WO2020206728A1

WO2020206728A1 - Novel balance scooter

Info

Publication number: WO2020206728A1
Application number: PCT/CN2019/083758
Authority: WO
Inventors: 李贵生; 李献
Original assignee: 李贵生; 李献
Priority date: 2018-11-22
Filing date: 2019-04-22
Publication date: 2020-10-15
Also published as: CN209776680U; CN210063249U; CN109823462A

Abstract

A balance scooter, comprising a left support and a right support hingedly connected to each other. A left wheel frame is hingedly connected to the left side of the left support, a right wheel frame is hingedly connected to the right side of the right support, the left wheel frame is provided with a left wheel, and the right wheel frame is provided with a right wheel; the hinged connection position of the left support and the right support is provided with a handle; when the handle is pulled up, the left support and the right support are folded in half; moreover, the left and right wheel frames are rotated with respect to the hinged connection position until the inside end surface of the left wheel is close to the end surface of the left support and the right wheel is close to the end surface of the right support; when the handle is released, the left and right supports can be unfolded, and the left and right wheel frames are laterally supported on the sides of the left and right supports to form a riding state. The balance scooter has a simple and stable structure and is easy to operate.

Description

A new type of balance car

Technical field

The utility model belongs to the technical field of balance vehicles, and particularly refers to a balance vehicle.

Background technique

With the strengthening of people's awareness of environmental protection, the number of electric vehicles is increasing day by day. At the same time, scientists have finally developed a new two-wheeled electric balance scooter after painstaking research. The two-wheeled electric balance scooter is a new type of transportation. It is different from the front and rear arrangement of electric bicycles and motorcycles, but uses two wheels fixed side by side. The two-wheel electric balance car is supported by two wheels, powered by a battery, driven by a motor, and controlled by a single-chip microcomputer. The attitude sensor collects angular velocity and angle signals to coordinate and control the balance of the car body. The vehicle can be started only by changing the center of gravity of the person. , Accelerate, decelerate, stop and other actions.

Balance bikes are gradually being loved by young people and sports enthusiasts, and gradually mass-produced and appear in people's daily life. However, the existing balance vehicles also have some drawbacks:

a. The overall weight is relatively large. Although it is relatively small compared to electric vehicles, its own counterweight is still the burden of the user. The balance bike cannot adapt to uneven/stepped ground. The user needs to lift the balance bike to overcome these problem;

b. It is inconvenient to take. Some balance bikes are also attached with handles, but the balance bike cannot be folded. In the case of hand-held balance bikes, the overall balance bike is still relatively large, and it is cumbersome to pick up and put down.

Summary of the invention

The purpose of the utility model is to provide a new type of balance vehicle with simple and stable structure and convenient operation.

The purpose of the utility model is achieved as follows:

A new type of balance car includes a left bracket and a right bracket hinged to each other. The left side of the left bracket is hinged with a left wheel frame, the right side of the right bracket is hinged with a right wheel frame, the left wheel frame is provided with a left wheel, and the right wheel frame is provided with Has a right wheel,

A power supply is provided in the left bracket and/or the right bracket;

The left foot pedal is provided with a left foot pedal, and the left foot pedal can rotate relative to the left support or the left foot pedal can rotate relative to the left support, and the left foot pedal is provided below the left foot pedal to sense the movement/movement trend of the left foot. A sensing device, the first sensing device gives a signal of movement of the driving device in the left wheel frame;

The right support is provided with a right foot pedal, the right foot pedal can rotate relative to the right support or the right foot pedal can rotate relative to the right support, and the right foot pedal is provided below the right foot pedal to sense the movement/movement trend of the right foot. Two sensing devices, the second sensing device gives a signal for the movement of the driving device in the right wheel frame;

The hinged position of the left bracket and the right bracket is provided with a handle, when the handle is pulled up, the left bracket and the right bracket are folded in half, and the left and right wheel frames rotate relative to the hinged position until the inner end surface of the left wheel is close to the end surface of the left bracket , The right wheel is close to the end surface of the right bracket; when the handle is released, the left and right brackets can be opened, and the left and right wheel frames are laterally supported on the sides of the left and right brackets to form a riding state.

A first connecting rod is arranged between the left bracket and the right wheel frame, and a second connecting rod is arranged between the right bracket and the left wheel frame. When in a riding state, the first connecting rod and the second connecting rod are supported on the left bracket And the lower end of the right bracket, when in the folded state, the first connecting rod and the second connecting rod are in the folding gap between the left bracket and the right bracket.

One end of the first connecting rod is hinged to the lower end of the left bracket, the right wheel frame extends laterally from the right hinge seat, the other end of the first connecting rod is hinged to the right hinge seat; one end of the second connecting rod is hinged to At the lower end of the right bracket, the left wheel frame extends laterally from the left hinge seat, the other end of the second connecting rod is hinged on the left hinge seat, and the height of the left hinge seat and the right hinge seat is greater than the thickness of the left wheel frame and the right wheel frame.

The hinge position of the left bracket and the right bracket is located at the contact position of the lower ends of the left bracket and the right bracket. When in a riding state, the end faces of the left bracket and the right bracket abut and support each other; the left wheel bracket and the left bracket The hinge position is located on the side of the left bracket, and the hinge position of the right wheel frame and the right bracket is located on the side of the right bracket. When in a riding state, the side surface of the left wheel frame abuts against the side of the left bracket and supports each other , The side end surface of the right wheel frame abuts against the side of the right frame and supports each other.

The hinge positions of the left wheel frame and the left frame and the right wheel frame and the right frame are all above the center of gravity of the left wheel frame and the right wheel frame. When the handle is pulled up, the left wheel frame rotates relative to the hinge position under the action of its own gravity until The inner end surface of the left wheel is close to the end surface of the left bracket, and the right wheel is close to the end surface of the right bracket.

Both the left wheel and the right wheel are provided with a hub motor, the lower end of the left bracket is provided with a recess adapted to the shaft of the hub motor, and the pressure block presses the shaft of the hub motor into the recess of the left bracket; The lower end of the right bracket is provided with a recess adapted to the rotating shaft of the hub motor, and the pressing block presses the rotating shaft of the hub motor in the recess of the right bracket.

The side wall of the rotating shaft of the hub motor is provided with an end surface. When the pressing block is pressed against the rotating shaft, the rotating shaft is hidden in the recess and the pressing block abuts against the end surface, and the rotating shaft cannot rotate relative to the left bracket/right bracket.

The handle is located at the hinged position of the left bracket and the right bracket, and when in a riding state, the handle passes through the left bracket and/or the right bracket and is partially exposed.

The left bracket and the right bracket are provided with notches for arranging the handles.

Both the left bracket and the right bracket are provided with power sources, the power source in the left bracket supplies power to the driving device and the first induction device in the left wheel frame, and the power source in the right bracket supplies the driving device and the second induction device in the right wheel frame Power is supplied; and the first sensing device and the second sensing device are angle sensors.

Compared with the prior art, the utility model has the following outstanding and beneficial technical effects:

1. The left bracket and the right bracket of the present invention are connected only by hinges, and there are no other common parts between the two sides, so that the left and right balance car parts are independent and connected. The traditional balance car installation and connection method is changed, and the connection structure is also reduced, which reduces the weight of the balance car; the user drives the left foot pedal to rotate back and forth to realize the drive device in the left wheel frame to drive the left wheel and drive the right The front and back movement of the pedal realizes the movement of the right wheel by the drive device in the right wheel frame. The user can control the left and right pedals. There is no strong body tilt, and users with poor balance can also adapt to the balance bike. The way to start.

2. The left wheel frame and the left frame, the left frame and the right frame, the right frame and the right wheel frame of the utility model are all connected by hinges, and the handle set between the left and right frames is pulled to form a balanced car In the folded state, when in the folded state, the installation space of the balance bike is greatly reduced, and the handle is convenient for the user to take; in the riding state, the hinged positions abut each other to ensure the stability in the riding state.

3. In the present utility model, a first connecting rod is provided between the left bracket and the right wheel frame, and a second connecting rod is arranged between the right bracket and the left wheel frame. When in a riding state, the first connecting rod and the second The connecting rod is supported on the lower ends of the left and right brackets. When in the folded state, the first connecting rod and the second connecting rod are in the folding gap between the left and right brackets, and the first connecting rod and the second connecting rod pass The cross-support method is to strengthen the structure of the balance bike in the riding state, to ensure the stability of the structure, and also play a leading role in the folding or opening process, making the folding and opening process more smooth and convenient .

4. The left half and the right half of the balance car of the present invention are only connected by hinges, and the two parts have the ability to work independently and combine with each other to form a complete whole; the left support and the right support are both equipped with power supplies, The power supply in the bracket supplies power to the driving device and the first induction device in the left wheel frame, and the power supply in the right bracket supplies power to the driving device and the second induction device in the right wheel frame; and, the first induction device and the second induction device For the angle sensor, the left and right foot pedal movement/movement trend is sensed by the angle sensor, preferably the rotation movement, so that the data transmitted will be more accurate and the stability of the structure drive driving device is ensured.

5. Both the left wheel frame and the right wheel frame of the present invention are provided with recesses to hide the rotating shaft, and the pressing block presses the rotating shaft of the hub motor into the recess of the right wheel frame. In fact, the left wheel and the right wheel are market standards. With the products, you can purchase them in the market according to the torque requirements. Therefore, you only need to design the installation positions of the left and right wheel frames and the left and right wheels. The manufacturer only needs to change the size of the recess to adjust and install wheels of different specifications to make the use The scope is wider and the applicability is stronger.

Description of the drawings

Figure 1 is one of the schematic diagrams of the riding state structure of the utility model;

Figure 2 is the second structural diagram of the riding state of the utility model;

Figure 3 is the third structural diagram of the riding state of the utility model;

Figure 4 is one of the schematic diagrams of the explosive structure of the present invention;

Fig. 5 is a schematic diagram of an enlarged structure at A in Fig. 4;

Figure 6 is the second schematic diagram of the explosive structure of the present invention;

FIG. 7 is a schematic diagram of an enlarged structure at B in FIG. 6;

Figure 8 is one of the structural schematic diagrams of the utility model in a folded state;

Figure 9 is the second structural diagram of the utility model in a folded state.

In the picture: 1-left bracket; 10-panel; 11-soft rubber guard; 12-left pedal; 13-first induction device; 14-rotating bracket; 15-power supply; 18-notch; 2-right bracket; 20-panel; 21-soft rubber guard; 22-right pedal; 23-second induction device; 3-handle; 4-left wheel frame; 43-fender; 45-left hinge seat; 5-right wheel Frame; 51- pressure block; 52- recess; 53- mudguard; 55- right hinge seat; 61- left wheel; 611- shaft; 612- end face; 62- right wheel; 621- shaft; 622- end face; 71 -Second connecting rod; 72-first connecting rod.

detailed description

The following further describes the utility model with specific embodiments in conjunction with the drawings, as shown in Figures 1-9:

A new type of balance car includes a left bracket 1 and a right bracket 2 hinged with each other. The left bracket 1 is hinged with a left wheel bracket 4, the right bracket 2 is hinged with a right wheel bracket 5, and the left wheel bracket 4 is provided with a left wheel bracket. The wheel 61 and the right wheel frame 5 are provided with a right wheel 62. The left half and the right half of the balance car are only connected by articulation. The two parts have the ability to work independently and are combined to form a complete whole, which changes the traditional balance car installation And the connection method, while reducing the connection structure, reducing the weight of the balance car;

The left footrest 1 is provided with a left footrest 12, and the left footrest 12 can rotate relative to the left support 1 or the left footrest 12 can rotate relative to the left support 1, and a sensing left foot is provided under the left footrest 12 Step 12: the first sensing device 13 of the movement/movement trend, and the first sensing device 13 gives the signal of the movement of the driving device in the left wheel frame 4;

The right footrest 22 is provided with a right footrest 22, the right footrest 22 can be rotated relative to the right support 2 or the right footrest 22 can be rotated relative to the right support 2, and a sensing right foot is provided under the right footrest 22 Step 22: the second sensing device 23 of the movement/movement trend, the second sensing device 23 gives the signal of the movement of the driving device in the right wheel frame 5;

The first sensing device 13 and the second sensing device 23 are preferably angle sensors, which sense the movement/movement trend of the left and

right pedals

12, 22 through the angle sensor. If the movement trend is sensed, the torque at the position to be rotated is detected and analyzed in real time. Data analysis is performed on the magnitude of the torsion force. Therefore, the present utility model is preferably an induction rotation movement. Such rotation is easier to obtain and is not easy to receive external interference. The transmitted data will be more accurate, and the stability of the structure driving device is guaranteed. Up, the left pedal 12 and the right pedal 22 are set in the left bracket 1 and the right bracket 2 by rotating the bracket 14. The user's foot is on the left and

right pedals

12, 22 or indirectly on the left and

right pedals

12, 22 and drive the left and

right pedals

12, 22 to rotate back and forth, the angle sensor is directly installed below the left and

right pedals

12, 22 to quickly sense the user's exercise needs;

The left bracket 1 and/or the right bracket 2 is provided with a power source 15. In fact, both the left bracket 1 and the right bracket 2 are provided with a power source 15, and the power in the left bracket 1 is supplied to the driving device in the left wheel bracket 4 Power is supplied to the first sensing device 13, and the power supply 15 in the right bracket 2 supplies power to the driving device in the right wheel frame 5 and the second sensing device 23;

The hinged position of the left bracket 1 and the right bracket 2 is provided with a handle 3. When the handle 3 is pulled up, the left bracket 1 and the right bracket 2 are folded into each other, and the left and

right wheel brackets

4, 5 rotate relative to the hinged position until The left wheel 61 is close to the end surface of the left support 1, and the right wheel 62 is close to the end surface of the right support 2. In the folded state, the space for the balance bike is greatly reduced, and the handle 3 is convenient for the user to take; The hand 3, the left and right brackets 1 and 2 can be opened, and the left and

right wheel brackets

4 and 5 are laterally supported on the sides of the left and right brackets 1 and 2 to form a riding state.

A first connecting rod 72 is provided between the left bracket 1 and the right wheel frame 5, and a second connecting rod 71 is arranged between the right bracket 2 and the left wheel frame 4. When in the riding state, the first connecting rod 72 and the second The two connecting rods 71 are supported on the lower ends of the left support 1 and the right support 2. When in the folded state, the first connecting rod 72 and the second connecting rod 71 are in the folding gap between the left support 1 and the right support 2. The rod 72 and the second connecting rod 71 are cross-supported, that is, to strengthen the structure of the balance bike in the riding state, to ensure the stability of the structure, and also play a leading role in the folding or opening process, so that The folding and opening process is more smooth and convenient.

One end of the first connecting rod 72 is hinged to the lower end of the left bracket 1, the right wheel frame 5 extends laterally from the right hinge seat 55, and the other end of the first connecting rod 72 is hinged to the right hinge seat 55; the second One end of the connecting rod 71 is hinged to the lower end of the right bracket 2, the left wheel frame 4 extends laterally from the left hinge base 45, the other end of the second connecting rod 71 is hinged to the left hinge base 45, and the left hinge base 45 is hinged to the right The height of the seat 55 is greater than the thickness of the left wheel frame 4 and the right wheel frame 5, and the above structure ensures that the structures do not interfere with each other, and the stability of the movement structure is ensured.

The hinge position of the left bracket 1 and the right bracket 2 is located at the contact position of the lower ends of the left bracket 1 and the right bracket 2. When in a riding state, the end faces of the left bracket 1 and the right bracket 2 abut and support each other; The hinge position of the left wheel frame 4 and the left frame 1 is located on the side of the left frame 1, preferably the upper position of the left frame 1, so that the force will be more effective. The hinge position of the right wheel frame 5 and the right frame 2 is located The side of the right bracket 2 is preferably the upper position of the right bracket 2, so that the force will be more effective. When in the riding state, the side end surface of the left wheel bracket 4 abuts against the side of the left bracket 1 and supports each other The side end surface of the right wheel frame 5 abuts against the side of the right frame 2 and supports each other. Through such an articulation method, it is ensured that the overall structure of the balance bike is stable in the riding state.

Both the left wheel 61 and the right wheel 62 are provided with a hub motor. The left wheel 61 and the right wheel 62 are market-purchased products. Therefore, the hub motor is not marked. The lower end of the left wheel frame 4 is provided with a rotating shaft 611 of the hub motor. In a suitable recess, the pressing block 51 presses the rotating shaft 611 of the hub motor into the recess of the left wheel frame 4; the lower end of the right wheel frame 5 is provided with a recess 52 that matches the rotating shaft 621 of the hub motor. The rotating shaft 621 of the hub motor is compressed in the recess 52 of the right wheel frame 5. In fact, the left and right wheels of the left and right wheel frames 4 and 5 have the same structure. Therefore, only the right side of the drawing and the enlarged view are shown in the drawings. , As shown in Figure 5.

The side walls of the

rotating shafts

611, 621 of the hub motor are provided with

end surfaces

612, 622. When the pressing block 51 is pressed on the

rotating shafts

611, 621, the rotating

shafts

611, 621 are hidden in the recess 52 and the pressing block 51 abuts against the end surfaces 612, 622, and the

rotating shafts

611, 621 are not allowed. Rotate relative to the left wheel carrier 4/right wheel carrier 5. In fact, the left wheel 61 and the right wheel 62 are standard products in the market, and the market can be purchased according to the torque demand. Therefore, only the installation positions of the left and right wheel frames 4, 5 and the left and right wheels 61.62 need to be designed. It is necessary to change the size of the recess 52 to adjust and install wheels of different specifications, which makes the use range wider and more applicable.

In addition, since the left wheel 61 is installed under the left wheel frame 4, and the right wheel 62 is installed under the right wheel frame 5, the hinged positions of the left wheel frame 4 and the left frame 1 are located in the left wheel frame 4 and the left wheel 61 components. Above the center of gravity, the hinged positions of the right wheel frame 5 and the right frame 2 are above the center of gravity of the components of the right wheel frame 5 and the right wheel 62. When the handle 3 is pulled up, the left wheel frame 4 is relatively hinged under its own gravity. Rotate the position until the inner end surface of the left wheel 61 is close to the end surface of the left bracket 1, and the right wheel frame 5 rotates relative to the hinge position under its own gravity until the right wheel 62 is close to the end surface of the right bracket 2, making the user's operation more convenient and, There is also the assistance of the first connecting rod 72 and the second connecting rod 71, which makes the folding and opening process more smooth and convenient.

The handle 3 is located at the hinged position of the left bracket 1 and the right bracket 2. When in the riding state, the handle 3 passes through the left bracket 1 and/or the right bracket 2 and is partially exposed. This handle serves both It separates the left bracket 1 and the right bracket 2, and is convenient for the user to take.

The left bracket 1 and the right bracket 2 are provided with a notch 18 for placing the handle 3 to ensure that the left and right brackets 1 and 2 are not interfered by the handle 3 during riding.

This utility model will inevitably be designed to control the circuit, but the circuit control is not the actual focus of the patent protection. With the above-mentioned structure, it is easy for those skilled in the art to manufacture a circuit control board suitable for it, because the angle sensor is For common electrical components, it is a very simple circuit technology to control the rotation of the drive motor through the angle of rotation, and the wiring of the circuit is also the same, so there is no circuit-related annotation in the drawings.

The above-mentioned embodiments are only preferred embodiments of the present utility model, and do not limit the scope of protection of the present utility model accordingly. Therefore: all equivalent changes made in accordance with the structure, shape, and principle of the utility model shall be covered by this utility model. Within the scope of protection of utility models.

Claims

A new type of balance car, which is characterized in that it comprises a left bracket (1) and a right bracket (2) hinged to each other. The left side of the left bracket (1) is hinged with a left wheel bracket (4), and the right side of the right bracket (2) A right wheel frame (5) is hinged, a left wheel (61) is arranged on the left wheel frame (4), and a right wheel (62) is arranged on the right wheel frame (5);

A power supply (15) is provided in the left bracket (1) and/or the right bracket (2);

The left foot pedal (12) is provided on the left support (1), and the left foot pedal (12) can rotate relative to the left support (1) or the left foot pedal (12) can rotate relative to the left support (1). , The left foot pedal (12) is provided with a first sensing device (13) that senses the movement/movement trend of the left foot pedal (12), and the first sensing device (13) gives a signal for the movement of the driving device in the left wheel frame (4) ；

The right support (2) is provided with a right foot pedal (22), the right foot pedal (22) can rotate relative to the right support (2) or the right foot pedal (22) can rotate relative to the right support (2) trend , The right pedal (22) is provided with a second sensing device (23) that senses the movement/movement trend of the right pedal (22), and the second sensing device (23) gives the drive device in the right wheel frame (5) movement signal;

The hinged position of the left bracket (1) and the right bracket (2) is provided with a handle (3). When the handle (3) is pulled up, the left bracket (1) and the right bracket (2) are folded in half, and the left, The right wheel frame (4,5) rotates relative to the hinged position until the inner end surface of the left wheel (61) is close to the end surface of the left support (1), and the right wheel (62) is close to the end surface of the right support (2); when the handle is released, The left and right brackets (1,2) can be opened, and the left and right wheel frames (4, 5) are laterally supported on the sides of the left and right brackets (1,2) to form a riding state.
The new balance vehicle according to claim 1, characterized in that: a first connecting rod (72) is provided between the left bracket (1) and the right wheel frame (5), the right bracket (2) and the left wheel frame ( 4) A second connecting rod (71) is arranged between, when in a riding state, the first connecting rod (72) and the second connecting rod (71) are supported on the lower ends of the left bracket (1) and the right bracket (2) When in the folded state, the first connecting rod (72) and the second connecting rod (71) are in the folding gap between the left bracket (1) and the right bracket (2).
The new type balance vehicle according to claim 2, characterized in that: one end of the first connecting rod (72) is hingedly connected to the lower end of the left bracket (1), and the right wheel frame (5) extends laterally from the right hinge seat ( 55), the other end of the first connecting rod (72) is hinged to the right hinge seat (55); one end of the second connecting rod (71) is hinged to the lower end of the right bracket (2), the left wheel frame (4) side The left hinge seat (45) is extended to the left, the other end of the second connecting rod (71) is hinged on the left hinge seat (45), and the height of the left hinge seat (45) and the right hinge seat (55) is greater than the left wheel frame (4) and the thickness of the right wheel frame (5).
The new balance vehicle according to claim 1, characterized in that: the hinge position of the left bracket (1) and the right bracket (2) is at the lower end contact position of the left bracket (1) and the right bracket (2), when in When riding, the end faces of the left bracket (1) and the right bracket (2) abut and support each other; the hinge position of the left wheel bracket (4) and the left bracket (1) is located on the side of the left bracket (1) , The hinge position of the right wheel frame (5) and the right frame (2) is located on the side of the right frame (2), when in the riding state, the side end surface of the left wheel frame (4) abuts against the left frame (1) ) And support each other, and the side end surface of the right wheel frame (5) abuts against the side of the right frame (2) and supports each other.
The new balance vehicle according to claim 1, characterized in that the hinged positions of the left wheel frame (4) and the left frame (1), and the right wheel frame (5) and the right frame (2) are all located on the left wheel frame (4) and the right wheel frame (5) above the center of gravity position, when the handle (3) is pulled up, the left wheel frame (4) rotates relative to the hinge position under its own gravity until the inner end of the left wheel (61) is close to the left frame The end face of (1), the right wheel (62) is close to the end face of the right bracket (2).
The new balance vehicle according to claim 1 or 5, characterized in that: both the left wheel (61) and the right wheel (62) are provided with a hub motor, and the lower end of the left wheel frame (4) is provided with a hub motor The rotating shaft (611) of the right wheel frame (611) is recessed, and the pressing block (51) presses the shaft (611) of the wheel hub motor into the recess of the left wheel frame (4); the lower end of the right wheel frame (5) is arranged with the wheel hub motor The rotating shaft (621) is matched with the recess (52), and the pressing block (51) presses the rotating shaft (621) of the hub motor in the recess (52) of the right wheel frame (5).
The new type balance car according to claim 6, characterized in that: the side wall of the rotating shaft (611, 621) of the hub motor is provided with an end surface (612, 622), when the pressure block (51) is pressed against the rotating shaft (611, 621), the rotating shaft (611,621) is hidden in the recess and the pressing block (51) abuts against the end surface (612,622), the rotating shaft (611,621) cannot rotate relative to the left wheel carrier (4)/right wheel carrier (5).
The new balance bike according to claim 1, characterized in that: the handle (3) is located at the hinged position of the left bracket (1) and the right bracket (2), when in the riding state, the handle passes through the left The bracket (1) and/or the right bracket (2) are partially exposed.
The new balance vehicle according to claim 8, characterized in that: the left bracket (1) and the right bracket (2) are provided with a notch (18) for placing the handle (3).
The new balance vehicle according to claim 1, characterized in that: the left bracket (1) and the right bracket (2) are both provided with a power source (15), and the power source (15) in the left bracket (1) is used for the left wheel The drive device and the first induction device (13) in the frame (4) supply power, and the power supply (15) in the right frame (2) supplies power to the drive device and the second induction device (23) in the right wheel frame (5) ; And, the first sensing device (13) and the second sensing device (23) are angle sensors.