CN105691504A - Electric balance car and steering control method thereof - Google Patents
Electric balance car and steering control method thereof Download PDFInfo
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- CN105691504A CN105691504A CN201610025527.9A CN201610025527A CN105691504A CN 105691504 A CN105691504 A CN 105691504A CN 201610025527 A CN201610025527 A CN 201610025527A CN 105691504 A CN105691504 A CN 105691504A
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- pedal
- balance car
- nacelle
- electrodynamic balance
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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
- B62K21/00—Steering devices
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Abstract
The invention discloses an electric balance car. The electric balance car comprises a cabin body, two wheels, a first pedal, a second pedal, a sensor, a control system and a power supply, wherein the two wheels are connected to the cabin body through an axle, the first pedal can rotate relative to the cabin body, the second pedal is fixed relative to the cabin body, the sensor is used for detecting rotating information of the first pedal, and the control system and the power supply are arranged inside the cabin body. The cabin body is rotatably arranged relative to the axle. The sensor is in signal connection with the control system and used for transmitting the rotating information of the first pedal. Steering of the electric balance car can be controlled according to the rotating information of the first pedal. The control system is arranged on the cabin body and can rotate relative to the axle along with the cabin body. According to the electric balance car, no handle needs to be arranged for controlling the steering of the electric balance car any more, the steering of the electric balance car can be achieved only by rotating the pedals forwards or backwards through feet, and therefore both hands of a user are liberated, and meanwhile the electric balance car is convenient to carry.
Description
Technical field
The present invention relates to a kind of walking-replacing tool, particularly relate to a kind of electrodynamic balance car and rotating direction control method thereof。
Background technology
Along with expanding economy, energy scarcity, vehicle emission pollution are day by day serious, traffic congestion many social problems such as generally in city manifest day by day。In recent years, electric motor car, as the vehicles easily of a new generation, was increasingly subject to the welcome of consumer。And electrodynamic balance car is more that of obtaining the favor of consumer as a kind of emerging walking-replacing tool。The patent No. be 201420526748.0 patent document in disclose a kind of electrodynamic balance car, as shown in Figure 1, this electrodynamic balance car includes base 300, be arranged in base 300 control system and the wheel 200 being arranged at base 300 both sides, base 300 is additionally provided with for the pedal for trampling。In order to control the turning of vehicle, on base 300, also it is provided with leader 100。In the process that electrodynamic balance car runs, subscriber station is on base 300, it is necessary to when turning to, user needs swing handle, and control system can be made according to the rotation information control vehicle of the handle detected and being turned to accordingly。Owing to being provided with handle, make the long-pending increase of electrodynamic balance car body, be unfavorable for carrying。It addition, the operation turning to also too busy to get away user's both hands of electrodynamic balance car, it is impossible to the both hands of liberation user。
Therefore necessary existing electrodynamic balance car is improved。
Summary of the invention
The technical problem to be solved in the present invention is to provide a kind of both hands that can liberate user, the electrodynamic balance car being convenient for carrying。
For solving above-mentioned technical problem, the present invention provides following technical scheme: a kind of electrodynamic balance car, including nacelle, two wheels in nacelle it are connected to by wheel shaft, rotating first pedal of relative nacelle, the crus secunda pedal that relative nacelle is fixing, in order to detect the sensor of the first pedal rotation information, it is arranged at the control system in nacelle and power supply, the relative wheel shaft of nacelle is rotatably arranged, sensor is connected the rotation information transmitting the first pedal with control system signal, control system controls turning to of electrodynamic balance car according to the rotation information of the first pedal, control system includes body-sensing balance system, and body-sensing balance system is arranged in nacelle and can rotate relative to wheel shaft with nacelle。
Further, the first pedal is installed in nacelle by a rotating shaft being arranged in nacelle, and nacelle offers the first opening running through outside, and the first pedal is trampled for user by the first opening。
Further, nacelle is fixedly installed a connecting seat, and rotating shaft is installed on this connection seat。
Further, two ends laying respectively at rotating shaft both sides of the first pedal be connected between seat and be respectively arranged with elastic reset part。
Further, elastic reset part is cylindrical rubber part, one end that the end of cylindrical rubber part and the first pedal connects offers a groove, and the end of the first pedal is provided with the projection of one and groove fit, connects and is provided with a groove for holding another end of cylindrical rubber part on seat。
Further, elastic reset part is spring pressuring plate, and one end of spring pressuring plate is fixed on connection seat, and the other end of spring pressuring plate is free end, and free end is in order to the end abutment with the first pedal。
Further, elastic reset part is spring or extension spring。
Further, sensor is Hall element。
The present invention also provides for the rotating direction control method of a kind of electrodynamic balance car, electrodynamic balance car includes the fixing crus secunda pedal of control system, rotating first pedal of relative nacelle, relative nacelle, in order to detect the sensor of the first pedal rotation information, rotating direction control method comprises the steps: that trampling the first pedal makes the first pedal rotate；Sensor detects the rotation information of the first pedal；The rotation information of the first pedal that control system detects according to sensor controls electrodynamic balance car and turns to。
Further, when sensor detects that the first pedal rotates forward, it is transferred to control system left/right transfering the letter breath, when sensor detects that the first pedal rotates backwards, is transferred to control system right/left transfering the letter breath。
Pass through the present invention, provide a kind of novel electrodynamic balance car, described electrodynamic balance car is no longer necessary to arrange handle for controlling turning to of electrodynamic balance car, only the first pedal need to be made to rotate forward or backwards by foot, both turning to of electrodynamic balance car can have been realized, liberate the both hands of user, also made electrodynamic balance car be easy to carry simultaneously。
Accompanying drawing explanation
Fig. 1 is electrodynamic balance car schematic perspective view in prior art；
Fig. 2 is the schematic perspective view of electrodynamic balance car of the present invention；
Fig. 3 is that electrodynamic balance car wheel shown in Fig. 2 splits schematic diagram with nacelle；
Fig. 4 is electrodynamic balance bassinet structure partial resolution schematic diagram shown in Fig. 2；
Fig. 5 is the first pedal and be connected seat attachment structure figure；
Fig. 6 is that in Fig. 4, the first pedal splits schematic diagram with being connected seat attachment structure；
Fig. 7 is the second anti-avulsion part structural representation；
Fig. 8 is that in embodiment five, first pedal splits schematic diagram with being connected seat attachment structure；
Fig. 9 is spring tabletting structure schematic diagram in Fig. 8。
Detailed description of the invention
Below in conjunction with accompanying drawing illustrated in greater detail embodiments of the present invention, embodiments of the invention are in order to the present invention is explained further explanation, but not protection scope of the present invention is limited。
Embodiment one
Referring to shown in Fig. 2, Fig. 3 and Fig. 4, the electrodynamic balance car of the present invention includes nacelle 10 and is positioned at two wheels 11 of nacelle both sides；The control system that is internally provided with of described the nacelle 10 and power supply of the energy is provided for wheel。Wherein, described control system includes body-sensing balance system。Offering axis hole 101 in described nacelle, the wheel shaft 111 of described wheel 11 is fixedly installed on described nacelle 10 inside through described axis hole 101 of crossing。Described electrodynamic balance car also includes the first pedal 12 for trampling and crus secunda pedal 13 for the both feet of user, and namely when subscriber station stands on described electrodynamic balance car, its both feet are trampled respectively on described first pedal 12 and crus secunda pedal 13。Described nacelle 10 offers the first opening 102 running through outside, and described first pedal 12 is trampled for user by the first opening 102, and described crus secunda pedal 13 is one-body molded with described nacelle 10 or is fixed in described nacelle 10 by mechanical connection。The top of described first pedal 12 and crus secunda pedal 13 is also respectively provided with pedal pad 14, described pedal pad 14 is elastic rubber, being provided with below and detect for detecting whether user's both feet are trampled on described first pedal 12 and detecting device on crus secunda pedal 13, described detecting device is connected with described control system signal。When the both feet of user are trampled on described first pedal 12 and described crus secunda pedal 13, both feet can jam on described pedal pad 14, it is positioned at the detecting device below pedal pad 14 to detect and jam on signal, and this signal is transferred to control system, control system controls electrodynamic balance car startup optimization then。In the present embodiment, described detecting device is photoswitch, can also be pressure switch or pressure transducer in addition, as long as or can realize sensor of the invention for other。Described body-sensing balance system includes a gyro sensor, and electrodynamic balance car controls acceleration and the deceleration of electrodynamic balance car by gyro sensor perception user and the skew on an overall center of gravity fore-and-aft direction of car body composition。Such as stand in the user's body on electrodynamic balance car when leaning forward, the overall center of gravity reach that user and car body form, described nacelle 10 can rotate forward relative to wheel shaft 111 along with the reach of overall center of gravity, it is now placed in the balance system of the body-sensing in described nacelle 10 to rotate forward relative to wheel shaft 111 as well as nacelle 10, gyro sensor in described body-sensing balance system detects center of gravity biased forwards, and transmitting a signal to control system, control system can control electrodynamic balance car to preacceleration to maintain the balance of electrodynamic balance car；Otherwise, when moving after user with an overall center of gravity of car body composition, described nacelle 10 can rotate backward by relative wheel shaft 111 along with the rear shifting of overall center of gravity, it is now placed in the balance system of the body-sensing in described nacelle 10 to rotate backward as well as the relative wheel shaft 111 of nacelle 10, gyro sensor in body-sensing balance system can detect that center of gravity offsets backward, and transmitting a signal to control system, control system can control electrodynamic balance car and slow down to maintain the balance of electrodynamic balance car backward。
As shown in Figure 4, Figure 5 and Figure 6, it is internal that described first pedal 12 is installed on described nacelle 10 by a rotating shaft 15, described nacelle 10 is internal is fixedly installed a connecting seat 16, described connection seat 16 is bolted part and is fixed on the bottom surface within described nacelle 10 or on the sidewall of inside, in the present embodiment, described connection seat 16 is bolted part and is fixedly installed on the bottom surface within described nacelle 10。Described rotating shaft 15 is installed on described connection seat 16。Described first pedal 12 can be rotated forward by described rotating shaft 15 or be rotated backward, and described rotating shaft 15 is provided with the sensor 17 of detection the first pedal 12 rotation information。Described control system controls turning to of electrodynamic balance car according to the rotation information of the first pedal 12 detected。As shown in Figure 6, described first pedal 12 is provided with two extension 121, in order to ensure that the connection between extension 121 and described first pedal 12 more fastens, said two extension 121 is one-body molded with described first pedal 12, said two extension 121 is oppositely arranged along two long limits of described first pedal 12 respectively, and all offers the first through hole 1211 in two extension 121。Described connection seat 16 is provided with a projection 161, described protuberance 161 offers the second through hole 1611。Described rotating shaft 15 successively passes through the first through hole 1211 of two extension 121 and second through hole 1611 of described protruding 161, and described protruding 161 cross-under are between two extension 121, thus it is internal that the first pedal 12 is installed in rotation on described nacelle 10。
As shown in Figure 6, in order to prevent described rotating shaft 15 from skidding off between said two extension 121 and described protruding 161, described rotating shaft 15 being provided with anti-avulsion part, described anti-avulsion part is two, respectively the first anti-avulsion part 151 and the second anti-avulsion part 152。Preferably, described first anti-avulsion part 151 is lamellar, is fixedly installed in described rotating shaft 15, and one of them end in rotating shaft 15, its fixed position。Described second anti-avulsion part 152 is fixed in rotating shaft 15 away from the end of the first anti-avulsion part 151, and removably connects with described rotating shaft 15。As shown in Figure 6, described second anti-avulsion part 152 includes bolt 1521 and pad 1522, and for guaranteeing to play the effect of anti-avulsion, the diameter of described pad 1522 is more than the diameter of described second through hole 1611。Described rotating shaft 15 is provided with, away from the end face of the first anti-avulsion part 151, the screw thread coordinated with bolt 1521。Away from the end of described first anti-avulsion part 151 successively through the second through hole 1611 of the first through hole 1211 of two extension 121 and described protruding 161 in described rotating shaft 15, and by described protruding 161 cross-under between described extension 121 after, away from the threaded engagement on the end face of the first anti-avulsion part 151 thus end pad 1522 being fixed in described rotating shaft 15 away from described first anti-avulsion part 151 in bolt 1521 and rotating shaft 15, it is prevented that rotating shaft 15 is deviate from from the first through hole 1211 and the second through hole 1611 away from the end of described first anti-avulsion part 151。
As described in Figure 6, in the present embodiment, described sensor 17 is fixed in rotating shaft 15 near the end of the first anti-avulsion part 151 by bolt part 18。Preferably described sensor 17 is Hall element。It should be noted that herein, described first anti-avulsion part 151 can be bolted the extension 121 of part and its nearest neighbours is fixing to be connected, it is fixed together by rotating shaft 15 and described first pedal 12, now described first anti-avulsion part 151 is possible not only to prevent described rotating shaft 15 from skidding off between described first through hole 1211 and described second through hole 1611, can also be further ensured that rotating shaft 15 can at the first pedal 12 relative to connecting when seat 16 rotates forward or backwards along with synchronous axial system occurs the first pedal 12, namely ensure that described sensor 17, along with the first pedal 12, synchronous axial system occurs, so that described sensor 17 can accurately detect the rotation information of a described pedal 12。
As further preferred embodiment, can also be without being connected with the extension 121 that the first anti-avulsion part 151 is bolted part and its nearest neighbours is fixing, the edge only needing the pad 1522 of the second anti-avulsion part 152 offers screwed hole, after described pad 1522 is fixed in described rotating shaft 15 away from the end of the first anti-avulsion part 151, it is connected fixing for immediate to pad 1522 and its extension 121 again, in order to ensure that rotating shaft 15 along with the first pedal 12, synchronous axial system can occur；Or extension 121 that the first anti-avulsion part 151 had both been bolted part and its nearest neighbours is fixing to be connected, again after the pad 1522 of described second anti-avulsion part 152 is fixed in described rotating shaft 15 away from the end of the first anti-avulsion part 151, it is connected fixing for immediate to pad 1522 and its extension 121 again, in order to ensure that rotating shaft 15 along with the first pedal 12, synchronous axial system can occur, namely ensure that described sensor 17, along with the first pedal 12, synchronous axial system occurs, in order to described sensor 17 can accurately detect the rotation information of described first pedal 12。
In addition, described sensor 17 may be also secured in described extension 121, so arrange, being no need for being fixed with its immediate extension 121 respectively by the pad 1522 of described first anti-avulsion part 151 or the second anti-avulsion part 152 being connected, described sensor 17 has been able to, with described first pedal 12, synchronous axial system occurs again。
When driving electrodynamic balance car, the both feet of user are trampled respectively on described first pedal 12 and crus secunda pedal 13。When needs turn to, the front end or rear end that only need the first pedal 12 are applied pressure by the foot that user tramples at the first pedal 12, the first pedal 12 is made to be rotated forward or backwards by rotating shaft 15, described rotating shaft 15 rotates with the first pedal 12, it is fixedly installed on the described sensor 17 in rotating shaft 15 for detecting rotation direction and the angle of rotating shaft 15, and this signal is fed back to control system, control system control electrodynamic balance car and turn to。Such as according to electrodynamic balance car inner setting program, first pedal 12 rotates to be forward and turns to the right, first pedal 12 rotates to be backwards and turns to the left, when user needs to turn to the right, only need to make the foot trampling on the first pedal 12 that the front portion of the first pedal 12 is applied power makes the first pedal 12 rotate forward, rotating shaft 15 rotates forward as well as the first pedal 12, described sensor 17 detects that rotating shaft can feed back signal to control system after rotating forward at once, and control system then can control electrodynamic balance car and realize turning to the right。Program setting can be also that the first pedal 12 rotates to be forward and turns to the left by certain electrodynamic balance car, and the first pedal 12 rotates backward to be and turns to the right。
It addition, in order to ensure that the first pedal 12 can reset better forward or after rotating backwards, two ends laying respectively at rotating shaft 15 both sides of described first pedal 12 be connected between seat 16 and be respectively arranged with elastic reset part。One end of described elastic reset part is connected to the end of described first pedal 12, and the other end connects described connection seat 16。As shown in Figure 6, in the present embodiment, described elastic reset part is cylindrical rubber part 20, one end that described cylindrical rubber part 20 is connected with the end of the first pedal 12 offers groove 201, the end of described first pedal 12 is provided with a projection 122 coordinated with described groove 201, described connection seat 16 is provided with a groove 162, for holding another end of described cylindrical rubber part 20。In the present embodiment, described groove 162 protrudes from connection seat 16 and is provided above, other preferred embodiment in, it is also possible to directly seat 16 offers groove 162 connecting。When electrodynamic balance car turns to, the front end of the first pedal 12 or rear end are applied power when making described first pedal 12 forward or rotate backwards by user, described cylindrical rubber part 20 is compressed, after completing to turn to, the power that first pedal 12 front end or backend infrastructure are added by user is cancelled, and described first pedal 12 resets under the elastic restoring force of cylindrical rubber part 20。
It should be noted that, in the present invention, "front", "rear", "left", "right" are the "front", "rear" of user, "left", "right" when user's both feet are trampled respectively on described first pedal 12 and crus secunda pedal 13, namely only when user's both feet are stood on the first pedal 12 and crus secunda pedal 13, "front", "rear", "left", "right" are just meaningful, therefore unintelligible for limitation of the invention。
The invention provides a kind of novel electrodynamic balance car, the first pedal can rotate forward or backwards under the driving of foot, and the rotation information of the pedal that control system detects according to sensor controls turning to of electrodynamic balance car。So arrange, described electrodynamic balance car is no longer necessary to arrange handle for controlling turning to of electrodynamic balance car, only the first pedal need to be made to rotate forward or backwards by foot, both can realize turning to of electrodynamic balance car, liberate the both hands of user, also made electrodynamic balance car be easy to carry simultaneously。
Embodiment two
It is different in that described extension 121 only arranges one with embodiment one, and in order to make the first pedal 12 have better stability, described extension 121 is arranged at the position in the middle of described first pedal 12, and it is positioned at the lower section of described first pedal 12, with the described first one-body molded setting of pedal 12。Described rotating shaft 15 is fixedly installed the first anti-avulsion part 151, and described first anti-avulsion part 151 is near an end of described rotating shaft 15, after rotating shaft 15 successively passes through the first through hole 1211 of described extension 121 and second through hole 1611 of described protruding 161 away from the end of described first anti-avulsion part, or after successively passing through second through hole 1611 of described protruding 161 and the first through hole 1211 of described extension 121, second anti-avulsion part 152 is arranged in rotating shaft 15 away from the end of described first anti-avulsion part 151, described second anti-avulsion part 152 mounting means and embodiment one away from the end of described first anti-avulsion part 151 in rotating shaft 15 is identical, repeat no more herein。
Embodiment three
Being different in that with embodiment one, described connection seat 16 can also be fixedly installed on the top of described nacelle 10, and is placed in outside described nacelle 10, and other arrange all identical with embodiment one, are not repeating herein。So, first pedal 12 also can be positioned at outside described nacelle 10, and there is certain distance in distance nacelle 10 top, therefore for ensureing that described first pedal 12 and crus secunda pedal 13 are at distance nacelle 10 top sustained height, crus secunda pedal 13 protrudes from described nacelle 10 top and arranges, and the distance at its distance nacelle 10 top to ensure suitable with first pedal 12 distance apart from nacelle 10 top。So the first pedal 12 and crus secunda pedal 13 are placed in outside described nacelle 10, it is possible to reduce the volume of described nacelle 10,
Embodiment four
The present embodiment is different in that no longer to arrange with embodiment one and is connected seat 16, directly it is arranged on the sidewall on the bottom surface within nacelle 10 or within nacelle by described protruding 161, groove 162 for holding described another end of cylindrical rubber part 20 is also set directly at the bottom surface within described nacelle 10, and other arrange all identical with embodiment one。So, it is not necessary to connection seat 16 is set again, simplifies structure, also save cost。
Embodiment five
The present embodiment and embodiment one are different in that described elastic reset part is spring pressuring plate 21, as shown in Figure 8 and Figure 9, one end 212 of described spring pressuring plate 21 is provided with screwed hole 2121, one end 212 of spring pressuring plate 21 is fixed on described connection seat 16 by bolt part 22 by bolt connection piece 22, the other end 211 of described spring pressuring plate 21 is free end, and described free end 211 is connected to the end of described first pedal 12。When electrodynamic balance car turns to, described first pedal 12 is forward or when rotating backwards, described spring pressuring plate 21 is compressed, after completing to turn to, trampling the power that the first pedal 12 front end or backend infrastructure add by the foot on the first pedal 12 to cancel, described first pedal 12 resets under the elastic restoring force of spring pressuring plate 21。
As further preferred embodiment, described elastic reset part can also be spring or extension spring。
Certainly, the above is the preferred embodiment of the present invention, it should be pointed out that; for those skilled in the art; under the premise without departing from the principles of the invention, it is also possible to make some improvements and modifications, these improvements and modifications are also considered as protection scope of the present invention。
Claims (10)
1. an electrodynamic balance car, it is characterized in that: include nacelle, two wheels in nacelle it are connected to by wheel shaft, rotating first pedal of relative nacelle, the crus secunda pedal that relative nacelle is fixing, in order to detect the sensor of the first pedal rotation information, it is arranged at the control system in nacelle and power supply, the relative wheel shaft of described nacelle is rotatably arranged, described sensor is connected the rotation information transmitting the first pedal with control system signal, described control system controls turning to of electrodynamic balance car according to the rotation information of the first pedal, described control system includes body-sensing balance system, and described body-sensing balance system is arranged in nacelle and can rotate relative to wheel shaft with nacelle。
2. electrodynamic balance car according to claim 1, it is characterised in that: described first pedal is installed in nacelle by a rotating shaft being arranged in nacelle, and nacelle offers the first opening running through outside, and the first pedal is trampled by the first opening confession user。
3. electrodynamic balance car according to claim 2, it is characterised in that: described nacelle is fixedly installed a connecting seat, and described rotating shaft is installed on this connection seat。
4. electrodynamic balance car according to claim 2, it is characterised in that: two ends laying respectively at rotating shaft both sides of described first pedal be connected between seat and be respectively arranged with elastic reset part。
5. electrodynamic balance car according to claim 4, it is characterized in that: described elastic reset part is cylindrical rubber part, one end that described cylindrical rubber part is connected with the end of described first pedal offers a groove, the end of described first pedal is provided with the projection of one and described groove fit, described connection seat is provided with a groove for holding another end of described cylindrical rubber part。
6. electrodynamic balance car according to claim 4, it is characterized in that: described elastic reset part is spring pressuring plate, one end of described spring pressuring plate is fixed on described connection seat, and the other end of described spring pressuring plate is free end, and described free end is in order to the end abutment with described first pedal。
7. electrodynamic balance car according to claim 4, it is characterised in that: described elastic reset part is spring or extension spring。
8. electrodynamic balance car according to any one of claim 1 to 7, it is characterised in that: described sensor is Hall element。
9. the rotating direction control method of an electrodynamic balance car, described electrodynamic balance car includes the fixing crus secunda pedal of control system, rotating first pedal of relative nacelle, relative nacelle, in order to detect the sensor of the first pedal rotation information, described rotating direction control method comprises the steps:
Trampling the first pedal makes the first pedal rotate；
Described sensor detects the rotation information of described first pedal；
The rotation information of the first pedal that control system detects according to sensor controls electrodynamic balance car and turns to。
10. the rotating direction control method of electrodynamic balance car according to claim 9, it is characterised in that: when
Sensor detects when described first pedal rotates forward, is transferred to control system left/right transfering the letter breath, when sensor detects that described first pedal rotates backwards, is transferred to control system right/left transfering the letter breath。
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| CN201610025527.9A CN105691504B (en) | 2016-01-14 | 2016-01-14 | Electrodynamic balance car and its rotating direction control method |
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| CN201610025527.9A CN105691504B (en) | 2016-01-14 | 2016-01-14 | Electrodynamic balance car and its rotating direction control method |
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| CN106184533A (en) * | 2016-09-30 | 2016-12-07 | 深圳市瑞能德电子有限公司 | A kind of electrodynamic balance car |
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| CN106184511A (en) * | 2016-08-09 | 2016-12-07 | 尚艳燕 | A kind of electrodynamic balance car and pedal assembly thereof |
| CN106184510A (en) * | 2016-08-09 | 2016-12-07 | 尚艳燕 | A kind of electrodynamic balance car and pedal assembly thereof |
| CN106184511B (en) * | 2016-08-09 | 2019-11-22 | 尚艳燕 | A kind of electrodynamic balance vehicle and its pedal assembly |
| CN106184533A (en) * | 2016-09-30 | 2016-12-07 | 深圳市瑞能德电子有限公司 | A kind of electrodynamic balance car |
| CN106184533B (en) * | 2016-09-30 | 2019-04-19 | 深圳市瑞能德电子有限公司 | A kind of electrodynamic balance vehicle |
| WO2018107477A1 (en) * | 2016-12-16 | 2018-06-21 | 浙江瑞萌威电子科技有限公司 | Self-balancing scooter |
| CN108438128A (en) * | 2018-02-09 | 2018-08-24 | 纳恩博（北京）科技有限公司 | The vehicles and its control method, control device and storage medium |
| CN108382513A (en) * | 2018-04-11 | 2018-08-10 | 浙江阿尔郎科技有限公司 | balance car |
| CN110550132A (en) * | 2019-08-27 | 2019-12-10 | 陈聪 | Elastic reset device of balance car |
| CN112960058A (en) * | 2021-04-22 | 2021-06-15 | 浙江普瑞圣工贸有限公司 | Turntable control type balance car |
| CN113771996A (en) * | 2021-09-07 | 2021-12-10 | 深圳市动平衡科技有限公司 | Vehicle body |
| CN116062076A (en) * | 2021-11-04 | 2023-05-05 | 浙江群英车业有限公司 | Balance car |
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| Publication number | Publication date |
|---|---|
| CN105691504B (en) | 2018-02-02 |
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