CN102514662A

CN102514662A - Two-wheeled self-balancing electrombile

Info

Publication number: CN102514662A
Application number: CN2011104303480A
Authority: CN
Inventors: 陈和
Original assignee: Individual
Current assignee: Individual
Priority date: 2011-08-18
Filing date: 2011-12-12
Publication date: 2012-06-27
Anticipated expiration: 2031-12-12
Also published as: CN102514662B

Abstract

The invention proposes a novel two-wheel self-balancing electric vehicle, which is characterized in that two wheels that are arranged side by side and can rotate independently. There is a connecting mechanism connecting the two wheels, which can make the two wheels tilt to the left or right in unison. The tilting of the two wheels can make the car turn. When the two wheels are tilted, the connecting mechanism can still keep the running board in a horizontal position. Each wheel is driven by an electric motor, and is also provided with an electronic control system, which enables the pedals of the car to maintain a horizontal balance in the front and rear directions. The cyclist tilts his center of gravity forward, backward, or sideways, and the bike can be directly moved forward in the direction of the tilt. In addition, the present invention further provides some designs for improving the stability and portability of the vehicle.

Description

The double-wheel self-balancing battery-driven car

Technical field

The present invention proposes a kind of electric two-wheel vehicle, two wheels are arranged relative to one another, and the cyclist can stand between two wheels and operates.Exactly, be a kind of stand-type, have before and after the electric two-wheel vehicle of self-balancing function.It is to be noted that especially common axletree is not enjoyed in the rotation of two wheels of this car.

Background technology

The technical examples of the most famous a kind of self-balancing battery-driven car on the our times is that the patent (Personal Mobility Vehicles and Methods, U.S.Patent No.6,302,230B1, Oct.16,2001) by people such as Kamen is disclosed.The patent of Kamen has been summed up the background technology of present self-balancing electric motor car with two wheels, has disclosed the correlation technique of their power drivens and electron steering balance.The self-balancing electric motor car with two wheels that the Kamen patent is disclosed, two wheels that it has opposing parallel to arrange, (or on) is provided with a platform that supplies cyclist (operator) to stand between two wheels; It also is provided with the handle stem of a manipulation usefulness, is used for improving the stability that the cyclist stands, and controls the direction that car is advanced.This self-balancing electric motor car with two wheels began to produce and put goods on the market in 2002, and the commodity of this two-wheel car are named as " Sai Gewei " (Segway).This two-wheel car has all obtained application in a plurality of countries, many aspects, not less than be in a kind of actv., short-range transportation means.

Yet the certain user hopes to use the self-balancing electric motor car with two wheels of not establishing handle stem.Because do not establish the electric motor car with two wheels of handle stem, have bigger portability, dismounting is also more convenient.Particularly, if do not establish handle stem, when car was advanced, the cyclist can vacate both hands and do other thing.Under many environment, more than can become especially important of these advantages.

In the patent of Kamen, the embodiment that handle stem is arranged is successful.But, embodiment that disclosed, that handle stem is not set in this patent, because very difficult practicality of paying, so do not have as the balanced car with two wheels that handle stem is arranged accomplished.

If the cyclist stands on the two-wheel car; If the configuration of two wheels of this car is similar with two wheel arrangement of Segway; The words of handle stem are not set again on the car; The contacted place of cyclist and car so, except the car stretcher supports the support contact point of cyclist's pin, other contact point never again.Therefore, when car is advanced, the cyclist to keep its ankle-joint and kneed stable be difficulty very.Though car itself is can be on longitudinal plane, the dynamical equilibrium before and after automatically keeping owing to lack the strong point, makes cyclist's health not loosen.Cyclist's leg and pin; Except the direct of travel that will control car,, also must regulate the relative position of legs and feet in order to keep the balance of people's car; So cyclist's stance can not remain on a comfortable position usually, car also is difficult to stably advance simultaneously.

Therefore, the market demands car supports that in new ways the cyclist stably rides, and also requires car to control the direction of advancing in new ways.In addition, also require the new mode of this kind can improve the intuitive of the portability of car, stability, control preferably, these require also is the generally expectation to product of this area and relevant field.

Summary of the invention

Car of the present invention is that two side by side, independent rotation each other wheels are arranged.Each wheel has a CD-ROM drive motor, also has the ability of self-balancing before and after on longitudinal plane, keeping.Can supply the cyclist to stand between two wheels of car, the cyclist is with the mode of change before and after center of gravity is on longitudinal plane, and the mode of the canting towards the left and right sides is controlled advancing and turn to of car.Be provided with a bindiny mechanism between two wheel carriers, make two wheels in steering procedure, canting side by side as one man.This function is to have adopted one group of compound parallel polynary pipe link to reach, and every pipe link all is matched with two wheel carriers rotationally, has at least two to be to be configured in different height (for the road surface of riding) in the pipe link.The function of wheel canting has been improved the traveling comfort of legs and feet in stability and the steering procedure of car.

Car can transfer folded form to.When folding, utilize the hinge in the pipe link that two wheels are closed up together, so that carry or store.The car of folded form, an available grip that connects on connection structure is taken and is carried.After car was folding fully, this handle of setting was at all can be not contacted with wheel, wheel carrier.

Structural form during car work makes cyclist's bipod stand on the tread plate that confession station pin is used between two wheels, and makes every one leg of cyclist firmly to contact with the inboard of corresponding wheel carrier.This structural form has increased the quantity of the contact point between cyclist's health and the car, and has disperseed contact point, thereby the feasible two-wheel car of not establishing handle stem, and stability during use and traveling comfort have all obtained theatrical improvement.Between the leg and corresponding wheel carrier that make the cyclist, stably keep wipe contact, on wheel carrier, be provided with the leg plate that supplies the leg contact specially.The surface that contacts with leg on the leg plate is compared with wheel carrier, should have bigger friction force; Its surface configuration also will have bending slightly, with the common profile of adaptive cyclist's shank.

The experience personage is arranged in the industry after combining drawing to check being described in detail of hereinafter, can further understand technical characterstic of the present invention and other advantages associated.

Description of drawings

Fig. 1 is according to double-wheel self-balancing battery-driven car proposed by the invention, a kind of lateral perspective of embodiment.

Fig. 2 is the double-wheel self-balancing battery-driven car of above-mentioned Fig. 1, in the turning process, and the lateral perspective of its two wheels during simultaneously towards lopsidedness.

Fig. 3 is the double-wheel self-balancing battery-driven car of above-mentioned Fig. 1, its bindiny mechanism bowing to transparent view when partially folded.

Fig. 4 is the double-wheel self-balancing battery-driven car of above-mentioned Fig. 1, the lateral plan of its bindiny mechanism when folding fully.Can see the handle that in bindiny mechanism, disposes.

Fig. 5 is according to double-wheel self-balancing battery-driven car proposed by the invention, the lateral perspective of another kind of embodiment.Illustrate in the turning process, its two wheels whiles are towards the sight of lopsidedness.

Fig. 6 is another embodiment according to double-wheel self-balancing battery-driven car proposed by the invention, is the lateral perspective of the local detail around the handgrip.These details illustrate the bias voltage resetting block of a kind of relevant handgrip proposed by the invention and its catch gear.

Fig. 7 is according to another embodiment of double-wheel self-balancing battery-driven car proposed by the invention, illustrates the outside that stretcher is arranged on wheel.

These instances will detail hereinafter.

The specific embodiment

Consult Fig. 1, this is the lateral perspective of a kind of double-wheel self-balancing battery-driven car embodiment proposed by the invention.Among the figure there be the composition of double-wheel self-balancing battery-driven car 100: two wheels, first wheel 110 and second wheel 111; Two wheel carriers, first wheel carrier 120 and second wheel carrier 121, each wheel are connected with a wheel carrier separately; A bindiny mechanism 130, its end links to each other with first wheel carrier 120, and the other end links to each other with second wheel carrier 121; Two tread plates 140, their positions between two

wheels

110 and 111, their confession cyclists' the both feet use of standing; And a handgrip 133, it connects in bindiny mechanism 130, is used for guiding and supporting battery-driven car 100.What figure was last 132 is hinges, the 150th, and leg plate will be explained hereinafter.

Wheel

110 and 111 is each other side by side, minute surface is provided with symmetrically, is parallel basically, and they do not have common axletree, so they can independent rotation, and separately can with different speed with/or with different direction rotations.(point out that in passing the central axis of wheel is meant, perpendicular to the central axis of wheel plane.The axletree of wheel is meant, the entity center shaft of vertical wheel plane.) the desirable scope of wheel size dimension is very wide, wheel shown in Figure 1 is bigger, and its diameter is similar with adult's shank length.Two

wheels

110 and 111, matched with wheel carrier 120,121 respectively separately, first wheel carrier 120 is identical with the structure of second wheel carrier 121, they can adopt various possible shapes, as long as do not hinder wheel 110 with 111 with bindiny mechanism 130 between be connected.In this embodiment,

wheel carrier

120 and 121 is the shapes that are the case shape, and

wheel

110 and 111 is covered, and partly seals.The basic function of wheel carrier is that wheel 110,111 is connected with bindiny mechanism 130.In addition,

wheel carrier

120 and 121 also has other like: the support and the guiding of wheel 110,111, wheel 110,111 rainproof and dustproof prevents the purposes of wheel 110,111 and contacting of human body or clothes etc.

Visible from Fig. 1, the present invention designs two wheels to such an extent that have some negative incidences.As everybody knows, hope that from headstock the angle of wheel and plumb bob vertical is called camber angle (Camber) to wheel,, be [eight] font, be called negative incidence (Negative Camber) if the wheel upper end slopes inwardly.This can help the cyclist to overcome the centnifugal force when turning, and the cyclist contacts shank with the firm of leg plate.

Bindiny mechanism 130 is horizontal arrangement normally, and an end and the wheel carrier 120 of this mechanism be matched, and the other end and wheel carrier 121 are matched.Bindiny mechanism 130 is made up of three elongated pipe links 131, and wherein two is to be positioned on the same horizontal surface, and the 3rd location of root is lower than above-mentioned horizontal surface.(in fact, can design the quantity and the configuration of pipe link in addition,, for the road surface of riding, be in different height just as long as wherein have two pipe links at least.) three pieces pipe links 131 are parallel to each other, each root all connects with wheel carrier 120,121 rotationally.For bindiny mechanism 130, the rotating connection of this kind makes

wheel

110 and 111 to tilt abreast, and can seriously not upset the horizontal arrangement of bindiny mechanism 130.In the many pipe links, two pipe links 131 that are positioned at differing heights to be arranged at least, be used to

wheel

110 and 111 are connected with each other, must make and two

wheels

110 and 111 canting of equidirectional take place simultaneously, and the close angle of canting normally.If (two wheels are parallel each other, and then their angular dimension numerical value of changing separately equates all the time basically.If two wheels overarch each other, then their angular dimension numerical value of changing separately is unequal basically, but normally akin.) these characteristics of bindiny mechanism 130 are crucial, make

wheel

110 and 111 have towards turn direction canting or bevelled ability, thereby to the turning process, bigger stability are provided, and have reduced the possibility of overturning.

Fig. 2 illustrates the double-wheel self-balancing battery-driven car 100 of above-mentioned Fig. 1, the situation when turnon left.For car is turned towards the left side of car working direction, originally be that the cyclist is first towards left bank,

force wheel

110 and 111 as one man towards left-leaning side.Here said wheel canting is meant that the central axis of wheel and horizon produce has an angle, and the central axis of wheel has not kept level, and this paper is called wheel canting has taken place.The court left side of canting or right is for the car direct of travel.But (the tilt detection unit in the canting action active electron control system of wheel.) each wheel is in the canting process, it is that the position is on the vertical plane surface perpendicular to direct of travel that the angle of generation changes.Turn and be coupled to three pipe links 131 on two

wheel carriers

120 and 121; The angle of level does not change basically; The position that promptly still keeps level basically, but be positioned at those pipe links 131 of differentiated levels, and their level heights respect to one another are that variation has taken place.As shown in Figure 2, two pipe links of top, that root pipe link with respect to lower has just moved some to left more.Make that bindiny mechanism 130 still can keep common level attitude when

wheel

110 and 111 during to the turn direction canting.Connecting two tread plates 140 on two pipe links 131 in top rigidly, is the level attitude that is keeping common equally.Concerning the cyclist, these characteristics have increased safety and traveling comfort.In addition, the translation motion of three pipe links 131, level and the upright position that just causes two tread plates 140 a little translation a bit, make the cyclist can be more steadily, his center of gravity of shifted laterally more cosily.

Be noted that tread plate should have the surface of a load-carrying at least.These figure go up graphic tread plate, are usually can be manned or a kind of instantiation of loading, and the surface of two load-carryings is arranged usually.Obviously, tread plate can be designed to different shape and size, can be matched with bindiny mechanism, and also can be matched with wheel carrier.

It should be appreciated that, no matter whether canting of wheel, the bindiny mechanism that the present invention proposes all makes tread plate can keep basic horizontal state all the time.

Fig. 3 illustrates the double-wheel self-balancing battery-driven car 100 of above-mentioned Fig. 1, the situation when partially folded.Carry for ease and store, the present invention proposes a kind of mode, two wheels of electric motor car with two wheels 100 are drawn close together, from the folded form that uses the form compressing and converting to become.Folded form is meant two distances between the wheel, than non-folded form (running condition) Shi Yaoxiao many.In this example, this folder function is realized by folding bindiny mechanism 130.Specifically, each root pipe link 131 all has a hinge 132.In this example, each hinge 132 is the middle parts that are positioned at corresponding separately pipe link 131, but in general, as long as install hinge 132 to such an extent that can whole bindiny mechanism 130 have been folded up.

Also be provided with a handgrip 133, but in its pipe link 131 one or more is matched.Shown in instance in, handgrip 133 is the middle parts that are positioned at bindiny mechanism 130, roughly is to be positioned on the same vertical plane surface with hinge 132.When handgrip 133 upwards draws, draw and pass to hinge 132, hinge 132 is two

wheels

110 and 111 of linking suitable weight, and institute is so that bindiny mechanism 130 folds up, and is as shown in Figure 3, and two

wheels

110 and 111 can close up together at last.Then, handgrip 133 can be used to take and has carried the car that folded.

Take with hand for ease and carry, further can handgrip 133 be designed to elongate the style of extension, as shown in Figure 4, when bindiny mechanism 130 was folding fully, the last handgrip that draws 133 of figure had extended, and has been elongated to the place that is slightly larger than the wheel external diameter.This function of handgrip 133 realizes by a slide bar 151; One end of slide bar 151 is coupled to handgrip 133 rigidly; The other end is coupled on the pipe link 131; So the setting of slide bar 151 makes handgrip 133 to do vertical moving with respect to the point of connection of bindiny mechanism 130, moves to a certain position of leaving bindiny mechanism 130.When upwards pullling handgrip 133, handgrip 133 at first is to slide into the tensile position of full journey, and the power of further upwards pullling can make bindiny mechanism 130 become above-mentioned folding form.Handgrip 133 should appropriately be arranged with the configuration of slide bar 151, and when bindiny mechanism 130 was folding fully, handgrip 133 will exceed the edge of wheel 110,111 and/or wheel carrier 120,121, feasiblely takes when carrying battery-driven car 100 with hand, and can not run into wheel and wheel carrier.This function was both carried the traveling comfort that provides bigger for taking of people, also made two wheels after folding more to draw close.

Be noted that the method that makes hand exceed wheel and wheel carrier edge is a lot, except using above-mentioned specific slide mechanism, also can adopt other possible modes to realize.

In order to reach best stability, when the cyclist stands, preferably its shank is firmly touched and lean against on the wheel carrier 120,121.The design that multiple spot contact between the cyclist that the present invention proposes and the car, make the cyclist at an easy rate with he pin and shank maintenance in position.Therefore, on car 100, further be provided with two leg plates 150, be configured in respectively on wheel carrier 120 and 121.Leg plate 150 is the inboards that are attached to

wheel carrier

120 and 121, and its position will be provided with height, and when every pin of cyclist stand on the tread plate separately, the outside of two shanks just in time can be touched mutually with leg plate 150 separately separately and leaned on.Leg plate 150 can be processed with material softness, flexible, and like braided material or other suitable materials, leg plate 150 should provide certain friction force, helps the cyclist that his shank is stably touched and leans against on wheel carrier 120 and 121.Leg plate 150 also can further be designed to, the curved surface of spill more slightly, the longitudinal axis of this curved surface is roughly perpendicular with tread plate 140, the shape of curved surface also will with cyclist's roughly match of shank profile.

Fig. 5 is the lateral perspective according to another kind of embodiment proposed by the invention, illustrates a kind of tread plate, and its form is different from the described tread plate of preamble.Visible from scheming to go up, double-wheel self-balancing battery-driven car 200 by:

wheel

210 and 211,

wheel carrier

220 and 221, the bindiny mechanism 230 that has pipe link 231 and leg plate 250 etc. are formed.Corresponding parts have essentially identical function in they and the previous examples battery-driven car 100.But, in this instance, do not establish handgrip, do not comprise the method for folding of bindiny mechanism 230.The characteristics of this instance are, two tread plates 240 on the car 200, and each all is to connect rigidly on

wheel carrier

220 and 221 inboard surfaces.These tread plates 240 can be the individual components that connects rigidly on

wheel carrier

220 and 221, also can be on

wheel carrier

220 or 221 separately, use the independent parts that come out with the integrated mold pressing of wheel carrier identical materials.

Fig. 6 has drawn on the double-wheel self-balancing battery-driven car 300, the fragmentary, perspective view around the handgrip 333.Upward visible from scheming, the part of parts such as wheel 311, wheel carrier 321, bindiny mechanism 330, stretcher 340 on the car 300 that only drawn.Two-wheel car 300 also further includes a bias voltage resetting block 354 except having the same function of two-wheel car 100, and the catch gear 350 about handgrip 333.Handgrip 333 is matched with slide bar 351 rigidly; Slide bar 351 can slide on the direction that is approximately perpendicular to bindiny mechanism 330; Therefore handgrip 333 can be with the mode identical with aforementioned electric motor-car 100, the slide bar 351 of handgrip 333 is slided pull out, and handgrip 333 is raise.Bias voltage resetting block 354 is to process with the elastomeric material of one type of rubber, and it is securely attached on the handgrip 333, perhaps in the bindiny mechanism 330, bias voltage resetting block 354 is pushed down between a part in a part on the handgrip 333 and the bindiny mechanism 330.In this example, as shown in the figure, the bulk that bias voltage resetting block 354 is rectangular is securely attached to the bottom of handgrip 333 1 ends.When the car 300 that is in folded form (like Fig. 3 and shown in Figure 4) was erected on the road surface routinely, firmly pushing downwards can make car 300 change the non-folded form of expansion into from folded form on handgrip 333.During beginning; Handgrip 333 is to be in the position of all stretching out, on handgrip 333 firmly downwards during pushing, handgrip 333 at first be along with slide bar 351 together to lower slider; The power that further pushes downwards then; Make that the bindiny mechanism 330 originally be in folded form is able to launch, all stretch basically up to all pipe links 331, and bias voltage resetting block 354 both push down simultaneously by handgrip 333 and pipe link 331.After car 300 was launched into working morphology fully, catch gear 350 can make above-mentioned these parts pin in each position that car 300 is launched fully.

The catch gear 350 of this instance has a tapered end 352, and it can be meshed with dead bolt 353, when it meshes, can stop the bindiny mechanism 330 that has launched to turn back to folded form.If (do not have catch gear 350, then owing to the elasticity or the other reasons of bias voltage resetting block 354, bindiny mechanism 330 may trend towards folding.) when wheel in the turning process during canting, of preamble, several pipe links 331 occurred level against each other move.At this moment, with respect to top two pipe links 331, handgrip 333 is to keep resting on same position, and dead bolt 353 is arranged on the lower pipe link 331, and tapered end 352 also keeps engagement with dead bolt 353.On slide bar 351, produce final making a concerted effort, make 354 compressions of bias voltage resetting block, deform because it has elasticity, trend towards recovering its original state, thus trend towards making whole bindiny mechanism in the middle of resetting into, residing position during non-turning.This position promptly is that two wheels of car are neither taken back basically, also do not take over, and are the minute surface symmetry each other basically.The effect of bias voltage resetting block 354, exactly when car 300 when not receiving the external force of left and right directions, two wheels are can canting.

Tapered end 352 is meshed with dead bolt 353, after the locking to unclamp method a lot, known by the insider.Wherein easy a kind of method is, dead bolt 353 is arranged to resilient parts, with hand pressurization dead bolt 353, tapered end 352 thrown off, and one shakes hands can make 333 the car of mode of operation change folding state into again.

Fig. 7 has proposed another instance; Double-wheel self-balancing battery-driven car 400 on the figure; Except two stretchers 440 were arranged on the outside of two

wheels

410 and 411, remaining part was all similar with above-mentioned instance, and 420 and 421 is wheel carriers; The 431st, the pipe link in the bindiny mechanism 430, bindiny mechanism 430 can change this two cars between folded form and non-folded form.

Two-wheel car proposed by the invention is provided with two electrical motors, and each wheel is separately by a direct motor drive, first direct motor drive, first wheel, second direct motor drive, second wheel.In the instance that the present invention proposes, these electrical motors all are housed in the wheel carrier separately, and outside not being exposed to.Electrical motor is controlled by an electronic control system, and it makes car realize the self-equalizing of front and back on the longitudinal plane.An electronic control system can be controlled two electrical motors on the wheel, also can each wheel has separately independently electronic control system control electrical motor separately.Electronic control system (is used gyrosensor; Accelerometer, or other known in the industry means) can detect car canting forward or backward, according to the signal that detects; Electrical motor is made the suitable acceleration or the response of deceleration, makes the position of the tread plate maintenance anterior-posterior balance of car.Therefore, this electronic control system makes and to stand in the cyclist on the tread plate between two wheels, can be through moving its center of gravity, command car forward with backward.He moves its center of gravity forward or backwards, and car is quickened towards the direction of swerving the weight, and swerves the weight towards the opposite sense that car is advanced, and car will slow down.

As stated, the cyclist turns as making car, and he can be with center of gravity towards the direction shifted laterally that will turn; So the variation of canting has taken place in wheel; Cyclist's leg leans against on the leg plate, is keeping contacting with car, and the variation of position against each other on the horizontal direction has taken place between the pipe link.Electronic control system includes the function of detection with the next item up or multinomial variation message.For example, electronic control system (through parts such as gyroscope, accelerometers) can detect the variation of one or two wheel towards lateral inclination.Then, electronic control system is regulated one or two wheel speed and direction separately, and the velocity contrast of two wheel generations causes car to be turned towards the direction that the cyclist swerves the weight.The control that turns to of car adds the anterior-posterior balance control of car, integrates, and for the cyclist uses two-wheel car proposed by the invention, a kind of method of operating easy, intuition is provided.

Electrical motor comes drive wheels through a kind of transmission device, and the transmission device of various ways is arranged, and commonly used is gear transmission.In the instance of the present invention, employing be a kind of slip gear of common less use.For example, each direct motor drive is a rotation, columniform parts, and its diameter is littler than wheel diameter, and it is contacted with the inner edge of wheel, and the direct motor drive cylindrical parts utilizes friction force, and cylindrical parts drive wheels again rotates.Rotation, the surface of cylindrical member and the inner edge of wheel must compress, and could the rotating torque of electrical motor be passed to wheel.Slip gear can be connected with the wheel of no wheel hub, and the weight ratio of this set is used has the weight of center hub wheel light, so also strengthened the portability of car.

In sum, the present invention proposes a kind of later-model double-wheel self-balancing battery-driven car, be characterized in being provided with two side by side, the ability independent rotation each other wheels.Have a bindiny mechanism that two wheels are linked to each other, this bindiny mechanism can make two wheels as one man towards a left side or towards the Right deviation side.The canting of two wheels can make car turn.When two wheel cantings, this bindiny mechanism still can make tread plate, keeps level attitude.Each wheel each has a direct motor drive, also is provided with to have electronic control system, and this control system makes the tread plate of car, can keep the horizontal equilibrium of fore-and-aft direction.The cyclist to forward and backward or two tilt, just can directly make car advance towards the direction of canting its center of gravity.In addition, the present invention also further provides some to improve car stability and portable design.

Though the various embodiments of above narration have comprised many specific details, should not constitute the restriction that embodiment is comprised scope, nor should only be limited on the diagram of these specified scheme of present proposition.Therefore, the covering scope of these embodiments should be determined by appended claim and corresponding file thereof, rather than by above-mentioned provide instance determined.In addition, should also be appreciated that to the present invention and can also do further change.This patent is intended to contain various variations, purposes or the improvement of carrying out according to principle of the present invention; Also contained with disclosed known arrangement or embodiment and departed to some extent, but still be subordinated to the scope of technology of the present invention and application principle thereof.

Claims

1. A two-wheel self-balancing electric vehicle, which is composed of the following components:

The first wheel and the second wheel are arranged parallel to each other mirror-symmetrically, they have no common axle, they can rotate independently, and can also tilt left and right in unison;

The first wheel frame and the second wheel frame, the first wheel frame is connected to the first wheel, and the second wheel frame is connected to the second wheel;

a connecting mechanism, connecting the first wheel frame and the second wheel frame;

a first motor and a second motor, the first motor drives the first wheel, and the second motor drives the second wheel;

At least one electronic control system controls the first motor and the second motor, so that the pedals of the two-wheeled self-balancing electric vehicle can maintain the horizontal balance in the front and rear directions.

2. The two-wheeled self-balancing electric vehicle according to claim 1, wherein the two-wheeled vehicle can be switched between a folded form and an unfolded form.

3. The two-wheeled self-balancing electric vehicle according to claim 1, wherein the connecting mechanism is composed of at least two connecting rods at different heights, each of which is connected to the first A round frame and the second wheel frame.

4. The two-wheeled self-balancing electric vehicle according to claim 3, characterized in that, the connecting mechanism is further equipped with a handle for carrying the folded two-wheeled self-balancing electric vehicle.

5. The two-wheel self-balancing electric vehicle according to claim 1, characterized in that, both the first wheel and the second wheel have a negative inclination angle.

6. The two-wheeled self-balancing electric vehicle according to claim 1, characterized in that, each of the first wheel frame and the second wheel frame is further provided with a leg rest plate, which are located on the inner side of the respective wheel frames, and Has a slightly concave curved surface.

7. The two-wheeled self-balancing electric vehicle according to claim 1, characterized in that, the connecting mechanism is also provided with a biasing elastic member, so that the tilted first wheel and the second wheel have a reset function. Tendency to return to the positions that are basically mirror-symmetrical to each other when they are not tilted.

8. The two-wheeled self-balancing electric vehicle according to claim 1, characterized in that, the tread plate is arranged between the first wheel frame and the second wheel frame.

9. The two-wheeled self-balancing electric vehicle according to claim 1, characterized in that, the treads are respectively arranged on the outer sides of the first wheel frame and the second wheel frame.

10. The two-wheel self-balancing electric vehicle according to claim 1, characterized in that, the first motor and the second motor use a friction transmission mechanism to respectively drive the first wheel and the second wheel.