WO2019085539A1 - 一种全地形平衡车 - Google Patents

一种全地形平衡车 Download PDF

Info

Publication number
WO2019085539A1
WO2019085539A1 PCT/CN2018/094589 CN2018094589W WO2019085539A1 WO 2019085539 A1 WO2019085539 A1 WO 2019085539A1 CN 2018094589 W CN2018094589 W CN 2018094589W WO 2019085539 A1 WO2019085539 A1 WO 2019085539A1
Authority
WO
WIPO (PCT)
Prior art keywords
swing arm
tire
terrain
main frame
suspension
Prior art date
Application number
PCT/CN2018/094589
Other languages
English (en)
French (fr)
Inventor
刘则锋
Original Assignee
深圳市未来狗科技有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 深圳市未来狗科技有限公司 filed Critical 深圳市未来狗科技有限公司
Publication of WO2019085539A1 publication Critical patent/WO2019085539A1/zh

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62K—CYCLES; CYCLE FRAMES; CYCLE STEERING DEVICES; RIDER-OPERATED TERMINAL CONTROLS SPECIALLY ADAPTED FOR CYCLES; CYCLE AXLE SUSPENSIONS; CYCLE SIDE-CARS, FORECARS, OR THE LIKE
    • B62K11/00—Motorcycles, engine-assisted cycles or motor scooters with one or two wheels
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60C—VEHICLE TYRES; TYRE INFLATION; TYRE CHANGING; CONNECTING VALVES TO INFLATABLE ELASTIC BODIES IN GENERAL; DEVICES OR ARRANGEMENTS RELATED TO TYRES
    • B60C11/00—Tyre tread bands; Tread patterns; Anti-skid inserts
    • B60C11/03—Tread patterns
    • B60C11/12—Tread patterns characterised by the use of narrow slits or incisions, e.g. sipes
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D11/00—Steering non-deflectable wheels; Steering endless tracks or the like
    • B62D11/02—Steering non-deflectable wheels; Steering endless tracks or the like by differentially driving ground-engaging elements on opposite vehicle sides
    • B62D11/04—Steering non-deflectable wheels; Steering endless tracks or the like by differentially driving ground-engaging elements on opposite vehicle sides by means of separate power sources
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62K—CYCLES; CYCLE FRAMES; CYCLE STEERING DEVICES; RIDER-OPERATED TERMINAL CONTROLS SPECIALLY ADAPTED FOR CYCLES; CYCLE AXLE SUSPENSIONS; CYCLE SIDE-CARS, FORECARS, OR THE LIKE
    • B62K11/00—Motorcycles, engine-assisted cycles or motor scooters with one or two wheels
    • B62K11/007—Automatic balancing machines with single main ground engaging wheel or coaxial wheels supporting a rider
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62K—CYCLES; CYCLE FRAMES; CYCLE STEERING DEVICES; RIDER-OPERATED TERMINAL CONTROLS SPECIALLY ADAPTED FOR CYCLES; CYCLE AXLE SUSPENSIONS; CYCLE SIDE-CARS, FORECARS, OR THE LIKE
    • B62K25/00—Axle suspensions
    • B62K25/04—Axle suspensions for mounting axles resiliently on cycle frame or fork
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60C—VEHICLE TYRES; TYRE INFLATION; TYRE CHANGING; CONNECTING VALVES TO INFLATABLE ELASTIC BODIES IN GENERAL; DEVICES OR ARRANGEMENTS RELATED TO TYRES
    • B60C11/00—Tyre tread bands; Tread patterns; Anti-skid inserts
    • B60C11/03—Tread patterns
    • B60C11/0311—Patterns comprising tread lugs arranged parallel or oblique to the axis of rotation
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62K—CYCLES; CYCLE FRAMES; CYCLE STEERING DEVICES; RIDER-OPERATED TERMINAL CONTROLS SPECIALLY ADAPTED FOR CYCLES; CYCLE AXLE SUSPENSIONS; CYCLE SIDE-CARS, FORECARS, OR THE LIKE
    • B62K2202/00—Motorised scooters
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62K—CYCLES; CYCLE FRAMES; CYCLE STEERING DEVICES; RIDER-OPERATED TERMINAL CONTROLS SPECIALLY ADAPTED FOR CYCLES; CYCLE AXLE SUSPENSIONS; CYCLE SIDE-CARS, FORECARS, OR THE LIKE
    • B62K2204/00—Adaptations for driving cycles by electric motor

Definitions

  • the invention relates to a balance car, in particular to a balance car suitable for various undulating roads and climbing stairs.
  • balance car Due to the special working principle of the balance car, most of the existing balance cars can't cope with the slightly complicated terrain, even those that claim to be cross-country, when encountering, for example, the intersection of motorway and sidewalk, or encountering bricks. At the time, or when encountering a high speed bump, it is often necessary for the user to get off the vehicle. Forced passage will make the driver dangerous. Unlike other vehicles, the balance car can not lose control for a moment, so better pass means safer.
  • the present invention provides an all-terrain balance vehicle which has better passability and shock absorbing performance at highly undulating road surfaces and stair steps.
  • An all-terrain balance vehicle comprising a main frame, two wheel assemblies, a suspension assembly, a damping device and a power control module, wherein two wheel assemblies are respectively disposed on two sides of the main frame, and the wheel assembly passes through the suspension assembly
  • the main frame is connected, the damping device is respectively connected to the main frame and the suspension assembly, and the power control module is used for driving the wheel to rotate and controlling the balance car steering;
  • suspension assemblies each of which is connected to the main frame by a suspension assembly, and the wheel assembly individually jumps while traveling on the undulating road surface.
  • the suspension assembly includes an axle seat coupled to the wheel assembly, and an upper swing arm and a lower swing arm, wherein the first ends of the upper swing arm and the lower swing arm are evenly hinged to the main frame, the upper bridge and the lower The second end of the bridge is evenly hinged to the axle seat.
  • the upper swing arm and the lower swing arm are arranged vertically and vertically in a vertical plane, and the axle seat, the upper swing arm, the lower swing arm and the main frame form a quadrilateral structure.
  • the damper device is a damper, and two ends of the damper are respectively connected to the main frame and the lower swing arm.
  • the upper bridge and the axle seat and the main frame are connected by a movable joint; the lower swing arm and the axle seat and the main frame are connected by a movable joint.
  • the two sets of suspension assemblies are arranged symmetrically left and right.
  • the wheel assembly includes a non-slip tire, a hub mounted inside the non-slip tire and used to support the non-slip tire, a motor disposed at a center in the hub, and an axle connecting the motor and the axle housing.
  • the anti-skid tire comprises a tire main body and a plurality of groove structures, wherein the inside of the groove structure is fan-shaped in a tire radial cross section, and the plurality of groove structures are evenly spaced on a surface of the tire contacting the bottom surface, The groove structure can be caught at the protruding corner of the stair step when climbing the stairs.
  • the tire main body has an elastic deformation structure for deforming the tire after the projection is embedded in the pressing groove structure; the tire main body further has an elastic body located inside the tire main body.
  • each group of suspension systems can drive a single wheel assembly to jump separately, so that the balance car has better passability and shock absorption performance on highly undulating roads and stair steps.
  • the suspension assembly forms a quadrilateral geometric suspension mode through the upper swing arm, the lower swing arm, the axle seat and the main frame, and at the same time, combined with the position and angle of the shock absorber, the balance car has superior shock absorption performance.
  • the non-slip tire can be engaged with the protruding corners of the step by the groove structure, so that the tire can be engaged by the groove structure and the protruding corner of the step, which is easier when the tire receives the power drive. Climb the stairs.
  • the elastic deformation structure and the elastic body built in the tire body can deform the groove structure after being stressed, so that the inner wall of the groove structure is appropriately deformed according to the shape of the step, so that the inner wall of the groove structure is better fitted. Stair steps.
  • FIG. 1 is a schematic overall view of an all terrain balancing vehicle of the present invention.
  • FIG. 2 is a schematic exploded view of the all-terrain balance car of the present invention.
  • 3 is a state in which the balancer of the all-terrain balance vehicle driver of the present invention is normally driven while driving
  • Figure 4 is a state in which the all-terrain balance car of the present invention balances the vehicle when the road surface is uneven
  • Figure 5 is a state in which the balance vehicle of the all-terrain balance car of the present invention is placed when the driver turns at a high speed.
  • FIG. 6 is a schematic view showing the overall structure of a tire in an all-terrain balance car of the present invention.
  • Figure 7 is a schematic view of the tire tread direction of the all-terrain balance car of the present invention.
  • Figure 8 is a rendering view of a tire climbing stair step in an all terrain balancing vehicle of the present invention.
  • the embodiment provides an all terrain balancing vehicle, including a main frame 10, two wheel assemblies, a suspension assembly, a damping device and a power control module, wherein two wheel assemblies are respectively disposed at On both sides of the main frame 10, the wheel assembly is connected to the main frame 10 through a suspension assembly, the damping device is respectively connected to the main frame 10 and the suspension assembly, and the power control module is used to drive the wheel to rotate and control the balance car steering; the suspension assembly has two Each wheel assembly is connected to the main frame 10 through a suspension assembly, and the wheel assembly individually jumps while traveling on the undulating road surface.
  • each group of suspension systems can drive a single wheel assembly to jump separately, so that the balance car has better passability and shock absorption performance on highly undulating roads and stair steps.
  • the wheel assembly includes: a non-slip tire 1, a hub 2, a motor 3;
  • the frame suspension assembly includes an axle seat 5, an upper bridge 6, a lower bridge 7, a shock absorber;
  • the steering assembly includes: a steering rod 14, angle The sensor 12 rotates the automatic returning mechanism 13; wherein: the non-slip tire 1 is mounted on the hub 2, and the motor 3 is mounted inside the hub 2; the axle housing 5 mounted on the axle 4 is distributed left and right, and the other side of the axle housing 5 and the upper swing arm 6.
  • the lower swing arm 7 is connected, the upper swing arm 6 and the lower bridge 7 are symmetrically distributed, and the left and right upper swing arms 6 and the other end of the lower swing arm 7 are connected in the middle of the main frame 10 and distributed under the frame; the shock absorber It is connected between the upper swing arm 6, the lower swing arm 7 and the main frame 10, and is symmetrically distributed left and right; the direction lever 14 and the rotation automatic returning mechanism 13 and the angle sensor 12 are mounted in front of the frame. From the perspective of the bottom view, the upper swing arm 6 and the lower swing arm 7 may be provided with a reinforcing member or a reinforcing beam connected to the main frame 10.
  • the suspension assembly includes an axle seat 5 coupled to the wheel assembly, and an upper swing arm 6 and a lower swing arm 7, wherein the first end of the upper swing arm 6 and the lower swing arm 7 are hinged to the main frame 10, the upper swing arm 6 and the lower swing arm 7
  • the second end of the uniform axle seat 5 is hinged.
  • the upper swing arm 6 and the lower swing arm 7 are arranged side by side in the vertical plane, and the axle seat 5, the upper swing arm 6, the lower swing arm 7, and the main frame 10 form a quadrangular structure.
  • the damper device is a damper, and both ends of the damper are connected to the main frame 10 and the lower swing arm 7, respectively.
  • the upper swing arm 6 is connected to the axle seat 5 and the main frame 10 via the movable joint 15; the lower swing arm 7 is connected to the axle seat 5 and the main frame 10 via the movable joint 15.
  • the suspension components of the two groups are arranged symmetrically left and right.
  • the lower end of the damper is connected to the intermediate position of the lower swing arm 7, and the upper end is connected to the side of the main frame 10 close to the wheel assembly, so that the two dampers are disposed obliquely upward and outward.
  • the damper may be a spring or a barrel damper, and the barrel damper may be hydraulic or the air pressure may be mixed. The position where the end of the damper is connected to the main frame 10 and the hem arm 7 forms a splayed character, an inverted splayed word, or a vertical installation.
  • the control board 9 based on the gyroscope control is installed at a position below the middle of the main frame 10, and the battery pack 11 is mounted above the middle of the main frame 10.
  • the battery pack The 11 can also be mounted in the middle or both sides of the underside of the main frame 10.
  • the steering rod 14 of the steering assembly is concentrically coupled to the rotary automatic return mechanism 13 and the angle sensor 12 and mounted to the front of the main frame 10.
  • the damper 8 may be mounted vertically to the main frame 10 or may be mounted obliquely to the main frame 10.
  • the balance car when the balance car travels on a severely uneven road surface, the main frame 10 tends to follow the road undulations and adapt to the road surface inclination, which may make it difficult for the driver to stand up and thus cause difficulty in driving or causing danger.
  • the balance car also uses the non-slip tire 1.
  • the powered motor 3 is installed in the hub 2 to save space, at the time of high-speed cornering, The frame is better tilted with the driver to counteract the centrifugal force during cornering, and the steering mechanism is designed to be fixed front, rear, left and right, but the steering rod 14 can be rotated.
  • the motor 3 in this embodiment is an in-wheel motor. In the present embodiment, it is mounted at the center of the hub 2, and in other embodiments, the motor 3 is mounted at an eccentric position.
  • the working principle is that the battery pack 11 provides all the required energy sources for the balance car.
  • the control panel 9 based on the gyroscope balance control principle is installed in the middle of the balance car. When the driver leans back and forth, the gyroscope outputs the compensation angle to the control panel. 9. The control panel 9 rotates the motor 3 by a certain angle to maintain the balance of the balance vehicle. When the balance vehicle passes the uneven road surface, the frame suspension assembly performs quadrilateral deformation to maintain the level of the frame.
  • the compression and extension of the damper 8 enables the wheel assemblies on both sides of the balance vehicle to undulate up and down respectively, and the wheel undulation on each side is based on the axle seat 5 and the upper bridge 6
  • the center of gravity of the driver is inclined toward the turning side, and the direction bar 14 is also tilted toward the turning side. Since the direction bar 14 is fixed between the front and rear sides of the frame, the frame also follows Tilting to the turning side, the pivoting side of the suspension assembly is larger than the turning side, so the turning side damper 8 is compressed, and is extended by the turning side damper 8, and the frame is inclined with respect to the ground, thereby making the turning driving even more stable.
  • the all-terrain balance car can automatically adapt to various uneven roads while driving in a straight line to keep the frame and the driver stable. It is safer when turning or the driver tilts left and right as needed to ensure that the driver does these actions.
  • the battery pack 11 and the control panel 9 can be mounted at any position of the frame, provided that the suspension assembly does not interfere with operation and does not interfere with the driver's normal driving, and that the motor 3 and the hub 2 can be separated or It is a whole, the advantage of separation is that it is convenient to repair and replace the tire.
  • the advantage of being fixed into the integral hub 2 motor 3 is that the structure is simple, the cost can be reduced and the weight of the whole vehicle can be reduced.
  • the all-terrain balance car of the invention can be used as a personal vehicle with complicated terrain, and can obtain better safety than other balance cars even if it is used on ordinary roads, because the normal flat road surface that is normally used often encounters potholes or When an obstacle occurs, such as a step at the junction of a motorway and a sidewalk, a building waste on the ground, a short-distance grass, etc., the use of the all-terrain balance car of the present invention allows the driver to be safer and faster when not paying attention. Passed.
  • the all-terrain personal transportation device which is small, cheap, light, portable and safe and practical can be manufactured, which makes people travel more convenient and quick, and increases driving pleasure without losing safety.
  • the non-slip tire 1 has superior rock climbing performance.
  • the non-slip tire can also be other forms of tires, such as solid tires, pneumatic tires, and the like.
  • the non-slip tire 1 is set on the outer ring of the hub 2, which can support the body, cushion external impact, achieve contact with the road surface and ensure the driving performance of the vehicle.
  • the embodiment provides a non-slip tire 1 capable of climbing stairs, including a tire main body and a plurality of groove structures 101, wherein the inside of the groove structure 101 is fan-shaped in a tire radial section, and more The groove structures 101 are evenly spaced on the surface of the tire in contact with the bottom surface, and the groove structure 101 can be caught at the protruding corners of the stairs when climbing the stairs.
  • the non-slip tire 1 can be engaged with the protruding corners of the step by the groove structure 101, so that the tire can be engaged by the groove structure 101 and the protruding corner of the step, which is easier when the tire receives the power drive. Climbing the stairs.
  • the groove structure 101 is a right-angled groove.
  • the groove structure 101 includes a first wall and a second wall constituting an inner wall of the groove, wherein the apex angle formed by the first wall and the second wall faces the center of symmetry of the tire.
  • the groove structure 101 may also be an asymmetrical structure. For example, when viewed in the direction of rotation of the tire, the first wall constituting the inner wall of the groove structure 101 is perpendicular to the tread 103, and the second wall is opposite to the first wall. An angle of 45°-90°.
  • the tire body is fitted over the hub 2, and the tire body has an elastically deformable structure 102 for deforming the tire after the projections are embedded in the pressing groove structure 101.
  • the elastically deformable structure 102 is a hollow hole that penetrates the tire main body in the width direction of the tire main body.
  • the elastically deformable structure 102 is identical in number to the groove structure 101, and each of the elastically deformed structures 1022 is disposed adjacent to the groove structure 101.
  • the elastically deformable structure 102 is a lateral opening.
  • the tire body also has an elastomer 104 located in the inner layer of the tire body for damping shock.
  • the elastomer 104 is an inflatable tire liner or an elastomer.
  • the elastomer 104 is located between two adjacent two elastically deformable structures 102.
  • the non-slip tire 1 of the climbing stair of the anti-skid tire 1 of the present embodiment includes a non-slip mechanism and a carcass;
  • the anti-slip mechanism includes: a groove structure 101, an elastic deformation structure 102;
  • the carcass includes an elastic body 104; wherein: a plurality of concave The structure of the groove structure 101 is laterally distributed on the surface of the tire, and the plurality of elastic deformation structures 102 are distributed under the groove structure 101, arranged laterally, in an intermediate layer in the entire tire structure; the elastic body 104 is in the inner layer of the tire for absorbing the road surface Impact energy.
  • the non-slip tire 1 of the climbing stair of the anti-skid tire 1 provided in this embodiment can form a relatively deep concave deformation under a certain pressure when encountering an uneven road surface or a road surface of a right corner (for example, a step).
  • the concave surfaces formed by these deformations can buckle the corners of the steps, thereby preventing the tires from slipping, so they are very suitable for use in all-terrain vehicles, especially all-terrain balance vehicles or other vehicles commonly used to climb stairs.
  • the elastic body 104 uses an aerated structure, and when used, can obtain the same shock absorbing effect as a conventional tire.
  • the elastomer 104 uses a non-inflated hole-like structure that corresponds one-to-one with the elastically deformable structure 102, and each of the elastomer 104 holes is located between every two adjacent elastically deformable structures 102, with the benefit of being inflated and The bearing deformation of the tread 103 in conformity with the groove structure 101 is maintained during normal running, thereby avoiding bumps.
  • the elastomer 104 can also use other types of inflatable structures.
  • the concept of the anti-skid tire 1 provided by the embodiment is that when the personal vehicle needs to climb the stairs, it is necessary to have a structure of a certain stepped corner to prevent the tire from slipping, so that the vehicle can stably and safely climb the stairs.
  • the working principle is that when the tire contacts the corner of the step, the groove structure 101 can initially buckle the corners.
  • the groove structure 101 can transmit pressure to the elastic deformation structure 102, causing the outer edge of the elastic deformation structure 102 to be inwardly recessed, and the concave surface of the groove structure 101 is thus largely sunken, and the step corners are wrapped, thereby firmly locking and preventing The tires are slippery.
  • the contact surface of the anti-skid tire 1 with the ground is the state of the elastic body 104 when the tread 103 is in contact with the elastic deformation structure 102, so that the deformation is consistent when the elastic deformation structure 102 is under pressure, so the traveling time is greatly reduced. Bumpy.
  • the non-slip tires 1 that can climb the stairs make it possible for the portable personal vehicles to climb the stairs, which will greatly increase the passage of these vehicles and bring more convenience to the users.
  • the elastically deformed structure 102 and the apertured structure of the elastomer 104 are designed as closed holes of other shapes.
  • the all-terrain two-wheel balance car is stable and safe when climbing stairs, greatly expanding the application of the balance car, and bringing more driving pleasure to the driver. .

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Transportation (AREA)
  • Vehicle Body Suspensions (AREA)
  • Automatic Cycles, And Cycles In General (AREA)

Abstract

一种全地形平衡车，包括主车架（10）、两个车轮组件、悬挂组件、减震装置和动力控制模块，其中两个车轮组件分别设置在主车架（10）两侧，车轮组件通过悬挂组件与主车架（10）连接，减震装置分别连接主车架（10）和悬挂组件，动力控制模块用于驱动车轮转动并控制平衡车转向；悬挂组件有两个，每一车轮组件分别通过一个悬挂组件与主车架（10）连接，并在行驶在起伏路面时车轮组件单独跳动。该全地形平衡车在遇到起伏路面处，每组悬挂系统可分别驱动一个车轮组件单独跳动，使得平衡车在高度起伏路面和楼梯台阶处具有更好的通过性和减震性能。

Description

一种全地形平衡车 技术领域
本发明涉及一种平衡车，特别是一种适用于各种起伏路面、攀爬楼梯的平衡车。
 背景技术
由于平衡车的特殊工作原理，现有的平衡车，大多数都不能应付稍微复杂的地形，即使那些号称可以越野的平衡车，在遇到例如机动车道与人行道交界的时候，或者遇到砖头的时候，或者遇到高减速带的时候，往往需要使用者下车推行，强行通过会让驾驶人出现危险，不同于其它交通工具，平衡车一刻也不能失去控制，所以更好的通过性意味着更安全。
 技术问题
为解决上述问题，本发明提供一种全地形平衡车，其在高度起伏路面和楼梯台阶处具有更好的通过性和减震性能。
 技术解决方案
为实现上述目的，本发明采用的技术方案是：
一种全地形平衡车，包括主车架、两个车轮组件、悬挂组件、减震装置和动力控制模块，其中两个车轮组件分别设置在主车架两侧，所述车轮组件通过悬挂组件与主车架连接，所述减震装置分别连接主车架和悬挂组件，所述动力控制模块用于驱动车轮转动并控制平衡车转向；
所述悬挂组件有两个，每一所述车轮组件分别通过一个悬挂组件与主车架连接，并在行驶在起伏路面时车轮组件单独跳动。
作为优选的，所述悬挂组件包括与车轮组件连接的轮轴座、以及上摆臂和下摆臂，其中所述上摆臂和下摆臂的第一端均匀所述主车架铰接，上桥和下桥的第二端均匀所述轮轴座铰接。
作为优选的，所述上摆臂和下摆臂在竖直面内上下分列设置，且所述轮轴座、上摆臂、下摆臂和主车架形成四边形结构。
作为优选的，所述减震装置为减震器，该减震器的两端分别连接在主车架和下摆臂。
作为优选的，所述上桥与轮轴座、主车架均通过活动关节连接；所述下摆臂与轮轴座、主车架均通过活动关节连接。
作为优选的，两组所述悬挂组件左右对称布置。
作为优选的，所述车轮组件包括防滑轮胎、安装在防滑轮胎内部并用于支撑防滑轮胎的轮毂、设置在轮毂内中心处的电机、以及将电机和轮轴座连接的轮轴。
作为优选的，所述防滑轮胎包括轮胎主体和多个凹槽结构，其中凹槽结构内部沿轮胎径向剖面呈扇形，多个所述凹槽结构均匀间隔的设置在轮胎与底面接触的表面，该凹槽结构在攀爬楼梯时可卡在楼梯台阶的突出的边角处。
作为优选的，所述轮胎主体具有用于在凸起嵌入挤压凹槽结构后使轮胎变形的弹性变形结构；所述轮胎主体还具有位于轮胎主体内层的弹性体。
 有益效果
使用本发明的有益效果是：
本全地形平衡车悬挂组件有两个，每一所述车轮组件分别通过一个悬挂组件与主车架连接，并在行驶在起伏路面时车轮组件单独跳动。在遇到起伏路面处，每组悬挂系统可分别驱动一个车轮组件单独跳动，使得本平衡车在高度起伏路面和楼梯台阶处具有更好的通过性和减震性能。
其次，悬挂组件通过上摆臂、下摆臂、轮轴座和主车架形成四边形的几何悬挂模式，同时结合减震器的设置位置和角度，使得平衡车减震性能优越。
另外，本防滑轮胎通过凹槽结构可卡合在台阶的突出的边角处，使得轮胎可通过凹槽结构和台阶的突出的边角处卡合，在轮胎收到动力驱动时，更容易的攀爬楼梯台阶。本轮胎主体内置的弹性变形结构和弹性体可使得凹槽结构在受力后变形，使得凹槽结构的内壁根据楼梯台阶的形状做适当的变形，使得凹槽结构的内壁更好的贴合在楼梯台阶面上。
 附图说明
图1为本发明全地形平衡车整体示意图。
图2为本发明全地形平衡车分解示意图。
图3为本发明全地形平衡车驾驶人员正常驾驶时平衡车所处的状态
图4为本发明全地形平衡车在路面不平时平衡车所处的状态
图5为本发明全地形平衡车在驾驶人员高速转弯时平衡车所处的状态
图6为本发明全地形平衡车中轮胎整体结构示意图。
图7为本发明全地形平衡车中轮胎胎面方向视角的示意图。
图8为本发明全地形平衡车中轮胎攀爬楼梯台阶的效果图。
附图标记包括：
1－防滑轮胎
2－轮毂
3－电机 
4－轮轴 
5－轮轴座 
6－上摆臂 
7－下摆臂
8－减振器
9－控制板
10－主车架
11－电池组
12－角度传感器
13－旋转自动回中机构
14－方向杆
15－活动关节
101—凹槽结构
102—弹性变形结构
103—胎面
104—弹性体
 本发明的实施方式
以下结合附图对本发明进行详细的描述。
如图1-图5所示，本实施例提供一种全地形平衡车，包括主车架10、两个车轮组件、悬挂组件、减震装置和动力控制模块，其中两个车轮组件分别设置在主车架10两侧，车轮组件通过悬挂组件与主车架10连接，减震装置分别连接主车架10和悬挂组件，动力控制模块用于驱动车轮转动并控制平衡车转向；悬挂组件有两个，每一车轮组件分别通过一个悬挂组件与主车架10连接，并在行驶在起伏路面时车轮组件单独跳动。
本全地形平衡车悬挂组件有两个，每一所述车轮组件分别通过一个悬挂组件与主车架10连接，并在行驶在起伏路面时车轮组件单独跳动。在遇到起伏路面处，每组悬挂系统可分别驱动一个车轮组件单独跳动，使得本平衡车在高度起伏路面和楼梯台阶处具有更好的通过性和减震性能。
在本实施例中，车轮组件包括：防滑轮胎1，轮毂2，电机3；车架悬挂组件包括轮轴座5，上桥6、下桥7，减震器；转向组件包括：方向杆14，角度传感器12，旋转自动回中机构13；其中：防滑轮胎1安装在轮毂2上，电机3安装在轮毂2里面；左右分布安装在轮轴4上的轮轴座5，轮轴座5另外一边与上摆臂6、下摆臂7连接，上摆臂6、下桥7左右对称分布，且左右上摆臂6、下摆臂7的另外一头连接在主车架10中间，且分布在车架下边；减震器连接在上摆臂6、下摆臂7与主车架10之间，并且左右对称分布；方向杆14与旋转自动回中机构13以及角度传感器12安装在车架前面。从仰视视角看，上摆臂6、下摆臂7均可设置加强件或者加强梁与主车架10连接。
悬挂组件包括与车轮组件连接的轮轴座5、以及上摆臂6和下摆臂7，其中上摆臂6和下摆臂7的第一端均匀主车架10铰接，上摆臂6和下摆臂7的第二端均匀轮轴座5铰接。上摆臂6和下摆臂7在竖直面内上下分列设置，且轮轴座5、上摆臂6、下摆臂7和主车架10形成四边形结构。减震装置为减震器，该减震器的两端分别连接在主车架10和下摆臂7。上摆臂6与轮轴座5、主车架10均通过活动关节15连接；下摆臂7与轮轴座5、主车架10均通过活动关节15连接。两组悬挂组件左右对称布置。
在本实施例中，减震器的下端连接在下摆臂7的中间位置，上端连接在主车架10靠近车轮组件一侧，使得两个减震器朝上外扩的倾斜设置。在一个实施例中，减振器可以是一个弹簧，或者是桶式减震器，桶式减震器里面可能是液压可能是气压可能是混合的。减震器端部和主车架10、下摆臂7连接的位置形成八字，倒置的八字，或者垂直安装均可行。
在该实施例中，还包括连接所述轮轴座5与上摆臂6、下摆臂7，上摆臂6、下摆臂7与主车架10，减震器与主车架10和下摆臂7连接的活动关节15，这些关节用以保证平衡车经过不平路面颠簸时自由变形抵消地面冲击维持车架稳定平衡。
图1-图2所示，基于陀螺仪控制的控制板9被安装在主车架10中间下面的位置，电池组11被安装在主车架10中间的上面，在其它实施例中，电池组11还可以被安装在主车架10的下面的中间或者两边。
转向组件的方向杆14与旋转自动回中机构13以及角度传感器12同心连接且安装在主车架10的前面。
在本发明中，减振器8可以垂直与主车架10安装也可以倾斜于主车架10安装。
本发明的构思是，当平衡车行驶在严重不平的路面上时，主车架10往往会跟随路面起伏以及适应路面倾斜，这会导致驾驶者很难站稳从而导致很难驾驶或者导致危险，为了让平衡车适应湿滑的路面，平衡车还使用防滑轮胎1，为了让车架悬挂结构有更多的活动空间，提供动力的电机3被安装在轮毂2里面节约空间，高速转弯时，为了让车架更好的随驾驶者倾斜从而抵消转弯时的离心力，转向机构被设计成前后左右固定，但方向杆14可以旋转的工作方式。本实施例中的电机3为轮毂电机，在本实施例中，其安装在轮毂2中心位置，在其他实施例中，电机3安装在偏心位置。
其工作原理为，电池组11为平衡车提供所有需要的能量来源，平衡车的中间安装了基于陀螺仪平衡控制原理的控制板9，当驾驶者身体前后倾斜时陀螺仪输出补偿角度给控制板9，控制板9让电机3旋转一定角度维持平衡车的平衡，当平衡车通过不平路面时，车架悬挂组件进行四边形变形来维持车架的水平度。
如图3-图5所示，在本实施例中, 减振器8的压缩和伸展能让平衡车两边的轮子组件能分别上下起伏，每边的轮子起伏是基于轮轴座5，上桥6、下桥7，主车架10形成的四边形变形完成的，减振器8极限压缩和伸展范围决定了这个四边形的最大变形形状，而驾驶者重量和驾驶姿势决定了每个轮子的起伏程度。
如图3所示，正常平路直线驾驶时，驾驶者垂直站立，地面水平，所以悬挂组件受力均匀，两边的轮子起伏均匀，平衡车架基本垂直于地面。
如图4所示，在不平路面直线驾驶时，驾驶者垂直站立，地面起伏，悬挂组件受力不均匀，两边的轮子随地面起伏而起伏，平衡车架基本垂直于地面。
如图5所示，在平路高速转弯时，驾驶者重心向转弯侧倾斜，带动方向杆14也向转弯侧倾斜，由于方向杆14与车架之间前后左右固定，所以车架也随着向转弯侧倾斜，悬挂组件受力转弯侧大于被转弯侧，所以转弯侧减振器8被压缩，被转弯侧减振器8伸展，车架相对于地面处于倾斜状态，从而使得转弯驾驶时更加稳定。
总之，全地形平衡车能在直线行驶时自动适应各种不平路面而保持车架和驾驶者平稳，在转弯或者驾驶者根据需要时车架左右倾斜从而保证驾驶者做这些动作时更加安全。
在其它实施例中，电池组11件和控制板9可以被安装在车架的任何位置，前提是不妨碍悬挂组件工作以及不妨碍驾驶者正常驾驶，另外，电机3和轮毂2可以分开也可以是一个整体，分开的好处是维修更换轮胎方便，固定成整体轮毂2电机3的好处是结构简单，可以降低成本和减轻整车重量。
本发明的全地形平衡车可用作复杂地形的个人交通工具，即使普通路面使用，也能获得比其它平衡车更好的安全性，因为正常使用的普通平整路面也会经常遇到坑洼或者突发障碍物的时候，例如机动车道与人行道交界的台阶，地面的建筑物垃圾，短距离的草地等等，使用本发明的全地形平衡车可以让驾驶者在不注意的时候更安全和快捷的通过。
应用本发明，可以制造出小巧廉价轻便且安全实用的全地形个人交通工具，让人们出行更方便快捷，增加驾驶乐趣的同时不失安全性。
本实施例中，防滑轮胎1具有优越的攀岩性能。在其他实施例中，防滑轮胎也可以是其他形式的轮胎，例如实心轮胎、充气式轮胎等。防滑轮胎1套装在轮毂2外圈，能支承车身，缓冲外界冲击，实现与路面的接触并保证车辆的行驶性能。
以下结合附图对本发明进行详细的描述。
如图6-图8所示，本实施例提供一种可攀爬楼梯的防滑轮胎1，包括轮胎主体和多个凹槽结构101，其中凹槽结构101内部沿轮胎径向剖面呈扇形，多个凹槽结构101均匀间隔的设置在轮胎与底面接触的表面，该凹槽结构101在攀爬楼梯时可卡在楼梯台阶的突出的边角处。
本防滑轮胎1通过凹槽结构101可卡合在台阶的突出的边角处，使得轮胎可通过凹槽结构101和台阶的突出的边角处卡合，在轮胎收到动力驱动时，更容易的攀爬楼梯台阶。
因为楼梯台阶突出的边角处多为直角。为更好的契合楼梯台阶突出的边角处，凹槽结构101为直角凹槽。本实施例中，凹槽结构101包括组成凹槽内壁的第一壁和第二壁，其中第一壁和第二壁形成的顶角朝向轮胎的对称中心。在其他实施例中，凹槽结构101也可以是非对称结构，例如，在轮胎的转动方向上看，组成凹槽结构101内壁的第一壁和胎面103垂直，第二壁与第一壁呈45°-90°的夹角。
如图6所示，轮胎主体套装在轮毂2上，轮胎主体具有用于在凸起嵌入挤压凹槽结构101后使轮胎变形的弹性变形结构102。弹性变形结构102为在轮胎主体宽度方向上贯穿轮胎主体的镂空孔。弹性变形结构102与凹槽结构101的数量一致，每一弹性变形结构1022均设置在临近凹槽结构101的位置。
弹性变形结构102为侧向开孔。轮胎主体还具有位于轮胎主体内层的弹性体104，该弹性体1044用于缓冲震动。弹性体104为可充气轮胎内胆或弹性胶。弹性体104位于相邻两个两个弹性变形结构102之间。
本实施例提供的防滑轮胎1的可攀爬楼梯的防滑轮胎1包括防滑机构、胎体；防滑机构包括：凹槽结构101，弹性变形结构102；胎体包括弹性体104；其中：多个凹槽结构101结构横向分布在轮胎表面，多个弹性变形结构102分布在凹槽结构101正下面，横向排列，在整个轮胎结构中处于中间层；弹性体104处于轮胎内层，用于吸收来自路面的冲击能量。本实施例提供的防滑轮胎1的可攀爬楼梯的防滑轮胎1，在遇到不平路面或者右边角的路面（例如台阶）时，在一定压力下轮胎外层表面能够形成比较深的凹变形，这些变形形成的凹面能够卡扣住台阶的边角，从而防止轮胎打滑，所以非常适合全地形交通工具使用，尤其是全地形平衡车或者其它常用来攀爬楼梯的交通工具使用。
在该实施例中，弹性体104使用充气结构，使用时能获得传统轮胎一样的减震效果。
在该实施例中，弹性体104使用与弹性变形结构102一一对应的非充气孔状结构，每个弹性体104孔位于每两个相邻的弹性变形结构102之间，好处是免充气且正常行驶时保持胎面103与凹槽结构101一致的承压变形，从而避免颠簸。
在该实施例中，弹性体104还可以使用其它类型免充气结构。
本实施例提供的防滑轮胎1的构思是，当个人交通工具需要攀爬楼梯使用时，需要有某种卡扣台阶边角的结构防止轮胎打滑，让交通工具可以稳定安全的攀爬楼梯。
其工作原理为，当轮胎接触到台阶边角，凹槽结构101能初始卡扣住这些边角，攀爬过程中，由于轮胎其它面没有接触物，所有压力会集中在凹槽结构101，而凹槽结构101能将压力传递给弹性变形结构102，引起弹性变形结构102外沿向内凹陷，凹槽结构101的凹面就会因此大幅凹陷，并且包裹台阶边角，从而牢牢卡扣住防止轮胎打滑。
在本实施例中, 当轮胎行驶于正常路面时，防滑轮胎1与地面的接触面是胎面103时弹性体104的状态，它与弹性变形结构102承压时变形一致，所以行驶时大幅减少颠簸。
总之，可攀爬楼梯的防滑轮胎1让轻便型个人交通工具攀爬楼梯成为了可能，这必将大幅增加这些交通工具的通过性，给使用者带来更多方便。
在其它实施例中，弹性变形结构102和弹性体104的孔状结构被设计成其它形状的封闭孔
应用本实施例提供的防滑轮胎1，制造出的全地形两轮平衡车，在其攀爬楼梯时稳定安全可靠，大幅扩展了平衡车的应用，以及为驾驶者带来了更多的驾驶乐趣。
以上内容仅为本发明的较佳实施例，对于本领域的普通技术人员，依据本发明的思想，在具体实施方式及应用范围上可以作出许多变化，只要这些变化未脱离本发明的构思，均属于本发明的保护范围。

Claims (9)

  1. 一种全地形平衡车，其特征在于：包括主车架、两个车轮组件、悬挂组件、减震装置和动力控制模块，其中两个车轮组件分别设置在主车架两侧，所述车轮组件通过悬挂组件与主车架连接，所述减震装置分别连接主车架和悬挂组件，所述动力控制模块用于驱动车轮转动并控制平衡车转向；
    所述悬挂组件有两个，每一所述车轮组件分别通过一个悬挂组件与主车架连接，并在行驶在起伏路面时车轮组件单独跳动。
  2. 根据权利要求1所述的全地形平衡车，其特征在于：所述悬挂组件包括与车轮组件连接的轮轴座、以及上摆臂和下摆臂，其中所述上摆臂和下摆臂的第一端均匀所述主车架铰接，上摆臂和下摆臂的第二端均匀所述轮轴座铰接。
  3. 根据权利要求2所述的全地形平衡车，其特征在于：所述上摆臂和下摆臂在竖直面内上下分列设置，且所述轮轴座、上摆臂、下摆臂和主车架形成四边形结构。
  4. 根据权利要求2或3所述的全地形平衡车，其特征在于：所述减震装置为弹簧减震器，该弹簧减震器的两端分别连接在主车架和下摆臂。
  5. 根据权利要求2或3所述的全地形平衡车，其特征在于：所述上摆臂与轮轴座、主车架均通过活动关节连接；所述下摆臂与轮轴座、主车架均通过活动关节连接。
  6. 根据权利要求1所述的全地形平衡车，其特征在于：两组所述悬挂组件左右对称布置。
  7. 根据权利要求1所述的全地形平衡车，其特征在于：所述车轮组件包括防滑轮胎、安装在防滑轮胎内部并用于支撑防滑轮胎的轮毂、以及将电机和轮轴座连接的轮轴。
  8. 根据权利要求7所述的全地形平衡车，其特征在于：所述防滑轮胎包括轮胎主体和多个凹槽结构，其中凹槽结构内部沿轮胎径向剖面呈扇形，多个所述凹槽结构均匀间隔的设置在轮胎与底面接触的表面，该凹槽结构在攀爬楼梯时可卡在楼梯台阶的突出的边角处。
  9. 根据权利要求8所述的全地形平衡车，其特征在于：所述轮胎主体具有用于在凸起嵌入挤压凹槽结构后使轮胎变形的弹性变形结构；所述轮胎主体还具有位于轮胎主体内层的弹性体。
PCT/CN2018/094589 2017-10-30 2018-07-05 一种全地形平衡车 WO2019085539A1 (zh)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
CN201711042299.7A CN107719551B (zh) 2017-10-30 2017-10-30 一种全地形平衡车
CN201711042299.7 2017-10-30

Publications (1)

Publication Number Publication Date
WO2019085539A1 true WO2019085539A1 (zh) 2019-05-09

Family

ID=61202400

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/CN2018/094589 WO2019085539A1 (zh) 2017-10-30 2018-07-05 一种全地形平衡车

Country Status (3)

Country Link
US (1) US10913509B2 (zh)
CN (1) CN107719551B (zh)
WO (1) WO2019085539A1 (zh)

Families Citing this family (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN107719551B (zh) * 2017-10-30 2021-05-18 深圳市未来狗科技有限公司 一种全地形平衡车
CN110550131A (zh) * 2018-05-31 2019-12-10 深圳市鳄鱼平衡车有限公司 平衡车
CN111846071A (zh) * 2018-08-04 2020-10-30 扬顶（天津）科技有限公司 一种自平衡车用车轮减震和平衡补正机构
CN109353438B (zh) * 2018-10-11 2023-09-26 佛山科学技术学院 一种减震平衡车
US10456658B1 (en) * 2019-02-11 2019-10-29 Future Motion, Inc. Self-stabilizing skateboard
CN112758231B (zh) * 2021-03-03 2021-08-31 北京晶品特装科技股份有限公司 全地形机动平台
US11273364B1 (en) 2021-06-30 2022-03-15 Future Motion, Inc. Self-stabilizing skateboard
US11299059B1 (en) 2021-10-20 2022-04-12 Future Motion, Inc. Self-stabilizing skateboard
CN115123434A (zh) * 2022-07-22 2022-09-30 聂爱琴 一种平衡车转向机构及平衡车
US11890528B1 (en) 2022-11-17 2024-02-06 Future Motion, Inc. Concave side rails for one-wheeled vehicles

Citations (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP3161882U (ja) * 2010-06-02 2010-08-12 鈴木　大介 三輪車
CN203358266U (zh) * 2013-07-05 2013-12-25 丰城市盛祥机械实业有限公司 悬挂游动铰接式减震装置
CN204821881U (zh) * 2015-07-31 2015-12-02 青岛行者智能科技有限公司 一种带有减震系统的越野平衡车
CN205256544U (zh) * 2015-12-15 2016-05-25 陕西承洋电子智能科技有限公司 一种智能越野型双轮出行平衡车
CN206437134U (zh) * 2017-01-19 2017-08-25 张奎奎 一种两轮自平衡越野思维车
CN206501946U (zh) * 2017-02-22 2017-09-19 张仲甫 载具用平衡轮机构
CN107719551A (zh) * 2017-10-30 2018-02-23 深圳市未来狗科技有限公司 一种全地形平衡车
CN207417034U (zh) * 2017-10-30 2018-05-29 深圳市未来狗科技有限公司 一种全地形平衡车

Family Cites Families (16)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS63305008A (ja) * 1987-06-03 1988-12-13 Yokohama Rubber Co Ltd:The 空気入りタイヤ
FI110077B (fi) * 2000-03-10 2002-11-29 Timberjack Oy Järjestely työkoneen pyörien ripustamiseksi
NZ529434A (en) * 2003-11-10 2005-10-28 Jakaar Ind Ltd Wheel tread
FR2872773B1 (fr) * 2004-07-07 2006-09-29 Moulene Sarl Vehicule motorise de faible largeur
JP4650327B2 (ja) * 2005-04-14 2011-03-16 トヨタ自動車株式会社 同軸二輪車
JP4240114B2 (ja) * 2006-11-15 2009-03-18 トヨタ自動車株式会社 走行装置
WO2011024803A1 (ja) * 2009-08-25 2011-03-03 株式会社ブリヂストン 空気入りタイヤ
WO2014201368A1 (en) * 2013-06-15 2014-12-18 Ronald Thompson Annular ring and non-pneumatic tire
BR202014032129Y1 (pt) * 2014-12-19 2019-12-10 Santos Turozi Alexandre disposição construtiva em roda flexível de carrinho de mão e carrinhos industriais de tração manual
CN107207065B (zh) * 2014-12-23 2020-09-04 美国锐哲有限公司 带手柄的电动独轮车
CA2976055A1 (en) * 2015-02-04 2016-08-11 Advancing Mobility, Llc. Non-pneumatic tire and other annular devices
CN204674306U (zh) * 2015-05-08 2015-09-30 盐城市峰泽园橡塑科技有限公司 汽车轮胎
US20170008342A1 (en) * 2015-07-10 2017-01-12 Caterpillar Inc. Non-pneumatic tire including shear band
AU2016216693B2 (en) * 2015-08-31 2020-07-16 Railblaza Ltd A Wheel
KR101789407B1 (ko) * 2016-02-26 2017-10-23 엘지전자 주식회사 로봇 청소기 및 바퀴 어셈블리
CN107150558A (zh) * 2016-03-05 2017-09-12 王建明 台阶轮胎

Patent Citations (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP3161882U (ja) * 2010-06-02 2010-08-12 鈴木　大介 三輪車
CN203358266U (zh) * 2013-07-05 2013-12-25 丰城市盛祥机械实业有限公司 悬挂游动铰接式减震装置
CN204821881U (zh) * 2015-07-31 2015-12-02 青岛行者智能科技有限公司 一种带有减震系统的越野平衡车
CN205256544U (zh) * 2015-12-15 2016-05-25 陕西承洋电子智能科技有限公司 一种智能越野型双轮出行平衡车
CN206437134U (zh) * 2017-01-19 2017-08-25 张奎奎 一种两轮自平衡越野思维车
CN206501946U (zh) * 2017-02-22 2017-09-19 张仲甫 载具用平衡轮机构
CN107719551A (zh) * 2017-10-30 2018-02-23 深圳市未来狗科技有限公司 一种全地形平衡车
CN207417034U (zh) * 2017-10-30 2018-05-29 深圳市未来狗科技有限公司 一种全地形平衡车

Also Published As

Publication number Publication date
CN107719551B (zh) 2021-05-18
CN107719551A (zh) 2018-02-23
US20190127015A1 (en) 2019-05-02
US10913509B2 (en) 2021-02-09

Similar Documents

Publication Publication Date Title
WO2019085539A1 (zh) 一种全地形平衡车
CN204452718U (zh) 一种轮外侧站立式的电动平衡车
US7850180B2 (en) Hub assembly for a tilting vehicle suspension
CN207417034U (zh) 一种全地形平衡车
US9789412B2 (en) Wheeled riding device
CN108068950B (zh) 第一/最后一英里运输中的或有关的改进
TWI782922B (zh) 用於可傾式車輛的懸吊組合、前導向架以及可傾式車輛
CN116528951A (zh) 电动滑板的悬挂系统
JP2017534500A (ja) 二輪式電気自動車
JP2010520120A (ja) 後輪操舵三輪スクータ
KR101862233B1 (ko) 전동 킥보드
JP4021907B2 (ja) 走行装置
US20040079571A1 (en) Motorized scooter
CN104648570A (zh) 一种轮外侧站立式的电动平衡车
CN108068949B (zh) 第一/最后一英里运输中的或有关的改进
US3495672A (en) Dual-wheeled unit independent suspension for cross-country vehicle
CN111717315A (zh) 一种三角轮系爬楼车
CN105437902A (zh) 车辆抗倾斜装置
CN108069182B (zh) 第一/最后一英里运输中的或有关的改进
WO2006103787A1 (ja) 走行装置
US8607913B2 (en) Motorized three-wheeled vehicle rear steering mechanism
US4046211A (en) Wheel-support structures for vehicles
CN207029452U (zh) 一种转向机构
CN109153425A (zh) 具有进行角运动的脚踏台的自平衡运输装置
US3370665A (en) Tandem axle vehicle

Legal Events

Date Code Title Description
121 Ep: the epo has been informed by wipo that ep was designated in this application

Ref document number: 18871987

Country of ref document: EP

Kind code of ref document: A1

NENP Non-entry into the national phase

Ref country code: DE

32PN Ep: public notification in the ep bulletin as address of the adressee cannot be established

Free format text: NOTING OF LOSS OF RIGHTS PURSUANT TO RULE 112(1) EPC (EPO FORM 1205 DATED 07/09/2020)

122 Ep: pct application non-entry in european phase

Ref document number: 18871987

Country of ref document: EP

Kind code of ref document: A1