CN104527876A - Self-balancing monocycle with gravity-center self-adjusting function - Google Patents
Self-balancing monocycle with gravity-center self-adjusting function Download PDFInfo
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- CN104527876A CN104527876A CN201410826266.1A CN201410826266A CN104527876A CN 104527876 A CN104527876 A CN 104527876A CN 201410826266 A CN201410826266 A CN 201410826266A CN 104527876 A CN104527876 A CN 104527876A
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- electromagnet
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- wheelbarrow
- auxiliary wheel
- self
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- 230000005484 gravity Effects 0.000 claims abstract description 15
- 230000005540 biological transmission Effects 0.000 abstract 1
- 230000000694 effects Effects 0.000 description 3
- 230000001133 acceleration Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 2
- 230000000153 supplemental effect Effects 0.000 description 2
- 230000033228 biological regulation Effects 0.000 description 1
- 230000037396 body weight Effects 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 230000007423 decrease Effects 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000013632 homeostatic process Effects 0.000 description 1
- 230000000977 initiatory effect Effects 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 230000007704 transition Effects 0.000 description 1
Classifications
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- 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
- B62K1/00—Unicycles
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- 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
- B62K15/00—Collapsible or foldable cycles
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62H—CYCLE STANDS; SUPPORTS OR HOLDERS FOR PARKING OR STORING CYCLES; APPLIANCES PREVENTING OR INDICATING UNAUTHORIZED USE OR THEFT OF CYCLES; LOCKS INTEGRAL WITH CYCLES; DEVICES FOR LEARNING TO RIDE CYCLES
- B62H1/00—Supports or stands forming part of or attached to cycles
- B62H1/10—Supports or stands forming part of or attached to cycles involving means providing for a stabilised ride
- B62H1/12—Supports or stands forming part of or attached to cycles involving means providing for a stabilised ride using additional wheels
-
- 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
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Rehabilitation Tools (AREA)
- Handcart (AREA)
Abstract
The invention discloses a self-balancing monocycles with a gravity-center self-adjusting function. The self-balancing monocycle with a gravity-center self-adjusting function comprises a monocycle body and two pedals installed on the two sides of the monocycle body, wherein a lead screw is rotatably connected with each pedal, a motor used for actuating the lead screws to rotate is installed in each pedal, the lead screws are connected with the erection columns in a transmission mode through threads, and the motors are electrically connected with a controller of the monocycle. When the monocycle runs at a high speed, the motors actuate the lead screws to rotate backwards to make the pedals move opposite to the advancing/moving direction of the monocycle, so that when a brake is needed, the users only need slight hypsokinesis of body, then the center of gravity immediately moves to the back of the monocycle. Accordingly, timely braking can be achieved and tumble caused by large range of hypsokinesis of body of the users can be avoided.
Description
Technical field
The invention belongs to wheelbarrow construction applications, be specifically related to the self-balancing wheelbarrow that a kind of center of gravity regulates automatically.
Background technology
Self-balancing electronic wheelbarrow is a kind of driven by power, has the walking-replacing tool of homeostasis function; In today of social develop rapidly, traffic congestion has also become universal phenomenon, and electric unicycle replaces bicycle and battery-driven car to be development of fashion as the vehicle.The rise of Self-balancing electronic wheelbarrow, by the traffic revolution that initiation one is new; Existing electric unicycle is when riding, user carrys out corresponding control wheelbarrow by adjustment forward lean or layback and advances or brake, when needing emergency brake in the process of riding with fast speed, health subconsciously can be swung back and wheelbarrow is braked as soon as possible by user greatly, but the excessive crank that easily causes of angle of layback causes falling, there is safety hazard, and the stressed conference excessively of the motor of wheelbarrow makes immediate current excessive, affects the service life of motor.
Summary of the invention
Technical matters to be solved by this invention is: the deficiency existed for prior art, there is provided a kind of simple and ingenious structure, transition layback when can avoid user's sudden stop and the self-balancing wheelbarrow with center of gravity automatic regulation function that causes crank and fall down.
For realizing the object of the present invention, be achieved by the following technical solutions: the self-balancing wheelbarrow that a kind of center of gravity regulates automatically, include car body and be arranged on two pedals on the erection column of car body both sides, described in one or two, the lower surface of pedal is provided with auxiliary wheel system; Described auxiliary wheel system includes auxiliary wheel, the strut bar of described auxiliary wheel is installed, to be molded over below described pedal and the mount pad be rotationally connected with described strut bar, with the drive spindle be rotationally connected in the middle part of strut bar, and the slide block to be rotationally connected with the drive spindle other end, form the slide rail for described skid in described pedal, described slide rail two ends are separately installed with electromagnet A and electromagnet B, and described electromagnet B opposed electromagnets A is in the middle part of pedal; Described slide block two ends are provided with two permanent magnets; Described slide rail extends from pedal one end along tread length direction in the middle part of pedal, is positioned at slide rail two ends and forms the electromagnet container cavity holding described electromagnet A, electromagnet B in pedal; The described electromagnet container cavity being positioned at pedal end is connected with a capping; Described auxiliary wheel fall to end position rear drive bar upper end in the horizontal direction than bottom closer to electromagnet B; Two described pedals are rotatably connected to a screw mandrel along car body fore-and-aft direction, and be provided with a motor in order to drive screw mandrel to rotate in pedal, described screw mandrel is connected by screw-driven with described erection column; Described motor, electromagnet A, electromagnet B are electrically connected with the controller of wheelbarrow respectively, when wheelbarrow speed is lower than the first command speed, controller controls motor and drives screw mandrel rotate thus pedal is moved to wheelbarrow direct of travel front, control electromagnet B with Time Controller and produce the permanent magnet magnetic field in the same way relative with it, electromagnet A produces the reverse magnetic field of the permanent magnet relative with it, drive slide block to move to electromagnet B, thus auxiliary wheel is fallen; When wheelbarrow speed is higher than the second command speed, controller controls motor and drives screw mandrel counter-rotation thus pedal is moved to the rear of wheelbarrow direct of travel, control electromagnet B with Time Controller and produce the reverse magnetic field of the permanent magnet relative with it, electromagnet A produces and the permanent magnet magnetic field in the same way relative with it, drive slide block to move to electromagnet A, thus auxiliary wheel is packed up; Described second command speed is greater than the first command speed.
Preferably: the first described command speed is 2-3km/h, the second described command speed is 10-12km/h, and the forward and backward mobile range of described pedal is 20-50mm.
Preferably: only have in two described pedals below a pedal and be provided with auxiliary wheel system, it is concordant with the wheel lower surface of wheelbarrow when described auxiliary wheel drops to end position.
Preferably: below two described pedals, be all provided with auxiliary wheel system, 5-10mm is exceeded than the wheel lower surface of wheelbarrow when described auxiliary wheel drops to end position.
Compared with prior art, the invention has the beneficial effects as follows: when wheelbarrow speed is higher than (during wheelbarrow speed) during the second command speed, motor driving screw mandrel rotates backward and pedal is moved to the rear of wheelbarrow direct of travel, like this when needs brake, as long as user's health is swung back a little, center of gravity at once moves to wheelbarrow rear portion, can realize braking in time and ensure that user's amplitude of leaning back can not be excessive and cause falling down.When wheelbarrow speed drops to lower than (when wheelbarrow speed is lower) during command speed, motor drives screw mandrel rotation that pedal is moved to the front of wheelbarrow working direction, such user health that do not need to lean forward can keep wheelbarrow low speed and at the uniform velocity travel, thus reduce shank firmly; Simultaneously auxiliary wheel declines and earth surface, even if the wheelbarrow low speed driving user that even stops also can stably stand on pedal like this, does not need to get off, very easy to use; And brake hourly velocity also quickly falls to below command speed, auxiliary wheel declines immediately, and pedal is not also able to do in time to move to the front of wheelbarrow working direction, namely now auxiliary wheel is in the rear position (rear of single wheel wheel and bottom surface contact position) of vehicle body side, the effect of supplemental support can be played, guarantee can not swing back that amplitude is excessive because of user and to cause wheelbarrow motor to bear moment of torsion excessive and out of control, improves safety.
Accompanying drawing explanation
Fig. 1, Fig. 2, Fig. 3 are structural representations of the present invention.
Fig. 4 is the structural representation of the pedal being provided with screw mandrel.
Fig. 5 is the connection structure schematic diagram being provided with each parts of auxiliary wheel system and pedal.
Fig. 6, Fig. 7 are the structural representations of pedal.
1, car body; 11, erection column; 2, pedal; 20, mount pad; 22, slide rail; 23, auxiliary wheel container cavity; 25, motor; 26, screw mandrel; 27, electromagnet container cavity; 3, strut bar; 4, auxiliary wheel; 5, drive spindle; 6, source switch; 7, slide block; 8, capping; 91, electromagnet A; 92, electromagnet B.
Detailed description of the invention
With reference to the accompanying drawings the specific embodiment of the present invention is made a detailed explanation below.
embodiment 1
According to Fig. 1 and Fig. 7, the self-balancing wheelbarrow that a kind of center of gravity described in the present embodiment regulates automatically, include car body 1 and be arranged on two pedals 2 on car body both sides erection column 11, described in one or two, the lower surface of pedal is provided with auxiliary wheel system; Described auxiliary wheel system includes auxiliary wheel 4, the strut bar 3 of described auxiliary wheel is installed, to be molded over below described pedal and the mount pad 20 be rotationally connected with described strut bar, with the drive spindle 5 be rotationally connected in the middle part of strut bar, and the slide block 7 to be rotationally connected with the drive spindle other end, form the slide rail 22 for described skid in described pedal, described slide rail two ends are separately installed with electromagnet A91 and electromagnet B92, and described electromagnet B opposed electromagnets A is in the middle part of pedal; Described slide block two ends are provided with two permanent magnet (not shown)s; Described slide rail extends from pedal one end along tread length direction in the middle part of pedal, is positioned at slide rail two ends and forms the electromagnet container cavity 27 holding described electromagnet A, electromagnet B in pedal; The described electromagnet container cavity being positioned at pedal end is connected with a capping 8; Described auxiliary wheel fall to end position rear drive bar upper end in the horizontal direction than bottom closer to electromagnet B; Two described pedals are rotatably connected to a screw mandrel 26 along car body fore-and-aft direction, and be provided with a motor 25 in order to drive screw mandrel to rotate in pedal, described screw mandrel is connected by screw-driven with described erection column; Described motor, electromagnet A, electromagnet B are electrically connected with the controller of wheelbarrow respectively, when wheelbarrow speed is lower than 2km/h, controller controls motor and drives screw mandrel rotate thus pedal is moved to wheelbarrow direct of travel front, control electromagnet B with Time Controller and produce the permanent magnet magnetic field in the same way relative with it, electromagnet A produces the reverse magnetic field of the permanent magnet relative with it, drive slide block to move to electromagnet B, thus auxiliary wheel is fallen; When wheelbarrow speed is higher than 10km/h, controller controls motor and drives screw mandrel counter-rotation thus pedal is moved to the rear of wheelbarrow direct of travel, control electromagnet B with Time Controller and produce the reverse magnetic field of the permanent magnet relative with it, electromagnet A produces and the permanent magnet magnetic field in the same way relative with it, drive slide block to move to electromagnet A, thus auxiliary wheel is packed up.
Described auxiliary wheel fall to end position rear drive bar upper end in the horizontal direction than bottom closer to electromagnet B.Suction due to electromagnet is limited is difficult to the body weight supporting user, as long as but the upper end of drive spindle in the horizontal direction than bottom closer to electromagnet B, after so drive spindle is subject to the thrust of strut bar, the upper end of drive spindle is pressure instead of the magnetic field force relying on electromagnet B to the power that electromagnet B produces, so just can ensure that auxiliary wheel can play auxiliary effect after falling, and the horsepower output of electromagnet B does not need very large.
Offer the auxiliary wheel container cavity 23 holding collapsed state auxiliary wheel bottom described pedal, the inner side of described capping offers the electromagnet installation cavity installing electromagnet A.
Only have in two described pedals below a pedal and auxiliary wheel system is installed, it is concordant with the wheel lower surface of wheelbarrow when described auxiliary wheel drops to end position, such auxiliary wheel coordinates with wheel stable support can live wheelbarrow, even if the wheelbarrow low speed driving user that even stops also can stably stand on pedal like this, do not need to get off
A notch portion is formed, the width 20-50mm larger than the width of erection column of notch portion, the amplitude that namely pedal is movable in the middle of described pedal.Described motor is arranged on side in pedal, and motor output shaft is directly coaxially connected with screw mandrel; Or motor output shaft connects train of reduction gears, and then the mouth of train of reduction gears is connected with screw mandrel.When this pedal is provided with auxiliary wheel system, the second motor of auxiliary wheel system is arranged on the opposite side of pedal.
The connection location of screw mandrel and pedal is near the top of pedal, and the bottom of pedal and erection column lateral wall offset thus can maintain horizontality after pedal is launched.
Described controller is equipped with gyro sensor and acceleration pick-up, gyro sensor controller is controlled state of equilibrium that wheelbarrow fore-and-aft direction is in level, when body gravity deflection front or rear, controller correspondingly controls motor forward or reverse, when the amplitude of user's body forward, rear-inclined is larger, the side-play amount that acceleration pick-up detects is larger, then controller correspondingly controls the rotating speed increase of motor.
For the electric unicycle that wheel is 14 inches, when wheelbarrow speed is higher than 10km/h, controller control motor driving screw mandrel rotates backward and pedal is moved to the rear of wheelbarrow direct of travel, like this when needs brake, as long as user's health is swung back a little, center of gravity at once moves to wheelbarrow rear portion, can realize braking in time and ensure that user's amplitude of leaning back can not be excessive and cause falling down.When wheelbarrow speed drops to lower than (when wheelbarrow speed is lower) during command speed, motor drives screw mandrel rotation that pedal is moved to the front of wheelbarrow working direction, such user health that do not need to lean forward can keep wheelbarrow low speed and at the uniform velocity travel, thus reduce shank firmly; Simultaneously auxiliary wheel declines and earth surface, even if the wheelbarrow low speed driving user that even stops also can stably stand on pedal like this, does not need to get off, very easy to use; And brake hourly velocity also quickly falls to below command speed, auxiliary wheel declines immediately, and pedal is not also able to do in time to move to the front of wheelbarrow working direction, namely now auxiliary wheel is in the rear position (rear of single wheel wheel and ground-contacting position) of vehicle body side, the effect of supplemental support can be played, guarantee can not swing back that amplitude is excessive because of user and to cause wheelbarrow motor to bear moment of torsion excessive and out of control, improves safety.
For the electric unicycle that wheel is 16 inches, can set when wheelbarrow speed is higher than 15km/h, motor driving screw mandrel rotates backward and pedal is moved to the rear of wheelbarrow direct of travel.
embodiment 2
The self-balancing wheelbarrow that a kind of center of gravity described in the present embodiment described in the present embodiment regulates automatically, include car body 1 and be arranged on two pedals 2 on car body both sides erection column 11, described in one or two, the lower surface of pedal is provided with auxiliary wheel system; Described auxiliary wheel system includes auxiliary wheel 4, the strut bar 3 of described auxiliary wheel is installed, to be molded over below described pedal and the mount pad 20 be rotationally connected with described strut bar, with the drive spindle 5 be rotationally connected in the middle part of strut bar, and the slide block 7 to be rotationally connected with the drive spindle other end, form the slide rail 22 for described skid in described pedal, described slide rail two ends are separately installed with electromagnet A91 and electromagnet B92, and described electromagnet B opposed electromagnets A is in the middle part of pedal; Described slide block two ends are provided with two permanent magnet (not shown)s; Described slide rail extends from pedal one end along tread length direction in the middle part of pedal, is positioned at slide rail two ends and forms the electromagnet container cavity 27 holding described electromagnet A, electromagnet B in pedal; The described electromagnet container cavity being positioned at pedal end is connected with a capping 8; Described auxiliary wheel fall to end position rear drive bar upper end in the horizontal direction than bottom closer to electromagnet B; Two described pedals are rotatably connected to a screw mandrel 26 along car body fore-and-aft direction, and be provided with a motor 25 in order to drive screw mandrel to rotate in pedal, described screw mandrel is connected by screw-driven with described erection column; Described motor, electromagnet A, electromagnet B are electrically connected with the controller of wheelbarrow respectively, and car body are provided with a change-over switch in order to switch controller mode be electrically connected with controller; When change-over switch is positioned at the first state, mode is identical with embodiment 1, namely when wheelbarrow speed is lower than 2km/h, controller controls motor and drives screw mandrel rotate thus pedal is moved to wheelbarrow direct of travel front, control electromagnet B with Time Controller and produce the permanent magnet magnetic field in the same way relative with it, electromagnet A produces the reverse magnetic field of the permanent magnet relative with it, drives slide block to move to electromagnet B, thus auxiliary wheel is fallen; When wheelbarrow speed is higher than 10km/h, controller controls motor and drives screw mandrel counter-rotation thus pedal is moved to the rear of wheelbarrow direct of travel, control electromagnet B with Time Controller and produce the reverse magnetic field of the permanent magnet relative with it, electromagnet A produces and the permanent magnet magnetic field in the same way relative with it, drive slide block to move to electromagnet A, thus auxiliary wheel is packed up; When change-over switch pushes another state, controller mode changes, when wheelbarrow speed improves, motor driving screw mandrel rotates forward and pedal is moved to wheelbarrow direct of travel front, when wheelbarrow speed declines, motor driving screw mandrel rotates backward and pedal is moved to the rear of wheelbarrow direct of travel, and when wheelbarrow speed is lower than 2km/h, controller controls electromagnet A, electromagnet B and drives auxiliary wheel to decline.
When change-over switch is in the first state, is suitable for using in or the uneven situation in ground more people, is beneficial to like this and brakes safely, identical with embodiment 1 object.When change-over switch is in the second state, is suitable for travelling (when namely not needing emergency brake) in spacious flat road surface, is particularly suited for travelling more at a distance; Specifically, after the speed of a motor vehicle improves, pedal moves forward, and user's center of gravity is moved forward, and such user's health did not just need to turn forward significantly, and health (especially shank) does not need to exert all one's strength, and reduces the sense of fatigue ridden in way far away.
All auxiliary wheel system is installed below two described pedals, when described auxiliary wheel drops to end position, exceeds 5-10mm than the wheel lower surface of wheelbarrow.Can tilt toward either side at low speed driving or when stopping like this, rely on an auxiliary wheel and wheel to coordinate and maintain balance, and two auxiliary wheels and wheel can not land, and guarantee that wheel unsettledly can not cause wheelbarrow lack of equilibrium simultaneously.
Claims (4)
1. the self-balancing wheelbarrow that automatically regulates of center of gravity, include car body and be arranged on two pedals on the erection column of car body both sides, described in one or two, the lower surface of pedal is provided with auxiliary wheel system; Described auxiliary wheel system includes auxiliary wheel, the strut bar of described auxiliary wheel is installed, to be molded over below described pedal and the mount pad be rotationally connected with described strut bar, with the drive spindle be rotationally connected in the middle part of strut bar, and the slide block to be rotationally connected with the drive spindle other end, form the slide rail for described skid in described pedal, described slide rail two ends are separately installed with electromagnet A and electromagnet B, and described electromagnet B opposed electromagnets A is in the middle part of pedal; Described slide block two ends are provided with two permanent magnets; Described slide rail extends from pedal one end along tread length direction in the middle part of pedal, is positioned at slide rail two ends and forms the electromagnet container cavity holding described electromagnet A, electromagnet B in pedal; The described electromagnet container cavity being positioned at pedal end is connected with a capping; Described auxiliary wheel fall to end position rear drive bar upper end in the horizontal direction than bottom closer to electromagnet B; It is characterized in that:
Two described pedals are rotatably connected to a screw mandrel along car body fore-and-aft direction, and be provided with a motor in order to drive screw mandrel to rotate in pedal, described screw mandrel is connected by screw-driven with described erection column; Described motor, electromagnet A, electromagnet B are electrically connected with the controller of wheelbarrow respectively, when wheelbarrow speed is lower than the first command speed, controller controls motor and drives screw mandrel rotate thus pedal is moved to wheelbarrow direct of travel front, control electromagnet B with Time Controller and produce the permanent magnet magnetic field in the same way relative with it, electromagnet A produces the reverse magnetic field of the permanent magnet relative with it, drive slide block to move to electromagnet B, thus auxiliary wheel is fallen; When wheelbarrow speed is higher than the second command speed, controller controls motor and drives screw mandrel counter-rotation thus pedal is moved to the rear of wheelbarrow direct of travel, control electromagnet B with Time Controller and produce the reverse magnetic field of the permanent magnet relative with it, electromagnet A produces and the permanent magnet magnetic field in the same way relative with it, drive slide block to move to electromagnet A, thus auxiliary wheel is packed up; Described second command speed is greater than the first command speed.
2. the self-balancing wheelbarrow that automatically regulates of a kind of center of gravity according to claim 1, it is characterized in that: the first described command speed is 2-3km/h, the second described command speed is 10-12km/h, and the forward and backward mobile range of described pedal is 20-50mm.
3. the self-balancing wheelbarrow that automatically regulates of a kind of center of gravity according to claim 1 and 2, it is characterized in that: only have in two described pedals below a pedal and auxiliary wheel system is installed, concordant with the wheel lower surface of wheelbarrow when described auxiliary wheel drops to end position.
4. the self-balancing wheelbarrow that automatically regulates of a kind of center of gravity according to claim 1 and 2, it is characterized in that: below two described pedals, all auxiliary wheel system is installed, when described auxiliary wheel drops to end position, exceed 5-10mm than the wheel lower surface of wheelbarrow.
Priority Applications (4)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610447502.8A CN105947047A (en) | 2014-12-25 | 2014-12-25 | Center-of-gravity self-regulated self-balancing unicycle |
| CN201410826266.1A CN104527876B (en) | 2014-12-25 | 2014-12-25 | Self-balancing monocycle with gravity-center self-adjusting function |
| CN201610455337.0A CN105857465A (en) | 2014-12-25 | 2014-12-25 | Self-balancing monocycle with gravity center capable of being automatically adjusted |
| CN201610452725.3A CN105947049A (en) | 2014-12-25 | 2014-12-25 | Center-of-gravity self-regulated self-balancing unicycle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410826266.1A CN104527876B (en) | 2014-12-25 | 2014-12-25 | Self-balancing monocycle with gravity-center self-adjusting function |
Related Child Applications (3)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610452725.3A Division CN105947049A (en) | 2014-12-25 | 2014-12-25 | Center-of-gravity self-regulated self-balancing unicycle |
| CN201610455337.0A Division CN105857465A (en) | 2014-12-25 | 2014-12-25 | Self-balancing monocycle with gravity center capable of being automatically adjusted |
| CN201610447502.8A Division CN105947047A (en) | 2014-12-25 | 2014-12-25 | Center-of-gravity self-regulated self-balancing unicycle |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN104527876A true CN104527876A (en) | 2015-04-22 |
| CN104527876B CN104527876B (en) | 2017-01-25 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201410826266.1A Active CN104527876B (en) | 2014-12-25 | 2014-12-25 | Self-balancing monocycle with gravity-center self-adjusting function |
| CN201610447502.8A Pending CN105947047A (en) | 2014-12-25 | 2014-12-25 | Center-of-gravity self-regulated self-balancing unicycle |
| CN201610452725.3A Pending CN105947049A (en) | 2014-12-25 | 2014-12-25 | Center-of-gravity self-regulated self-balancing unicycle |
| CN201610455337.0A Pending CN105857465A (en) | 2014-12-25 | 2014-12-25 | Self-balancing monocycle with gravity center capable of being automatically adjusted |
Family Applications After (3)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610447502.8A Pending CN105947047A (en) | 2014-12-25 | 2014-12-25 | Center-of-gravity self-regulated self-balancing unicycle |
| CN201610452725.3A Pending CN105947049A (en) | 2014-12-25 | 2014-12-25 | Center-of-gravity self-regulated self-balancing unicycle |
| CN201610455337.0A Pending CN105857465A (en) | 2014-12-25 | 2014-12-25 | Self-balancing monocycle with gravity center capable of being automatically adjusted |
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| CN (4) | CN104527876B (en) |
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| CN105799834A (en) * | 2016-03-19 | 2016-07-27 | 东莞市睿肯电子科技有限公司 | Scooter |
| CN106627893A (en) * | 2016-12-07 | 2017-05-10 | 广东技术师范学院 | Balance scooter and wheeled vehicle |
| CN106828730A (en) * | 2017-01-13 | 2017-06-13 | 福建都市互联信息科技有限公司 | Folding double-wheel self-balancing car |
| WO2017161532A1 (en) * | 2016-03-24 | 2017-09-28 | 罗春晖 | Electric self-balancing scooter |
| WO2017203298A1 (en) * | 2016-05-26 | 2017-11-30 | Timur Artemev | Self-balancing unicycle device with auxiliary support |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN105799834A (en) * | 2016-03-19 | 2016-07-27 | 东莞市睿肯电子科技有限公司 | Scooter |
| CN105799834B (en) * | 2016-03-19 | 2018-04-20 | 东莞市睿肯电子科技有限公司 | A kind of scooter |
| WO2017161532A1 (en) * | 2016-03-24 | 2017-09-28 | 罗春晖 | Electric self-balancing scooter |
| WO2017203298A1 (en) * | 2016-05-26 | 2017-11-30 | Timur Artemev | Self-balancing unicycle device with auxiliary support |
| CN106627893A (en) * | 2016-12-07 | 2017-05-10 | 广东技术师范学院 | Balance scooter and wheeled vehicle |
| CN106828730A (en) * | 2017-01-13 | 2017-06-13 | 福建都市互联信息科技有限公司 | Folding double-wheel self-balancing car |
Also Published As
| Publication number | Publication date |
|---|---|
| CN105947049A (en) | 2016-09-21 |
| CN105947047A (en) | 2016-09-21 |
| CN104527876B (en) | 2017-01-25 |
| CN105857465A (en) | 2016-08-17 |
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