suitable for the power supply, the control system is placed. 传感器设置在车体上,以便于直接感受车体的运行及平衡情况。 A sensor disposed in the vehicle body, so as to balance and direct experience of running the vehicle body. 控制电路的核心器件采用PIC单片机,驱动电路则采用适当的形式使电机能够正转、也能反转。 The core control circuit device using a PIC microcontroller, the drive circuit of the appropriate form forward the motor can be also be reversed.

[0012] 本实用新型所采用的传感器包括速度传感器和角度传感器,通过他们可以测量出车体的运行状况及平衡状况、包括两轮的转角和车体的倾角信息,反馈给控制系统,计算出两轮和车体的角速度及角加速度,从而计算出两轮所需要的电机转矩,实现对车体的控制。 [0012] The present invention uses sensors include a speed sensor and angle sensor, they can be measured by the health status and balance of the vehicle body, including two corner tilt angle information and the vehicle body, a feedback control system to calculate two angular velocity and angular acceleration of the vehicle body and to calculate the motor torque required to two, to achieve control of the vehicle body.

[0013] 本实用新型采用的控制方式为: [0013] The control method of the present invention is used:

[0014] 车体不倾斜不运动时,角度传感器得到车体倾角信号(几乎为零)并送入控控制系统,控制系统据此信号并综合左、右车轮的速度传感器信号(几乎为零)计算出两轮所需的电机力矩控制量,把该控制量输入驱动电路中,经功率放大等处理后传送到驱动电机中,使车体保持原地平衡。 When [0014] the vehicle body does not tilt motion, the vehicle body inclination angle sensor to obtain a signal (nearly zero) and into the control system control, the control signal and the integrated system whereby the left and right wheel speed sensor signals (almost zero) calculated torque control amount required two motors, the control input of the drive circuit, to the drive motor after power amplification processing and the like, so that the body remains in place balance. 当要使车体前进时,驾驶者使车体微微向前倾斜,角度传感器得到倾角信号并送入控制系统,控制系统据此信号并综合左、右车轮速度传感器信号算出两轮所需的电机力矩控制量,将该控制量输入驱动电路中,经功率放大等处理后传送到驱动电机中,控制车轮向前转动并始终保持车体平衡。 When intending to forward the vehicle body, the driver slightly tilted forwardly the vehicle body, the inclination angle sensor to obtain a signal and sent to a control system, a control system whereby the integrated signal and the left, right desired wheel speed sensor signal calculating two motors torque control amount, the control input of the drive circuit, to the drive motor after power amplification processing and the like, and controls the forward rotation of the wheel body remains balanced. 倾角越大,加速越快。 The larger the angle, the faster the acceleration. 当需要减速、刹车或者后退时,驾驶者使车体稍微向后倾斜,控制系统同样也可以计算出所需反力矩,进而控制车轮向后转动兵始终保持车体平衡。 When it is desired deceleration, braking or backward when the driver is slightly inclined rearwardly the vehicle body, the control system also may calculate the required counter moment, and then control the backward rotation of the wheel body soldiers remain balanced. 倾角越大,反向加速越快。 The larger the angle, reverse accelerated faster. 需要转弯时,驾驶者左倾左转、右倾右转。 If necessary turn, the driver left leftist, rightist turn right.

[0015] 综上所述,本实用新型与已有的电动车相比具有以下优点: [0015] In summary, the present invention as compared with conventional electric vehicle has the following advantages:

[0016] ①两车轮为左右分布,车辆的转弯半径为零,可以在小空间范围里灵活运动; [0016] ① about two distribution wheels, turning radius of the vehicle is zero, the flexibility in the range of movement in a small space;

[0017] ②通过程序计算输出控制量,由控制电路分别控制两侧车轮,不仅使车体能自动保持平衡,而且不需要机械构造的刹车、倒车、平衡系统,使得机构简单; [0017] ② output by the program control amount calculated by the control circuit controls both sides of each wheel, the vehicle not only automatic regeneration balanced, and no mechanical brake structure, reversing, balance system, so that the mechanism is simple;

[0018] ③用途广泛。 [0018] ③ wide use. 例如:可作为大型广场或娱乐场所的步行人员、大范围场地维持秩序的相关人员、高尔夫球场工作人员的代步工具;也可应用在人口密集的城市及地区的快速电动交通工具。 For example: as a large square or entertainment personnel on foot, large-scale field personnel to maintain order, the golf course staff means of transport; can also be used in fast electric vehicles in cities and densely populated areas.

[0019] 附图说明: [0019] BRIEF DESCRIPTION OF DRAWINGS:

[0020] 图1是本实用新型无手柄自平衡两轮电动车的斜侧图。 [0020] FIG. 1 is a non-grip of the present invention from FIG balancing two oblique electric vehicle.

[0021] 图2是本实用新型无手柄自平衡两轮电动车的仰视图。 [0021] FIG 2 is a non-grip of the present invention from two balancing electric vehicle bottom FIG.

[0022] 图3是本实用新型无手柄自平衡两轮电动车的主视图。 [0022] FIG. 3 is a non-grip of the present invention from a front view of balancing two electric cars.

具体实施方式 Detailed ways

[0023] 图1是本实用新型无手柄自平衡两轮电动车的斜侧图,包括两边安装有车轮3的车体I,所述车轮3通过外球面轴承8与主轴7的一端连接,所述主轴7的另一端通过梅花联轴器6与直流减速电动机5连接,所述直流减速电动机5通过电机固定架9安装在车体I的下边;所述直流减速电动机5上安装有增量式编码器14 ;所述车体I上设有两块用于踩踏的踏板2 ; [0023] FIG. 1 is a non-grip of the present invention from FIG balancing two oblique electric vehicle, comprising a wheel mounted on both sides of the vehicle body I 3, the wheel 3 at one end 8 by a spherical bearing 7 is connected to the spindle, the said other end of the main shaft 7 through the coupling 6 and plum DC gear motor 5 connected to a direct current geared motor 5 via a motor bracket 9 mounted on the lower side of the vehicle body I; 5 mounted on the incremental DC gear motor encoder 14; two for depression is provided on said pedal body 2 I;

[0024] 所述两块踏板2的中间通过电池固定架13安装有蓄电池10,所述蓄电池10的外面安装有保护外壳4 ; Intermediate [0024] The two pedal 2 by the battery holder 13 is mounted a battery 10, a battery 10 is mounted outside the protective housing 4;

[0025] 所述车轮3上安装有驱动电机; [0025] The wheel 3 is mounted on a drive motor;

[0026] 在所述车轮3与所述车体I的连接处有三轴倾角传感器,所述车体I上还安装有二轴倾角传感器、控制系统; [0026] In the three-axis tilt sensor 3 is connected with the wheel of said vehicle body I, the upper vehicle body I also mounted two-axis tilt sensor, the control system;

[0027] 所述控制系统依次与所述增量式编码器14、所述三轴倾角传感器、所述三轴倾角传感器数据线连接。 [0027] The control system compares the incremental encoder 14, the three-axis tilt sensor, the three-axis tilt sensor data line is connected.

[0028] 其中控制系统可以是单片机等微处理器,控制系统接收速传感器和三轴倾角传感器所输入的信号,根据上述信号分别计算出直流减速电动机和车轮驱动电机所需的控制信号,该款控制信号直流减速电动机和车轮运动,从而使电动车能够根据所输入的速度自动调节车体的姿势,最终实现电动车的自平衡。 [0028] wherein the control system may be a microprocessor such as a microcontroller, the control system receives speed signals from the sensors and the three-axis tilt sensor on the input signal are calculated according to the above-described DC gear motor control signal required for the drive motor and the wheel, paragraph DC gear motor control signal and the wheel motion, so that the electric vehicle can be automatically adjusted according to the posture of the vehicle body speed of the input, and ultimately self-balancing electric vehicle. 所述三轴倾角传感器用来测量车体相对于地平面的姿态。 The three-axis tilt sensor to measure the attitude of the vehicle body relative to the ground plane.

[0029] 如图1所示,所述左右车轮3由不同的电机驱动,左右车轮3的转轴不同,两个车轮转轴的中心线位于同一条线上,车体能够绕车轮的转轴摆动,在车体内部安装有控制系统。 [0029] As shown in FIG. 1, the left and right wheels 3 are driven by different motors, right and left wheels of different shaft 3, the shaft center line two wheels on the same line, the vehicle body can be swung around the rotation shaft of the wheel, in A control system is mounted inside the vehicle body. 为了保护用电安全,在蓄电池外面安装有充电器保护外壳4。 In order to protect the electrical safety, a battery charger mounted outside the protective housing 4.

[0030] 如图2所示,打开踏板2后,可以看见固定在底盘I的内部元件。 After [0030] As shown in FIG 2, open the pedal 2, the internal components can be seen fixed to the chassis I. 在电池固定架13上安装有蓄电池10,另有增量式编码器14。 The battery holder 13 is mounted a battery 10, an incremental encoder 14 and another. 小车的全部能源由作为电源的图1是本实用新型无手柄自平衡两轮电动车的斜侧图。 Total energy as a power source by the trolley of FIG. 1 is a non-grip from the present invention balanced by two oblique electric vehicle of FIG.

[0031] 蓄电池10提供。 [0031] The battery 10 provided. 增量式编码器14将位移转换成周期性的电信号,再把这个电信号转变成计数脉冲,用脉冲的个数表示位移的大小,将脉冲传递到控制系统,便于实施速度控制。 The displacement of the incremental encoder 14 to convert electrical signals periodically, and then converted into the electrical signal pulse count, pulse number represents the magnitude of the displacement, the pulse is transmitted to the control system to control the speed of implementation.

[0032] 如图3所示,蓄电池10位于底盘I底部中间位置,这样能降低车体的重心,使车更加趋于稳定。 [0032] As shown in FIG 3, the battery 10 is located at the bottom of the chassis intermediate position I, so that the center of gravity of the vehicle body can be reduced, making the vehicle more stable. 车轮3通过外球面轴承8与主轴7的一端连接,所述主轴7的另一端通过梅花联轴器6与直流减速电动机5连接,可以减缓车体的震动,起到缓冲减震的作用。 8 and the spherical bearing of the wheel 3 through the outer end of the main shaft 7 is connected to the other end of the main shaft 7 by the action coupling plum DC gear motor 5 and 6 are connected, you can slow the vibration of the vehicle body, the damping cushion. 直流减速电动机5连接梅花联轴器,组成驱动装置,这样更加有效的节省空间,使小车更加便携。 DC gear motor 5 is connected Plum coupling, constituting the driving means, so that more effective space-saving, so that the car more portable.

Claims (1)

1.一种无手柄自平衡两轮电动车,包括两边安装有车轮(3)的车体(1),其特征在于:所述车轮(3)通过外球面轴承(8)与主轴(7)的一端连接,所述主轴(7)的另一端通过梅花联轴器(6 )与直流减速电动机(5 )连接,所述直流减速电动机(5 )通过电机固定架(9 )安装在车体(I)的下边;所述直流减速电动机(5 )上安装有增量式编码器(14);所述车体(I)上设有两块用于踩踏的踏板(2); 所述两块踏板(2)的中间通过电池固定架(13)安装有蓄电池(10),所述蓄电池(10)的外面安装有保护外壳(4); 所述车轮(3)上安装有驱动电机; 在所述车轮(3 )与所述车体(I)的连接处有三轴倾角传感器,所述车体(I)上还安装有二轴倾角传感器、控制系统; 所述控制系统依次与所述增量式编码器(14)、所述三轴倾角传感器、所述三轴倾角传感器数据线连接。 A self-balancing two non-grip electric vehicle, comprising a wheel mounted on both sides (3) of the vehicle body (1), characterized in that: the wheel (3) by a spherical bearing (8) and the spindle (7) One end and the other end of the spindle (7) with a DC gear motor (5) connected by a spider coupler (6), the direct current geared motor (5) mounted on the vehicle body by a motor mount (9) ( I) lower side; the motor is mounted on a DC gear (5) has an incremental encoder (14); provided with a pedal (2) for the two depressed by the vehicle body (I); the two outside the center pedal (2) is attached to a battery (10) through the battery holder (13), said battery (10) is attached to the protective housing (4); said wheel is mounted on a drive motor (3); in the said wheel (3) and the vehicle body (I) is connected to the three-axis tilt sensor, the further two-axis inclination sensor mounted on the vehicle body (I), a control system; the control system sequentially and the delta encoder (14), the three-axis tilt sensor, the three-axis tilt sensor data line is connected. ` `
CN 201320184311 2013-04-14 2013-04-14 Segway without handle CN203186511U (en)

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Cited By (10)

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CN103600799A (en) * 2013-10-17 2014-02-26 上海交通大学 Steering control system based on pressure sensor and self-balancing bicycle thereof
CN103600800A (en) * 2013-10-17 2014-02-26 上海交通大学 Self-balancing trolley steering instructing device based on pressure sensor
CN104029769A (en) * 2014-06-13 2014-09-10 杭州骑客智能科技有限公司 Electric balance swingcar
CN104386183A (en) * 2014-11-17 2015-03-04 韩莹光 Two-wheeled balance car
CN104922891A (en) * 2014-06-13 2015-09-23 杭州骑客智能科技有限公司 Novel electric balanced vehicle
CN105329380A (en) * 2015-11-23 2016-02-17 刁会芳 Flat scooter
CN106218778A (en) * 2016-08-17 2016-12-14 尚艳燕 A kind of electrodynamic balance car
FR3041597A1 (en) * 2015-09-29 2017-03-31 Jannick Jacques Simeray Platform stabilized with two wheels and at least one engine
WO2017128808A1 (en) * 2016-01-27 2017-08-03 张照 Electric balancing vehicle
CN107021167A (en) * 2016-01-27 2017-08-08 陈云飞 Dual-purpose two-wheel electric balance car

Cited By (27)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN103600799B (en) * 2013-10-17 2015-12-23 上海交通大学 Based on steering control system and the balanced car with two wheels thereof of pressure sensor
CN103600800A (en) * 2013-10-17 2014-02-26 上海交通大学 Self-balancing trolley steering instructing device based on pressure sensor
CN103600799A (en) * 2013-10-17 2014-02-26 上海交通大学 Steering control system based on pressure sensor and self-balancing bicycle thereof
CN103600800B (en) * 2013-10-17 2016-04-13 上海交通大学 Based on the self-balancing trolley steering order device of pressure sensor
CN104922893B (en) * 2014-06-13 2017-07-11 应佳伟 One kind improvement electrodynamic balance car
CN104922893A (en) * 2014-06-13 2015-09-23 杭州骑客智能科技有限公司 Improved electric balance car
CN104029769B (en) * 2014-06-13 2015-11-25 杭州骑客智能科技有限公司 Electrodynamic balance turns round car
WO2015188599A1 (en) * 2014-06-13 2015-12-17 杭州骑客智能科技有限公司 Electric balance scooter
CN104922891A (en) * 2014-06-13 2015-09-23 杭州骑客智能科技有限公司 Novel electric balanced vehicle
AT518313B1 (en) * 2014-06-13 2017-12-15 Hangzhou Chic Intelligent Tech Co Ltd Electric balance vehicle
CN108275229A (en) * 2014-06-13 2018-07-13 杭州骑客智能科技有限公司 Electrodynamic balance vehicle and its rotating mechanism
US9376155B2 (en) 2014-06-13 2016-06-28 Hangzhou Chic Intelligent Technology Co., Ltd Electric balance vehicle
JP2016527115A (en) * 2014-06-13 2016-09-08 杭州騎客智能科技有限公司Hangzhou Chic Intelligent Technology Co.,Ltd Electric standing car
CN104029769A (en) * 2014-06-13 2014-09-10 杭州骑客智能科技有限公司 Electric balance swingcar
AT518313A5 (en) * 2014-06-13 2017-09-15 Hangzhou Chic Intelligent Tech Co Ltd Electric balance vehicle
CN104922891B (en) * 2014-06-13 2017-07-11 应佳伟 Electric balances car
JP2017077887A (en) * 2014-06-13 2017-04-27 杭州騎客智能科技有限公司Hangzhou Chic Intelligent Technology Co., Ltd Electric standing riding car
RU2619683C1 (en) * 2014-06-13 2017-05-17 Ханчжоу Шик Интеллиджэнт Текнолоджи Ко., Лтд Electric balanced vehicle
US9452802B2 (en) 2014-06-13 2016-09-27 Hangzhou Chic Intelligent Technology Co., Ltd Electric balance vehicle
US10336392B2 (en) 2014-06-13 2019-07-02 Hangzhou Chic Intelligent Technology Co., Ltd Electric vehicle
CN104386183A (en) * 2014-11-17 2015-03-04 韩莹光 Two-wheeled balance car
FR3041597A1 (en) * 2015-09-29 2017-03-31 Jannick Jacques Simeray Platform stabilized with two wheels and at least one engine
CN105329380A (en) * 2015-11-23 2016-02-17 刁会芳 Flat scooter
CN107021167A (en) * 2016-01-27 2017-08-08 陈云飞 Dual-purpose two-wheel electric balance car
US20180118297A1 (en) * 2016-01-27 2018-05-03 Dongguan Jomo Electronics Co., Ltd. Self-balancing vehicle
WO2017128808A1 (en) * 2016-01-27 2017-08-03 张照 Electric balancing vehicle
CN106218778A (en) * 2016-08-17 2016-12-14 尚艳燕 A kind of electrodynamic balance car

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