CN101920730B - Spherical double-wheel bidirectional car - Google Patents
Spherical double-wheel bidirectional car Download PDFInfo
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- CN101920730B CN101920730B CN2010102544331A CN201010254433A CN101920730B CN 101920730 B CN101920730 B CN 101920730B CN 2010102544331 A CN2010102544331 A CN 2010102544331A CN 201010254433 A CN201010254433 A CN 201010254433A CN 101920730 B CN101920730 B CN 101920730B
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Abstract
The invention discloses a spherical double-wheel bidirectional car, comprising a spherical wheel or an elliptical wheel, a cab, a shock-damping system, a drive device, a power device, two groups of double-arm torsion bar type steering, a suspension system and the like. The car uses the principle of a tumbler, wherein two spherical or elliptical wheels with flange, an irregular curve-shaped cab and a power cabin on the most bottom of the cab ensure that the center of gravity of the whole car is positioned under the axial center line, wherein the cross section of the medium section of the cab body connected with the wheels is of a round shape, egg shape or approximate elliptical shape; the vertical height from the gravity to the ground is less than the radius of the periphery wheel, when the car body is inclined, the car body swings from left to right along with the arc of the periphery wheel, the gravity rises to generate a moment which restores the car body to a vertical state, so that the double-wheel car has the performance of self stability and turnover prevention due to left-to-right swing in a certain amplitude in a static state without any support or holding.
Description
Technical field the present invention relates to the two-wheel car technical field, relates to a kind of two wheel carriage specifically.
Two-wheeled motor vehicle that background technology is traditional or battery-driven car are compared with car, and be with the obvious advantage on partial properties, such as: portable and smart, economical and practical, fault rate is low.But shortcoming also is fatal, safety, and the traveling comfort shortcoming will be stood wind, drenched with rain when riding, and in case scorching sun or sharp cold wind are occurrence of traffic accident, very easily permanent disability even threat to life.Therefore, on the basis that keeps two-wheeled vehicle or the original advantage of battery-driven car, making two-wheel car obtain stability, increase safety, improve traveling comfort, create a kind of vehicle that substitute existing two-wheeled motor vehicle or battery-driven car, is departure point of the present invention.
Through the technical field of retrieval at two-wheel car, the patent No. is " two wheel carriage " of ZL200920080819.8 and ZL 99203171.0, and the two has all expected installing for two-wheel car the driving compartment of similar car; This can improve the traveling comfort of two-wheel car really; But the running gear to car is not made bigger improvement, and the former needs with opening the weight that way that portable plate stretches out pin supports vehicle body, and the latter then adopts the way of putting down support wheel to keep the balance of car; Such design is actually has sacrificed safety when having improved traveling comfort; If do not have to set up a driving compartment under the basic raising situation in stability, will cause car load top-heavy, can increase the difficulty and the insecurity of driver's operation on the contrary; And be employed in the way that the vehicle body both sides increase support wheel; Under the situation that body inclination, center of gravity change, be danger close equally, a lot of traffic accidents is to take place in the moment that the people does not also react; Above-mentioned two kinds of cars make the people have little time to react under very little scratching or slight bump probably and overturning take place, and cause the generation of bigger traffic accident.
The patent No. is that the patent more above-mentioned two " two wheel carriages " of ZL 98209380.2 " a kind of self-propelled vehiclees " by name should make progress; It has adopted global wheel; Stability to two-wheel car has raising; But compare very big gap is still arranged with the present invention: improvement is only arranged on wheel, and its effect only is the overturning time that has delayed self-propelled vehicle, that is to say that car also can fall; Enumerated the application of a variety of global wheels among its dependent claims and the embodiment; Comprise sphere, oval sphere, two semisphere, two semiellipse spheries etc.; Two semisphere wheels in fact have been two wheels with two semiellipse global wheels, and separately wheel hub and tire are arranged respectively but strictly speaking; The combination that no matter is placed on front or back and another wheel has just constituted three-wheel vehicle, and three-wheel vehicle adopts global wheel and common wheel to have no difference.Therefore we can say that former technology does not well solve the problem of the stability of two-wheel car, can not solve the problem of this essence of poor stability of two-wheel car, blindly pursue safety and traveling comfort, is to attend trifles and neglect essentials, and puts the cart before the horse.
Hydrostatic drive all has application on present automobile and diesel locomotive, belong to existing routine techniques.A power hydraulic system is usually by energy source device, and it is the device that converts mechanical energy to the oil liquid pressure ability, and general the most frequently used is exactly force lift.Executive device, it is the device that can convert the pressure of fluid to mechanical energy, can be hydraulic actuating cylinder or HM Hydraulic Motor.The control and regulation device, they are devices of pressure, flow and the oily flow path direction of fluid in the controlled hydraulic system.Like Hydraulic Elements such as by pass valve, flow regulating valve, change-over valves.Auxiliary device, they are other devices except that above-mentioned three, like fuel tank, filter, hydraulic oil pipe etc.Driving medium, driving medium are meant the fluid that transmits energy, i.e. hydraulic oil.
Summary of the invention the present invention is in order to overcome the shortcoming and defect part of prior art; A kind of spherical double-wheel bidirectional car is provided, and it is applied to two-wheel car with the principle of tumbler, and it adopts the relatively large spherical wheel of diameter; And pass through reasonable structural design; The center of gravity of car load is reduced to below the axle center, and center of gravity to ground-surface vertical dimension is less than the radius of global wheel, when body inclination; Under the effect of gravity, can produce and make vehicle body return to the moment of plumbness, thus make spherical double-wheel bidirectional car have without any need for support or help, wigwag motion and the performance that can not topple in certain amplitude.It is than good stability, the safety and comfort of traditional two-wheeled motor vehicle or battery-driven car, and is more energy-conservation than general car, floor area is little.
Technical scheme of the present invention is following:
A kind of spherical double-wheel bidirectional car comprises that global wheel or parabolic wheel, driving compartment, shock mitigation system, actuating device, engine installation, two groups of both arms torsion bar types turn to and suspension etc.
Described global wheel can adopt single cambered surface flanged pin shape tire, and flange is a solid rubber, and wheel hub has only a groove that tire is installed; Also can adopt three groove shape wheel hubs, be the arc surfaced main tire in the middle of the global wheel, increases a Puffer-type flange respectively in the both sides of global wheel.
Described both arms torsion bar type turns to suspension and comprises transmission levers, both arms torsion bar type guide frame framework, semicircle hollow bogie truck.Both arms torsion bar type guide frame framework becomes hinged with vehicle body and is connected with bumper.Semicircle hollow bogie truck adopts movable the connection with both arms torsion bar type guide frame framework; Semicircle hollow bogie truck turns round in both arms torsion bar type guide frame framework; Semicircle hollow bogie truck two ends are connected with global wheel through hollow shaft; The rear end is connected with aviation rudder formula bearing circle through transmission levers, and semicircle hollow bogie truck also can be employed in this form of the outer revolution of both arms torsion bar type guide frame framework.
Transmission levers, semicircle hollow bogie truck constitute fully enclosed circulation wind path with the actuating device air flue, for the vehicle that adopts the compact internal combustion engine direct drive, use this wind path as intake and exhaust, cooling channel.The power control line of power lead, brake cable or the compact internal combustion engine of electrical motor also can get into global wheel inside through this path simultaneously.
It is the irregular curved surface of circular, avette or approximate ellipsoidal that described driving compartment adopts cab body stage casing cross-sectional plane; Can be two-door or four doors of the such employing of similar orthodox car; Also can adopt the bubble type glass cockpit, canopy can also can be opened forward backward.Can adopt two kinds of forms of a multiplier or saddle-type in the passenger cabin.The seat that adopts the seat multiplier be satisfy the needs of two way can manual or electronic rotation.The backrest of saddle-type is to hang down from roof, with vehicle seat certain clearance is arranged, and is convenient to stride the leg advanced in years of taking the opportunity, and backrest can be that single face is rotatable, also can be two-sided non-rotatable, but regulates before and after can doing or just.No matter be all configurable safety strap of a multiplier or saddle-type.
The actuating device of this car can adopt electrical motor to drive; Said electrical motor can be selected the built-in axle of wheel hub gear, chain, the belt-driving of suspension down for use; Or the high-speed motor of planetary wheel direct drive wheel hub, also can be employed in the mode of built-in small-sized explosive motor direct drive axletree of wheel hub or wheel hub.
The engine installation of this car can adopt the series type hybrid form of combustion engine+battery pack, and the composite battery that also can adopt flying wheel battery and lithium ion battery is as power.
This car also can adopt sealing wheel hub and sealing driving compartment; And increase by a cover wheel hub and give the air compressor and the pipeline of driving compartment supercharging, ventilation, blow in the wheel hub of global wheel through transmission levers, semicircle hollow bogie truck, from the opposite side air-out; Except that actuating device is cooled; Also can make the interior pressure of sealing wheel hub be higher than barometric pressure, and at the bottom of car, set up retractable subtracting and shake aerofoil device, make this car possess amphibious performance with driving compartment.Because be to strike by the rotation of global wheel to advance in water, propulsion coefficient is lower, speed on the water can be very not high, if adopt the higher cross-country type tire of tread to make moderate progress.
The invention has the advantages that: 1, this car has adopted the principle of " tumbler "; Two flanged spheries or oval spherical wheel are the irregular curved driving compartment of circular, avette or approximate ellipsoidal with being attached thereto the cab body stage casing cross-sectional plane that connects; Be positioned at the piggyback pod of driving compartment bottommost; The car load center of gravity is positioned at below the shaft centre line, and center of gravity to ground-surface vertical dimension is less than the radius of global wheel, during body inclination; Vehicle body swings along the cambered surface of global wheel; Center of gravity raises, and can produce to make vehicle body return to the moment of plumbness, makes two-wheel car under static state without any need for supporting or help the performance that can possess wigwag motion in the certain amplitude and can overturning.In extraordinary circumstances, after overturning need take place even rolling like violent bump or stunt, can automatically restore to erectility when stopping, this point is highly beneficial for accident rescue or occupant saving oneself after occurrence of traffic accident; 2, owing to self possessed stability, can as traditional two-wheel car, not fall down, and the support and the protection of airtight driving compartment are arranged, can alleviate injury greatly when accident occurring the occupant; Take turns when bumping with the spheroid that body width is close, very large; Just be equivalent to a safety air bag greatly; Play good energy-absorbing cushioning effect through the elastic force of gas filed spheroid wheel and the distortion of wheel hub, two-wheel car is being compared favourably with car aspect safety and the traveling comfort; 3, the both arms torsion bar type of two groups of global wheels suspension and shock mitigation system can make two-wheel car possess that drive at two ends, the ability of two way, can well solve two-wheel car and install the problem that is difficult for go-cart and reversing behind the sealing driving compartment additional; 4, adopt sealing wheel hub and sealing driving compartment and increase a cover wheel hub and driving compartment supercharging, drafting apparatus and car at the bottom of retractable subtract shake aerofoil device after, possess amphibious performance; 5, both arms torsion bar type bogie truck and vehicle body are hinged, have intensity height and good damping effect, underslung characteristics, and the ability of the vertical obstacle of ascending is strong, and cross country power is superior to automobile and motor bike; 6, this car adopt flying wheel battery+lithium ion battery composite battery as power, energy-conserving and environment-protective.
Description of drawings Fig. 1 is a block diagram of the present invention;
Fig. 2 is that both arms torsion bar inner sliding type turns to and the suspension block diagram;
The lateral plan of outer sliding steering of these both arms of Fig. 3 torsion bar and suspension;
Fig. 4 is the cutaway view of outer sliding steering of both arms torsion bar and suspension;
Fig. 5 is outer sliding steering of both arms torsion bar and suspension A-A face cutaway view.
A kind of spherical double-wheel bidirectional car of the specific embodiment comprises that global wheel 5, vehicle body, driving compartment, shock mitigation system, actuating device, piggyback pod, two groups of both arms torsion bar inner sliding types turn to and suspension or outer sliding steering of both arms torsion bar and suspension etc.
Described two groups of both arms torsion bar inner sliding types turn to suspension and comprise transmission levers 2, both arms torsion bar type guide frame framework 3, semicircle hollow bogie truck 4.Both arms torsion bar type guide frame framework 3 becomes hinged with vehicle body and is connected with bumper 8.Semicircle hollow bogie truck 4 adopts movable the connection with both arms torsion bar type guide frame framework 3; Semicircle hollow bogie truck 4 turns round in both arms torsion bar type guide frame framework 3; Semicircle hollow bogie truck 4 two ends are connected with global wheel 5 through hollow shaft, and the rear end is connected with aviation rudder formula bearing circle 1 through transmission levers 2.
The semicircle hollow bogie truck 4 of outer sliding steering of both arms torsion bar and suspension can be employed in this form of both arms torsion bar type guide frame framework 3 outer revolutions.
These two groups of both arms torsion bar types in car front and back turn to identical with suspension, and all there is aviation rudder formula bearing circle 1 at two ends.At which end drive just to open the aviation rudder formula bearing circle of where holding 1, the locked aviation rudder formula bearing circle 1 of the other end can doublely be done the backrest of back seat, also can fold contraction.Both arms torsion bar type guide frame framework 3 is hinged with vehicle body, has intensity height and good damping effect, underslung characteristics, and the ability of the vertical obstacle of ascending is strong, and cross country power is superior to automobile and motor bike.Both arms torsion bar type guide frame framework 3 and semicircle hollow bogie truck 4 can adopt roller or the antifriction-bearing box resistance of reducing friction.
This car can adopt electrical motor to drive; Electrical motor can be selected the built-in axle of wheel hub gear 7, chain, the belt-driving of suspension down for use; Or the high-speed motor of planetary wheel direct drive wheel hub, also can be employed in the mode of built-in small-sized explosive motor direct drive axletree of wheel hub or wheel hub.Can remove driving system from like this, solve the problem of global wheel two-wheel drive mechanical drive difficulty.For adopting power and all bigger combustion engine of volume, must place in the piggyback pod, can adopt hydraulicdriven mode.
The power of this car can adopt the series type hybrid form of combustion engine+electrical generator+battery pack or combustion engine+battery pack, and the composite battery that also can adopt flying wheel battery and lithium ion battery is as power.
Described global wheel 5 can adopt single cambered surface flanged pin shape tire, and flange is a solid rubber, and wheel hub 6 has a groove that tire is installed; Also can adopt three groove shape wheel hubs, be the arc surfaced main tire in the middle of the global wheel 5, increases a Puffer-type flange respectively in the both sides of main tire.
The flange of global wheel 5 can play the effect of auxiliary wheel: limit the maximum inclination angle of this car, prevent to topple over; Flange the position is set: near more apart from the vertical line of centers of global wheel, the tiltable angle of vehicle body is more little, otherwise; Far away apart from the vertical line of centers of global wheel, the closer to two ends, the tiltable angle of vehicle body is big more, if flange is the Puffer-type that is independent of main tire; When main tire is blown out or leak gas in a large number; Can play the effect of spare tyre, keep low speed driving, be unlikely on the way to cast anchor.
With respect to the wheel of common comparatively thin two-wheel car, global wheel 5 is comparatively roomy, and impact-resistant better performances when occurrence of traffic accident, can play the effect of energy-absorbing damping preferably, reduces the injury to the occupant; When on hard surfacing, going, global wheel 5 is less with the ground-surface contact surface, helps running at high speed, and when going in the place of softer mire, has larger area with ground to contact, and wheel can not be sagged easily, and through performance is better; The two-wheel car that adopts global wheel 5 is when turning; Meeting can be not needing automatic deceleration under the artificial situation about controlling, when the flange of global wheel 5 contacts the road surface to take turns less part contact road surface, footpath behind the body inclination; Can also play the effect of breakking away of preventing, improve the safety when going.Because this car self has stability; Therefore vehicle body can suitably extend; Develop into three of tandems, all the people present even multi-place vehicle more, perhaps tandem three-wheel, four-wheel vehicle, the air resistance when its long and narrow and fleetline vehicle body helps reducing high-speed cruising; And can on narrow or crowded road, walk, can have than four-wheel car application widely.
It is the irregular curved surface of circular, avette or approximate ellipsoidal that described driving compartment adopts cab body stage casing cross-sectional plane; Can be two-door or four doors of the such employing of similar orthodox car; Also can adopt the bubble type glass cockpit as the fighter plane canopy, the integral glass canopy can also can be opened forward backward.Can adopt two kinds of forms of a multiplier or saddle-type in the passenger cabin.The seat that adopts the seat multiplier be satisfy the needs of two way can manual or electronic rotation.The backrest of saddle-type is to hang down from roof, with vehicle seat certain clearance is arranged, and is convenient to stride the leg advanced in years of taking the opportunity, and backrest can be that single face is rotatable, also can be two-sided non-rotatable, but regulates before and after can doing or just.No matter be all configurable safety strap of a multiplier or saddle-type.
This car also can adopt sealing wheel hub and sealing driving compartment, and increases by a cover wheel hub and give the air compressor and the pipeline of driving compartment supercharging, ventilation, through transmission levers 2; Semicircle hollow bogie truck 4 is blown in the wheel hub 6 of global wheel 5; From the opposite side air-out,, also can make the interior pressure of sealing wheel hub be higher than barometric pressure with driving compartment except that to the electrical motor cooling cooling; And at the bottom of car, set up retractable subtracting and shake aerofoil device, make this car possess amphibious performance.Because be to strike by the rotation of global wheel 5 to advance in water, propulsion coefficient is lower, speed on the water can be very not high, if adopt the higher cross-country type tire of tread to make moderate progress.
The piggyback pod of this car is positioned at the bottommost of driving compartment; The position of piggyback pod is lower than axle centerline, and the above driving compartment of piggyback pod should adopt light material manufacturings such as aluminum alloy, carbon fiber composite material, and thicker steel plate should be adopted in the bottom of piggyback pod; Play the effect of protection engine installation and counterweight; The application of both arms torsion bar type bogie truck, axle be the actuating device of suspension down, and the car load center of gravity is positioned at below the shaft centre line, and center of gravity to ground-surface vertical dimension is less than the radius of global wheel.During body inclination, vehicle body swings along the cambered surface of global wheel, and center of gravity raises; Can produce makes vehicle body return to the moment of plumbness; Make two-wheel car under static state without any need for support or help can possess homeostasis, wigwag motion and performance that can overturning in extraordinary circumstances, needs like violent bump or stunt in certain amplitude; After overturning takes place even rolling, can automatically restore to erectility when stopping;
Engine installation of the present invention also can adopt compact internal combustion engine, can adopt the mode of global wheel built-in motor direct drive wheel hub 6, but comparatively speaking, is more suitable in developing into battery-driven car.This be because: 1, big, the installation site of the volume of explosive motor is not suitable for being integrated in the vehicle body bottommost to greatest extent, is difficult to satisfy the requirement of low center of gravity; If 2 do not adopt the form of global wheel built-in motor direct drive wheel hub, transmission device is complicated, wants to realize that the two-wheel driving possibly need to adopt hydrostatic drive; 3, be difficult to possess the amphicheirality, installing additional behind the leak free driving compartment can not go-cart as common two-wheel car, can not as four-wheeled, move backward, and can increase some troubles in the daily use.Therefore be more suitable for making pure electric vehicle or series hybrid electric vehicle.Electrokinetic cell can be made suitable shape as the case may be; Be placed in the bottommost of vehicle body, help satisfying the requirement of low center of gravity, and do not need complicated transmission device; It is much simple that the switching-over of electrical motor is also wanted, but be fit to make the car of two way, two-wheel driving.
Claims (5)
1. spherical double-wheel bidirectional car; Comprise that wheel, vehicle body, driving compartment, shock mitigation system, both arms torsion bar type turn to and suspension, engine installation, actuating device; It is characterized in that: described wheel is a global wheel; Global wheel (5) is for adopting single cambered surface flanged pin shape tire, and wheel hub (6) has a groove that tire is installed; Or adopt three groove shape wheel hubs; In the middle of the global wheel (5) is the arc surfaced main tire, increases a flange respectively in the both sides of main tire, and actuating device is in global wheel wheel hub (6); Hang on the bottom of hollow shaft; Turn to suspension and vehicle body hingedly through the both arms torsion bar type, driving compartment cab body stage casing cross-sectional plane is circular or the irregular curved of avette or approximate ellipsoidal, is equipped with aviation rudder formula bearing circle (1) before and after the driving compartment; To the aviation rudder formula bearing circle (1) which end goes and where holds with regard to opening, locked, double backrest or the folding contraction of doing back seat of other end aviation rudder formula bearing circle (1); Engine installation is positioned at the bottommost of driving compartment, and the position of engine installation is lower than axle centerline, and the car load center of gravity also is positioned at below the shaft centre line, and center of gravity to ground-surface vertical dimension is less than the radius of global wheel; The both arms torsion bar type turns to suspension and has two groups; Two groups of both arms torsion bar types turn to identical with suspension before and after this car; Comprise that both arms torsion bar type guide frame framework (3), semicircle hollow bogie truck (4), both arms torsion bar type guide frame framework (3) and vehicle body are hinged; Both arms torsion bar type guide frame framework (3) is connected with bumper (8), and semicircle hollow bogie truck (4) adopts movable the connection with both arms torsion bar type guide frame framework (3), and semicircle hollow bogie truck (4) turns round in both arms torsion bar type guide frame framework (3); Its two ends are connected with global wheel (5) through hollow shaft; The middle part, rear end is connected with transmission levers (2), and transmission levers (2), semicircle hollow bogie truck (4) constitute fully enclosed circulation wind path with actuating device air flue (9), as actuating device intake and exhaust, cooling channel; Power lead, the brake cable of while electrical motor, the fuel pipe of compact internal combustion engine, power control line, hydraulicdriven hydraulic oil pipe get into global wheel (5) inside through this path.
2. spherical double-wheel bidirectional car according to claim 1; It is characterized in that: this car adopts sealing wheel hub and sealing driving compartment; And increase by a cover wheel hub and give the air compressor and the pipeline of driving compartment supercharging, ventilation, through transmission levers (2), semicircle hollow bogie truck (4) is side air-supply in the wheel hub (6) of global wheel (5); From the opposite side air-out, set up and to shake aerofoil device by subtracting of folding and unfolding in the car bottom.
3. spherical double-wheel bidirectional car according to claim 1; It is characterized in that: adopt seat multiplier or two kinds of forms of saddle-type in the driving compartment; The seat of seat multiplier is manual or electronic rotation, and the backrest of saddle-type is to hang down from roof, with vehicle seat certain clearance is arranged; Backrest is single face rotation or two-sided non-rotatable, and height is regulated or front and back are regulated but can do.
4. spherical double-wheel bidirectional car according to claim 1 is characterized in that: the flange of global wheel (5) be Puffer-type and with main tire be one or split.
5. spherical double-wheel bidirectional car according to claim 1 is characterized in that: the flange of global wheel (5) be solid rubber and with main tire be one or split.
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| CN2010102544331A CN101920730B (en) | 2010-08-18 | 2010-08-18 | Spherical double-wheel bidirectional car |
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| CN2010102544331A CN101920730B (en) | 2010-08-18 | 2010-08-18 | Spherical double-wheel bidirectional car |
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| CN101920730A CN101920730A (en) | 2010-12-22 |
| CN101920730B true CN101920730B (en) | 2012-11-21 |
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| CN2010102544331A Expired - Fee Related CN101920730B (en) | 2010-08-18 | 2010-08-18 | Spherical double-wheel bidirectional car |
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| CN104924866A (en) * | 2015-07-14 | 2015-09-23 | 合肥多加农业科技有限公司 | Remote control type two-wheeled flying vehicle |
| CN106476888B (en) * | 2016-10-28 | 2019-05-21 | 东莞市强乐塑胶制品有限公司 | Universal vehicle |
| CN106741402A (en) * | 2016-12-22 | 2017-05-31 | 桂林电子科技大学 | It is capable of achieving double ball wheel walking mechanisms of lateral translation |
| CN106985869B (en) * | 2016-12-29 | 2019-05-17 | 比亚迪股份有限公司 | For the steering mechanism of track train, track train and Rail Transit System |
| GB2559814B (en) * | 2017-02-21 | 2019-05-22 | Area 52 Ltd | Load carrying device |
| CN106926655A (en) * | 2017-03-15 | 2017-07-07 | 上海工程技术大学 | A kind of four rotor intelligent automobiles |
| CN107117226A (en) * | 2017-05-09 | 2017-09-01 | 陈素珍 | A kind of lithium battery car of town road with LED |
| CN107472209B (en) * | 2017-07-26 | 2020-08-21 | 四川途爱绿道科技有限公司 | Tumbler type parking structure of two-wheeled electric vehicle and two-wheeled electric vehicle |
| CN107364281B (en) * | 2017-07-31 | 2021-03-26 | 熊鹏 | Spherical tire driving system and spherical tire automobile with same |
| US11267283B2 (en) | 2019-04-05 | 2022-03-08 | Honda Motor Co., Ltd. | Omni-direction wheel system and methods for controlling the omni-direction wheel system |
| CN110094091B (en) * | 2019-05-23 | 2024-05-14 | 上海理工大学 | Spherical wheel bidirectional moving parking space mechanism |
| CN111806175B (en) * | 2019-08-05 | 2021-11-02 | 郑庆华 | Independent suspension mechanism with rear wheel capable of vertically jumping and wheel driving method |
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|---|---|---|---|---|
| US1989573A (en) * | 1932-12-15 | 1935-01-29 | Loutzkoy Boris Von | Monotrack vehicle |
| CN2345424Y (en) * | 1998-04-22 | 1999-10-27 | 吴旭榕 | Motor vehicle |
| CN2355950Y (en) * | 1999-02-03 | 1999-12-29 | 赵树海 | Two-wheel car |
| CN201395180Y (en) * | 2009-05-13 | 2010-02-03 | 孙悦铷 | Two-wheeled car |
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