CN102514662B - Two-wheeled self-balancing electrombile - Google Patents

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 rider 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

Two-wheel self-balancing electric vehicle

technical field

The invention provides an electric two-wheeled vehicle, two wheels are arranged opposite to each other, and a rider can stand between the two wheels to operate. To be precise, it is a stand-up electric two-wheeled vehicle with front and rear self-balancing functions. In particular, it should be pointed out that the rotation of the two wheels of the car does not share a common axle.

Background technique

The most famous technical example of a self-balancing electric vehicle in the world is disclosed by the patent (PersonalMobility Vehicles and Methods, U.S.Patent No.6,302,230B1, Oct.16, 2001) of Kamen et al. Kamen's patent summarizes the background technology of current self-balancing two-wheeled electric vehicles, and discloses the related technologies of their power drive and electronic control balance. The self-balancing two-wheeled electric vehicle disclosed by the Kamen patent has two wheels arranged in parallel relatively, and a platform for the rider (operator) to stand is provided between (or on) the two wheels; A handle bar for manipulation is provided to improve the rider's standing stability and to control the direction of the vehicle. This self-balancing two-wheeled electric vehicle began to be produced and put into the market in 2002. The commodity of this two-wheeled vehicle is called "Segway" (Segway). This two-wheeled vehicle has been applied in many countries and in many aspects, and it is nothing less than an effective means of transportation for medium and short distances.

However, some users wish to use a self-balancing electric two-wheeled vehicle without a handle bar. Because the two-wheeled electric vehicle without handle bar has greater portability, it is also more convenient to disassemble. In particular, if the handle bar is not provided, the rider can free his hands to do other things when the vehicle is moving. In many environments, these advantages will become particularly important.

In Kamen's patent, the embodiment with handle bar is successful. But disclosed in this patent, the embodiment that handle bar is not provided, because be difficult to put into practical use, so do not realize like the self-balancing two-wheel vehicle that handle bar is arranged.

If the cyclist stands on a two-wheeled vehicle, if the configuration of the two wheels of the vehicle is similar to that of the Segway, and there is no handle bar on the vehicle, then the distance between the cyclist and the vehicle is There are no other contact points except the support contact points where the pedals of the bicycle support the cyclist's feet. Therefore, when the vehicle is advancing, it is very difficult for the cyclist to keep the stability of his ankle joint and knee joint. Although the car itself is able to automatically maintain the front and rear dynamic balance on the longitudinal plane, the rider's health cannot be relaxed due to the lack of support points. The legs and feet of the cyclist, in addition to controlling the direction of travel of the car, must also adjust the relative position of the legs and feet in order to maintain the balance of the cyclist, so the standing posture of the cyclist usually cannot be kept in a comfortable position. The car is also difficult to move steadily.

Therefore, the market is demanding new ways for cars to support a cyclist in a stable ride, and new ways for cars to control the direction of travel. In addition, it is also required that this new method can better improve the portability, stability, and intuition of control of the car. These requirements are also common expectations for products in this field and related fields.

Contents of the invention

Car of the present invention is to have two mutually side by side, the wheel that rotates independently. Each wheel has a drive motor and the ability to self balance fore and aft in the longitudinal plane. The cyclist can stand between the two wheels of the car, the way the cyclist moves the center of gravity back and forth on the longitudinal plane, and the way of tilting to the left and right to control the forward and turning of the car. A connection mechanism is provided between the two wheel frames, so that the two wheels can tilt side by side in unison during the turning process. This function is achieved by adopting a group of compound parallel multiple connection rods, each of which is rotatably matched with two wheel frames, and at least two of the connection rods are arranged at different heights (relative to on the road to ride on). The function of wheel tilting improves the stability of the car and the comfort of the legs and feet during steering.

The car can be turned into a folded form. When folded, the hinges in the connecting rods are used to bring the two wheels together for easy portability or storage. The car in the folding form can be carried by a handle connected to the connecting structure. After the car was fully folded, the handle provided would never be in contact with the wheels or the wheel frame.

The structural shape of the bicycle when it works makes the rider's two feet stand on the footboard for standing between the two wheels, and makes each leg of the rider firmly connected with the inner side of the corresponding wheel frame. touch. This structural form increases the number of contact points between the rider's body and the bike, and disperses the contact points, thus making a two-wheeled vehicle without a handle bar significantly more stable and comfortable in use. improvement. In order to keep the friction contact stably between the legs of the cyclist and the corresponding wheel frame, a leg rest plate for contacting the legs is specially provided on the wheel frame. The surface of the leg plate that contacts the leg should have greater friction than the wheel frame; the surface shape should also be slightly curved to fit the usual contours of the cyclist's lower leg.

Those experienced in the industry can further understand the technical characteristics and other related advantages of the present invention after reviewing the detailed description below in conjunction with the drawings.

Description of drawings

Fig. 1 is a side perspective view of an embodiment of a two-wheeled self-balancing electric vehicle proposed according to the present invention.

Fig. 2 is a side perspective view of the two-wheeled self-balancing electric vehicle in Fig. 1, when its two wheels are tilted to one side at the same time during the turning process.

Fig. 3 is the above-mentioned two-wheeled self-balancing electric vehicle of Fig. 1 , a downward perspective view of its connecting mechanism when it is partially folded.

Fig. 4 is the side view of the two-wheeled self-balancing electric vehicle of the above-mentioned Fig. 1 when its connecting mechanism is fully folded. You can see the handle configured on the connection mechanism.

Fig. 5 is a side perspective view of another embodiment of the two-wheel self-balancing electric vehicle proposed according to the present invention. It shows a situation where both of its wheels tilt to one side at the same time during a turn.

Fig. 6 is another embodiment of the two-wheel self-balancing electric vehicle proposed according to the present invention, which is a side perspective view of partial details around the handle. These details illustrate a bias reset block and its locking mechanism for handlebars proposed by the present invention.

Fig. 7 is another embodiment of the two-wheel self-balancing electric vehicle proposed according to the present invention, which illustrates that the pedals are arranged on the outside of the wheels.

These examples will be described in detail below.

Detailed ways

Referring to Fig. 1, this is a side perspective view of the embodiment of a two-wheeled self-balancing electric vehicle proposed by the present invention. The composition of the two-wheeled self-balancing electric vehicle 100 in the figure includes: two wheels, a first wheel 110 and a second wheel 111; two wheel frames, a first wheel frame 120 and a second wheel frame 121; The wheel frame is connected; a connecting mechanism 130, one end of which is connected with the first wheel frame 120, and the other end is connected with the second wheel frame 121; two pedals 140, which are located between the two wheels 110 and 111, they It is used for standing on both feet of the cyclist; and a handle 133, which is connected to the connection mechanism 130, is used to carry the electric vehicle 100. 132 on the figure is a hinge, and 150 is a leg board, which will be described hereinafter.

The wheels 110 and 111 are arranged side by side, mirror-symmetrical to each other, substantially parallel, they do not have a common axle, so they are independently rotatable, and each can rotate at different speeds and/or in different directions. (By the way, the central axis of the wheel refers to the central axis perpendicular to the wheel rotation plane. The axle axis of the wheel refers to the entity central axis perpendicular to the wheel rotation plane.) The desirable range of the wheel size is very wide, as shown in Figure 1 The wheels are larger, and its diameter is about the length of an adult's calf. Two wheels 110 and 111 are matched with the wheel frame 120, 121 respectively respectively, and the structure of the first wheel frame 120 and the second wheel frame 121 is identical, and they can adopt various possible shapes, as long as it does not hinder the connection between the wheels 110 and 111. Connections between connection mechanisms 130 . In this embodiment, the wheel frames 120 and 121 are in the shape of a casing, covering and partially sealing the wheels 110 and 111 . The basic function of the wheel carrier is to connect the wheels 110 , 111 with the connecting mechanism 130 . In addition, the wheel frames 120 and 121 also have other purposes such as: the support and guidance of the wheels 110, 111, the rainproof and dustproof of the wheels 110, 111, and the prevention of contact between the wheels 110, 111 and human bodies or clothes.

As can be seen from Fig. 1, the present invention designs two wheels to have a little negative inclination. As we all know, looking at the wheel from the front of the car, the angle between the wheel and the vertical line is called Camber. If the upper end of the wheel is inclined inward, it is in the shape of [eight], which is called Negative Camber. This will help the cyclist overcome centrifugal forces when cornering, as well as secure contact of the cyclist with the calf and leg rest.

The connecting mechanism 130 is generally arranged horizontally, and one end of the mechanism is matched with the wheel frame 120 , and the other end is matched with the wheel frame 121 . The connecting mechanism 130 is composed of three elongated connecting rods 131, two of which are located on the same horizontal plane, and the third one is located below the aforementioned horizontal plane. (Actually, the number and configuration of the connecting rods can be designed in addition, as long as at least two of them are at different heights relative to the riding surface.) The three connecting rods 131 are parallel to each other, and each The roots are rotatably engaged with the wheel frames 120,121. This rotatable connection with respect to the connection mechanism 130 enables the wheels 110 and 111 to be tilted side by side without seriously disturbing the horizontal configuration of the connection mechanism 130 . Among the plurality of connecting rods, at least two connecting rods 131 at different heights are used to connect the wheels 110 and 111 to each other. It is necessary to make the two wheels 110 and 111 tilt in the same direction at the same time, and usually Tilt at similar angles. (If the two wheels are parallel to each other, the values of their respective angles are always basically equal. If the two wheels are arched to each other, the values of their respective angles are basically unequal However, they are generally similar.) These characteristics of the linkage mechanism 130 are very important, so that the wheels 110 and 111 have the ability to tilt or tilt in the direction of turning, thus providing greater stability during the turning process, reducing the Possibility of rollover.

FIG. 2 illustrates the situation when the two-wheeled self-balancing electric vehicle 100 in FIG. 1 is turning left. To turn the vehicle to the left in the direction the vehicle is heading, initially the rider leans to the left, forcing the wheels 110 and 111 to tilt to the left in unison. The wheel tilt mentioned here means that there is an included angle between the center axis of the wheel and the horizontal line, and the center axis of the wheel does not remain horizontal, which is called the wheel tilt in this paper. Leaning to the left or right is relative to the direction of travel of the car. (The tilting action of the wheel can activate the tilt detection unit in the electronic control system.) During the tilting process of each wheel, the angle change that occurs is located on a vertical plane perpendicular to the direction of travel. The three connecting rods 131 that are rotatably coupled to the two wheel frames 120 and 121 have substantially no change in the horizontal angle, that is, they are basically still in a horizontal position, but those connecting rods 131 that are located at different levels are opposite to each other. The height of the level is changed. As shown in Figure 2, the upper two connecting rods have only moved a little more in translation to the left relative to the lower connecting rod. In this way, when the wheels 110 and 111 tilt towards the turning direction, the connecting mechanism 130 can still maintain a normal horizontal position. The two footboards 140 rigidly fitted on the upper two connecting rods 131 also maintain a normal horizontal position. For the cyclist, these features increase safety and comfort. In addition, the translational action of the three connecting rods 131 only results in a slight translation of the horizontal and vertical positions of the two footboards 140, allowing the rider to move his center of gravity sideways more smoothly and comfortably.

It should be noted that the treads should have at least one load-bearing surface. The footboard illustrated in these figures is a specific example of a person or load that is usually carried, and usually has two load-bearing surfaces. Obviously, the tread plate can be designed into various shapes and sizes, and can be matched with the connecting mechanism or the wheel frame.

It should also be pointed out that, no matter whether the wheels are tilted or not, the connection mechanism proposed by the present invention can keep the running board in a substantially horizontal state all the time.

FIG. 3 illustrates the situation of the above-mentioned two-wheeled self-balancing electric vehicle 100 in FIG. 1 when it is partially folded. For the convenience of carrying and storage, the present invention proposes a method of bringing the two wheels of the two-wheeled electric vehicle 100 together, and compressing and converting from the use form to the folded form. The folded form refers to the distance between the two wheels, which is much smaller than the non-folded form (used state). In this example, the folding function is realized by the folding connection mechanism 130 . Specifically, each connecting rod 131 has a hinge 132 . In this example, each hinge 132 is located in the middle of each corresponding connecting rod 131, but in general, as long as the hinges 132 are installed so that the entire connecting mechanism 130 can be folded up.

A handle 133 is also provided, which can connect one or more of the rods 131 to match. In the example shown, the handle 133 is located in the middle of the connecting mechanism 130 , approximately in the same vertical plane as the hinge 132 . When the handle 133 is pulled upwards, the pull is transmitted to the hinge 132, which is connected to the two wheels 110 and 111 with considerable weight, so that the connecting mechanism 130 is folded, as shown in Figure 3, the two wheels 110 and 111 It can finally be folded together. Then, the handle 133 can be used to carry the folded car.

For the convenience of carrying by hand, the handle 133 can be further designed to be elongated and extended. As shown in Figure 4, when the connecting mechanism 130 is completely folded, the handle 133 drawn on the figure is elongated. , elongated to a place slightly larger than the outer diameter of the wheel. This function of the handle 133 is realized by a slide bar 151, one end of the slide bar 151 is rigidly connected to the handle 133, and the other end is connected to the connecting rod 131, so the setting of the slide bar 151 makes the handle 133 It can move vertically relative to the connection point of the connection mechanism 130 to a certain position away from the connection mechanism 130 . When the handle 133 is pulled upwards, the handle 133 first slides to a fully extendable position, and the force of further upward pull can make the connecting mechanism 130 into the above-mentioned folded configuration. The configuration of the handle 133 and the slide bar 151 should be properly arranged. When the connecting mechanism 130 is fully folded, the handle 133 will exceed the edges of the wheels 110, 111 and/or wheel frames 120, 121, so that the electric vehicle 100 can be carried by hand. , without touching the wheels and wheel brackets. This function not only provides greater comfort for people to carry, but also makes the two folded wheels closer together.

It should be pointed out that there are many ways to make the hand go beyond the edge of the wheel and the wheel frame. In addition to using the above-mentioned specific sliding mechanism, other possible ways can also be used to realize it.

For best stability, it is desirable for the cyclist to stand with his lower legs firmly in contact with the wheel frames 120, 121. The design of multi-point contact between the cyclist and the bike proposed by the present invention makes it easy for the cyclist to keep his feet and lower legs in place. Therefore, two leg rest boards 150 are further provided on the vehicle 100, which are respectively arranged on the wheel frames 120 and 121. Leg plate 150 is to be attached to the inboard of wheel frame 120 and 121, and its position and height will be provided with, and when every foot of cyclist stands on respective pedal board, the outside of two shanks just in time can be with each other respectively. Respective leg boards 150 are in contact with each other. The leg rest plate 150 can be made of soft, bendable material, such as braided material or other suitable materials, and the leg rest plate 150 should provide a certain frictional force, which helps the rider to touch his calf stably On the wheel frame 120 and 121. The leg plate 150 can also be further designed into a slightly concave curved surface, the longitudinal axis of which is roughly perpendicular to the footboard 140, and the shape of the curved surface will roughly fit with the rider's calf profile.

Fig. 5 is a side perspective view of another embodiment according to the present invention, illustrating a tread board having a configuration different from that previously described. It can be seen from the figure that the two-wheeled self-balancing electric vehicle 200 is composed of wheels 210 and 211, wheel frames 220 and 221, a connecting mechanism 230 with a connecting rod 231, and a leg rest 250 and the like. They have basically the same functions as the corresponding components in the aforementioned example electric vehicle 100 . However, in this example, no handle is provided, and the folding method of the connecting mechanism 230 is not included. The present example is characterized in that the two running boards 240 on the vehicle 200 are each rigidly fitted on the inner surface of the wheel frames 220 and 221. These running boards 240 may be separate parts rigidly fitted on the wheel frames 220 and 221, or may be dependent parts integrally molded from the same material as the wheel frames on the respective wheel frames 220 or 221.

FIG. 6 shows a partial perspective view around the handlebar 333 on the two-wheeled self-balancing electric vehicle 300 . As can be seen from the figure, only a part of the wheels 311, the wheel frame 321, the connecting mechanism 330, the pedal 340 and the like on the car 300 are drawn. In addition to having the same functions as the two-wheeled vehicle 100 , the two-wheeled vehicle 300 further includes a bias reset block 354 and a locking mechanism 350 related to the handlebar 333 . The handle 333 is rigidly matched with the slide bar 351, and the slide bar 351 can slide in a direction substantially perpendicular to the connection mechanism 330, so the handle 333 can be connected to the handle 333 in the same manner as the aforementioned electric vehicle 100. The slide bar 351 is slid and pulled out, so that the handle 333 is raised. The bias reset block 354 is made of an elastic material such as rubber, and it is firmly attached to the handle 333, or on the connecting mechanism 330, so that the bias reset block 354 is pressed against a certain part on the handle 333. Between the position and a certain position on the connecting mechanism 330. In this example, as shown, the bias reset block 354 is in the shape of a rectangular block firmly attached to the bottom of one end of the handle 333 . When the bicycle 300 in the folded configuration (as shown in Figures 3 and 4 ) is normally erected on the road, push down firmly on the handle 333 to convert the bicycle 300 from the folded configuration to the unfolded non-folded configuration . At the beginning, the handle 333 is in the fully extended position. When pushing down on the handle 333, the handle 333 first slides down with the slide bar 351, and then pushes down further. The connecting mechanism 330 that was originally in the folded configuration is unfolded until all the connecting rods 331 are substantially fully straightened, and the bias reset block 354 is pressed by both the handle 333 and one connecting rod 331 at the same time. After the car 300 is fully deployed into a working configuration, the locking mechanism 350 will lock the above-mentioned components in various positions where the car 300 is fully deployed.

The locking mechanism 350 of this example has a locking head 352 which is engageable with a locking tongue 353 which, when engaged, prevents the unfolded connecting mechanism 330 from returning to the folded configuration. (Without the locking mechanism 350, the link mechanism 330 may tend to fold due to the elasticity of the biased return block 354 or other reasons.) When the wheel is tilted during a turn, as previously described, several link links 331 will move horizontally relative to each other. Now, with respect to the upper two connecting rods 331, the handle 333 remains at the same position, the dead bolt 353 is arranged on the lower connecting rod 331, and the lock head 352 is also kept with the dead bolt 353. engaged state. Produce final resultant force on slide bar 351, make bias reset block 354 compress, deform, because it has elasticity, tends to restore its original shape, thus tends to make whole connecting mechanism restore to the center, when not turning location. This position is that the two wheels of the car are basically neither left nor right, and are basically mirror-symmetrical to each other. The effect of the bias reset block 354 is that when the car 300 is not subjected to external force from the left and right directions, the two wheels will not tilt.

The lock head 352 is engaged with the dead bolt 353, and there are many ways to release it after locking, which are well known to those in the industry. One of the easy methods is to set the deadbolt 353 as an elastic part, press the deadbolt 353 by hand, the lock head 352 can be disengaged, and then pull the handle 333, the car in the working state can be changed to the collapsed state.

Fig. 7 proposes another example, two-wheeled self-balancing electric vehicle 400 on the figure, except that two pedals 440 are arranged on the outside of two wheels 410 and 411, all the other parts are all similar to the above-mentioned example, 420 and 421 are wheel Frame, 431 is the connecting rod in the connecting mechanism 430, and the connecting mechanism 430 also enables the two vehicles to be converted between the folded form and the unfolded form.

The two-wheeled vehicle proposed by the present invention is provided with two electric motors, each wheel is driven by an electric motor, the first electric motor drives the first wheel, and the second electric motor drives the second wheel. In the example proposed by the present invention, these electric motors are all covered in respective wheel frames, and are not exposed to the outside. The electric motor is controlled by an electronic control system, which enables the vehicle to automatically balance front and rear in the longitudinal plane. One electronic control system can control the motors on both wheels, or each wheel can have its own independent electronic control system to control its own motors. The electronic control system (using gyro sensors, accelerometers, or other means known in the industry) can detect the forward or backward tilt of the car, and according to the detected signal, the electric motor makes appropriate acceleration or deceleration responses to make the car The footboards maintain a balanced front-to-back position. Thus, the electronic control system enables the cyclist standing on the running board between the two wheels to direct the forward and backward direction of the vehicle by moving his center of gravity. He moves its center of gravity forward or backward, which makes the car accelerate in the direction of moving the center of gravity, and moving the center of gravity in the opposite direction of the car's travel slows down the car.

As mentioned above, if the cyclist wants to turn the car, he can move the center of gravity sideways in the direction of the turn, so the wheel changes in tilt, and the cyclist's legs rest on the leg rest, keeping the car in balance. In contact, the position of the connecting rods relative to each other changes in the horizontal direction. The electronic control system includes the function of detecting one or more of the above changes. For example, electronic control systems (via gyroscopes, accelerometers, etc.) can detect changes in the lateral tilt of one or both wheels. An electronic control system then adjusts the individual speed and/or direction of one or both wheels, and the difference in speed between the two wheels causes the vehicle to turn in the direction in which the rider's center of gravity is shifted. The steering control of the car and the front and rear balance control of the car are combined to provide a simple and intuitive operation method for the rider to use the two-wheeled vehicle proposed by the present invention.

The motor drives the wheels through a transmission mechanism. There are many forms of transmission mechanisms, and gear transmission is more commonly used. In the examples of the present invention, a generally less used friction transmission mechanism is used. For example, each electric motor drives a rotating, cylindrical member with a diameter smaller than the diameter of the wheel. Bringing it into contact with the inner edge of the wheel, the motor drives the cylindrical member, which in turn drives the wheel using friction. turn. The surface of the rotating, cylindrical part must be pressed against the inner edge of the wheel to transmit the rotational torque of the electric motor to the wheel. The friction transmission mechanism can be connected with the wheel without the hub. The weight of this setting is much lighter than that of the wheel with the center hub, so it also enhances the portability of the car.

In summary, the present invention proposes a novel two-wheel self-balancing electric vehicle, which is characterized in that it is provided with two wheels that are 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.

While the various embodiments described above contain many specific details, these should not be construed as limitations on the scope of the embodiments encompassed, nor should they be limited to illustrations of the specific embodiments presently presented. Accordingly, the scope of these embodiments should be determined by the appended claims and their corresponding documents rather than by the examples given above. In addition, it should be understood that the invention can be further modified. This patent is intended to cover various changes, uses or improvements made according to the principles of the present invention; it also covers deviations from the known solutions or implementations disclosed in the present invention, but is still subject to the technology of the present invention and its application range of principles.

Claims (7)

1. a double-wheel self-balancing battery-driven car, it be by as lower component form:

First wheel and the second wheel, they be arranged in parallel each other Mirror Symmetry, and they do not have common axletree, can independently rotate, and can as one man tilt again;

First wheel carrier and the second wheel carrier, the first wheel described in the first wheel carrier connects, the second wheel described in the second wheel carrier connects;

Two tread plates, respectively with the first described wheel carrier and the second wheel carrier matched;

A bindiny mechanism, the first wheel carrier described in connection and the second described wheel carrier, described bindiny mechanism and the first wheel carrier and the second wheel carrier connect rotationally, and the first wheel and the second wheel can be tilted abreast along with the change direction of cyclist's center of gravity;

First electrical motor and the second electrical motor, the first wheel described in the first direct motor drive, the second wheel described in the second direct motor drive;

At least one electronic control system, the first electrical motor described in control and the second described electrical motor, make the tread plate of described double-wheel self-balancing battery-driven car can keep the horizontal equilibrium of fore-and-aft direction, and when the first wheel and the second wheel run-off the straight being detected, electronic control system detects the angle of the first wheel and second tilting of wheels, utilize degree of dip to regulate one or two wheel speed separately, the velocity contrast of two wheel generations causes car to be turned towards the direction that cyclist swerves the weight.

2. double-wheel self-balancing battery-driven car according to claim 1, is characterized in that, two tread plates, is separately positioned on the first described wheel carrier and the inner side of the second wheel carrier.

3. double-wheel self-balancing battery-driven car according to claim 1, is characterized in that, two tread plates, is separately positioned on the first described wheel carrier and the outside of the second wheel carrier.

4. double-wheel self-balancing battery-driven car according to claim 1, is characterized in that, this two-wheel car can be changed between folded form and non-collapsible form.

5. double-wheel self-balancing battery-driven car according to claim 1, is characterized in that, in described bindiny mechanism, has also connected a hand handle further, has been used for taking the double-wheel self-balancing battery-driven car carrying folded form.

6. double-wheel self-balancing battery-driven car according to claim 1, is characterized in that, in described bindiny mechanism, also be provided with a biasing elastic member, the first wheel of canting and the second wheel is made to have the trend of reset, when resetting into non-canting, the position of basic Mirror Symmetry each other.

7. double-wheel self-balancing battery-driven car according to claim 1, is characterized in that, the first described wheel carrier and the second wheel carrier respectively arrange a leg plate all further, and they are positioned at the inner side of respective wheel carrier, and have slightly recessed curved surface.