In an aspect, a self-balancing two-wheeled vehicle is provided, having a body, and first and second wheels rotatably coupled to the body. The second wheel has at least one lateral roller rotatable about an axis that is one of oblique and orthogonal to a rotation axis of the second wheel. At least one motor is coupled to the second wheel to control rotation of the second wheel and the at least one lateral roller. At least one sensor is coupled to the body to generate orientation data therefor. A control module is coupled to the at least one motor to control operation thereof at least partially based on the orientation data generated by the at least one sensor.

In an aspect, a self-balancing two-wheeled vehicle is provided, having a body, and first and second wheels rotatably coupled to the body. The second wheel has at least one lateral roller rotatable about an axis that is one of oblique and orthogonal to a rotation axis of the second wheel. At least one motor is coupled to the second wheel to control rotation of the second wheel and the at least one lateral roller. At least one sensor is coupled to the body to generate orientation data therefor. A control module is coupled to the at least one motor to control operation thereof at least partially based on the orientation data generated by the at least one sensor.

The present invention relates to a drive assembly (10) for a manually driven vehicle (80), in particular a bicycle or a pedelec, with an electric auxiliary drive (24), wherein the drive assembly (10) has a first drive shaft (12) for a manual drive and a rotor (20) of the electric auxiliary drive (24), and wherein the first drive shaft (12) and the rotor (20) of the electric auxiliary drive (24) are coupled to a common drive element (29), wherein the first drive shaft (12) and the rotor (20) of the electric auxiliary drive (24) are coupled to the drive element (29) by means of a harmonic drive (25), wherein the harmonic drive (25) has an outer sleeve (28) with an internal toothing system (62) and a deformable inner sleeve (26) with an external toothing system (64) and a shaft generator (27), wherein the shaft generator (27) is at least indirectly connected fixedly to the rotor (20) of the electric auxiliary drive (24) so as to rotate with it, wherein the deformable inner sleeve (26) is at least indirectly connected fixedly to the first drive shaft (12).

The present invention relates to a drive assembly (10) for a manually driven vehicle (80), in particular a bicycle or a pedelec, with an electric auxiliary drive (24), wherein the drive assembly (10) has a first drive shaft (12) for a manual drive and a rotor (20) of the electric auxiliary drive (24), and wherein the first drive shaft (12) and the rotor (20) of the electric auxiliary drive (24) are coupled to a common drive element (29), wherein the first drive shaft (12) and the rotor (20) of the electric auxiliary drive (24) are coupled to the drive element (29) by means of a harmonic drive (25), wherein the harmonic drive (25) has an outer sleeve (28) with an internal toothing system (62) and a deformable inner sleeve (26) with an external toothing system (64) and a shaft generator (27), wherein the shaft generator (27) is at least indirectly connected fixedly to the rotor (20) of the electric auxiliary drive (24) so as to rotate with it, wherein the deformable inner sleeve (26) is at least indirectly connected fixedly to the first drive shaft (12).

A continuously variable transmission (CVT) having a main shaft configured to support and position various components of the CVT. Shift cam discs cooperate with ball-leg assemblies to shift the transmission ration of the CVT. Load cam discs, a torsion disc, rolling elements, and a hub cap shell are configured to generate axial force, transmit torque, and manage reaction forces. In one embodiment, a splined input shaft and a torsion disc having a splined bore cooperate to input torque into the variator of the CVT. Among other things, various ball axles, axle-ball combinations, and reaction force grounding configurations are disclosed. In one embodiment, a CVT having axial force generation means at both the input and output elements is disclosed.

A continuously variable transmission (CVT) having a main shaft configured to support and position various components of the CVT. Shift cam discs cooperate with ball-leg assemblies to shift the transmission ration of the CVT. Load cam discs, a torsion disc, rolling elements, and a hub cap shell are configured to generate axial force, transmit torque, and manage reaction forces. In one embodiment, a splined input shaft and a torsion disc having a splined bore cooperate to input torque into the variator of the CVT. Among other things, various ball axles, axle-ball combinations, and reaction force grounding configurations are disclosed. In one embodiment, a CVT having axial force generation means at both the input and output elements is disclosed.

A transmission device includes a plurality of guide pins, a first plate having multiple first guide slots, a second plate having multiple second guide slots, and a third plate having multiple third guide slots. A projection of each of the first guide slots on the third plate is deviated from a respective one of the third guide slots in a first rotational direction. A projection of each of the second guide slots is deviated from a respective one of the third guide slots in a second rotational direction which is opposite to the first rotational direction. The guide pins are respectively and slidably disposed in the second guide slots. When the first plate rotates, the guide pins slide synchronously and are equidistant from an axis.

A transmission device includes a plurality of guide pins, a first plate having multiple first guide slots, a second plate having multiple second guide slots, and a third plate having multiple third guide slots. A projection of each of the first guide slots on the third plate is deviated from a respective one of the third guide slots in a first rotational direction. A projection of each of the second guide slots is deviated from a respective one of the third guide slots in a second rotational direction which is opposite to the first rotational direction. The guide pins are respectively and slidably disposed in the second guide slots. When the first plate rotates, the guide pins slide synchronously and are equidistant from an axis.

In an aspect, a self-balancing two-wheeled vehicle is provided, having a body, and first and second wheels rotatably coupled to the body. The second wheel has at least one lateral roller rotatable about an axis that is one of oblique and orthogonal to a rotation axis of the second wheel. At least one motor is coupled to the second wheel to control rotation of the second wheel and the at least one lateral roller. At least one sensor is coupled to the body to generate orientation data therefor. A control module is coupled to the at least one motor to control operation thereof at least partially based on the orientation data generated by the at least one sensor.

In an aspect, a self-balancing two-wheeled vehicle is provided, having a body, and first and second wheels rotatably coupled to the body. The second wheel has at least one lateral roller rotatable about an axis that is one of oblique and orthogonal to a rotation axis of the second wheel. At least one motor is coupled to the second wheel to control rotation of the second wheel and the at least one lateral roller. At least one sensor is coupled to the body to generate orientation data therefor. A control module is coupled to the at least one motor to control operation thereof at least partially based on the orientation data generated by the at least one sensor.