CN111232111A

CN111232111A - Electric motorcycle

Info

Publication number: CN111232111A
Application number: CN202010203608.XA
Authority: CN
Inventors: 韦永存; 袁玉斌; 张强; 石林
Original assignee: Ninebot Beijing Technology Co Ltd
Current assignee: Ninebot Beijing Technology Co Ltd
Priority date: 2020-03-20
Filing date: 2020-03-20
Publication date: 2020-06-05

Abstract

The invention discloses an electric motorcycle, comprising: the bicycle comprises a bicycle frame, a bicycle frame and a bicycle frame, wherein the bicycle frame comprises a front bicycle frame, a pedal base and a rear bicycle frame, and the pedal base is connected between a front bracket and a rear bracket; the self-balancing device is arranged in the pedal base; and the central control device is arranged in the pedal base and is electrically connected with the self-balancing device. The electric motorcycle provided by the embodiment of the invention has the advantages of low requirement on improvement of the original structure and appearance of the vehicle, low cost, high production efficiency and the like while realizing the self-balancing function.

Description

Electric motorcycle

Technical Field

The invention relates to the technical field of electric vehicles, in particular to an electric motorcycle.

Background

In the electric motorcycle in the related art, a self-balancing device is additionally arranged for realizing a self-balancing function, but the self-balancing device is unreasonable in arrangement, so that the original structure and appearance of the motorcycle need to be greatly improved, and the cost is high and the production efficiency is low.

Disclosure of Invention

The present invention is directed to solving at least one of the problems of the prior art. Therefore, an object of the present invention is to provide an electric motorcycle, which has the advantages of low cost, high production efficiency, etc. while achieving a self-balancing function, the electric motorcycle has a small requirement for improving the original structure and appearance of the vehicle.

To achieve the above object, an electric motorcycle according to an embodiment of the present invention is provided, including: the bicycle comprises a bicycle frame, a bicycle frame and a bicycle frame, wherein the bicycle frame comprises a front bicycle frame, a pedal base and a rear bicycle frame, and the pedal base is connected between a front bracket and a rear bracket; the self-balancing device is arranged in the pedal base; and the central control device is arranged in the pedal base and is electrically connected with the self-balancing device.

The electric motorcycle provided by the embodiment of the invention has the advantages of low requirement on improvement of the original structure and appearance of the vehicle, low cost, high production efficiency and the like while realizing the self-balancing function.

According to some specific embodiments of the invention, the electric motorcycle further comprises: the cushion is mounted on the rear frame, and the pedal base is positioned in front of and below the cushion; the front wheel is arranged on the front frame and is positioned in front of the pedal base; the rear wheel is arranged on the rear frame and is positioned below the cushion and behind the pedal base.

According to some embodiments of the invention, the rear frame is provided with a seat tub disposed adjacent to the footrest base and below the seat cushion, the seat tub defining a battery compartment on the rear frame, the battery compartment being provided with a power battery therein.

According to some specific embodiments of the present invention, a receiving cavity is configured in the pedal base, the self-balancing device and the central control device are arranged in the receiving cavity, and the central control device is located behind the self-balancing device.

According to some embodiments of the invention, the self-balancing device comprises: the first supporting piece and the second supporting piece are arranged at intervals and are installed on the pedal base; a gyroscope rotatably mounted between the first support and the second support; a tilt motor installed in at least one of the first support member and the second support member and located between the first support member and the second support member, the tilt motor drives the gyroscope to rotate.

Further, the self-balancing device further comprises: at least one connection bridge, the connection bridge is located first support piece with between the second support piece, the one end of connection bridge with first support piece links to each other, the other end of connection bridge with the second support piece links to each other.

Further, the gyroscope has a first mounting arm and a second mounting arm, the first mounting arm and the second mounting arm are located at two radial sides of the gyroscope, the first mounting arm is mounted on the first support through a first bearing, and the second mounting arm is mounted on the second support through a second bearing.

Further, the gyroscopes are multiple and are all arranged between the first supporting piece and the second supporting piece, and the multiple gyroscopes are arranged along the length direction or the height direction of the first supporting piece and the second supporting piece.

Further, the gyroscope is a plurality of and includes a first gyroscope and a second gyroscope, the self-balancing apparatus further includes: the synchronous transmission assembly is arranged in the first supporting piece, the synchronous transmission assembly is respectively connected with the tilting motor and the first gyroscope and the second gyroscope, and the tilting motor drives the first gyroscope and the second gyroscope to synchronously rotate.

Further, the synchronous drive assembly comprises: the synchronous driving wheel is rotatably arranged in the first supporting piece and is connected with the tilting motor; the first synchronous driven wheel is rotatably arranged in the first supporting piece and is connected with the first gyroscope; the first synchronous idler wheel is rotatably arranged in the first supporting piece and is respectively in transmission fit with the synchronous driving wheel and the first synchronous driven wheel; the second synchronous driven wheel is rotatably arranged in the first supporting piece and is connected with the second gyroscope; the second synchronous idle wheel is rotatably arranged in the first supporting piece and is respectively in transmission fit with the synchronous driving wheel and the second synchronous driven wheel.

Furthermore, the synchronous driving wheel, the first synchronous driven wheel, the first synchronous idle wheel, the second synchronous driven wheel and the second synchronous idle wheel are belt wheels and are in transmission connection through a synchronous belt.

Furthermore, the synchronous driving wheel, the first synchronous driven wheel, the first synchronous idle wheel, the second synchronous driven wheel and the second synchronous idle wheel are chain wheels and are connected through a synchronous chain.

Furthermore, the synchronous driving wheel, the first synchronous driven wheel, the first synchronous idle wheel, the second synchronous driven wheel and the second synchronous idle wheel are all gears and are connected in a meshing transmission mode.

Further, the first supporting piece is provided with a sliding groove, and a rotating shaft of the second synchronous idle wheel is matched with the sliding groove in a sliding mode so as to adjust the tension degree of the synchronous belt.

Furthermore, the sliding grooves are formed on two opposite side walls of the first supporting piece, two ends of a rotating shaft of the second synchronous idle wheel are respectively matched with the sliding grooves on the two side walls in a sliding manner, and two ends of the rotating shaft of the second synchronous idle wheel are respectively fastened with the first supporting piece through a plug bolt.

According to some specific embodiments of the invention, the first support comprises: the first shell is arranged on the pedal base, the first gyroscope and the second gyroscope are respectively and rotatably arranged on the first shell, the tilting motor is arranged on the first shell, the synchronous transmission assembly is arranged in the first shell, and one side of the first shell, which is back to the first gyroscope and the second gyroscope, is opened; a first cover plate detachably mounted to the first housing and covering an opened side of the first housing.

According to some embodiments of the invention, the self-balancing apparatus further comprises: a gyroscope drive board mounted within the second support and electrically connected with the gyroscope; the motor drive plate verts, the motor drive plate that verts install in the second support piece and with the motor electricity that verts is connected. The central control device is electrically connected with the gyroscope drive plate and the tilting motor drive plate.

Furthermore, the gyroscope is provided with magnetic steel rotating along with the gyroscope, and the gyroscope drive plate is provided with a magnetic encoder used for reading the rotation angle of the magnetic steel.

Further, the gyroscope drive plate and the tilting motor drive plate are electrically connected through a wire, and the wire is located in the second support piece and located below the gyroscope drive plate and the tilting motor drive plate.

Further, the end wall of the second support member is provided with an interface terminal, the tilting motor drive board is connected with a central control line, the central control line extends to the interface terminal from the lower portion of the tilting motor drive board and is connected with the interface terminal, and the central control device is connected with the interface terminal.

Further, a first heat dissipation boss and a second heat dissipation boss are constructed in the second support piece, a heating element on the gyroscope drive plate is in contact heat conduction with the first heat dissipation boss, and a heating element on the tilting motor drive plate is in contact heat conduction with the second heat dissipation boss.

Further, the first heat dissipation boss is located on one of the top wall and the bottom wall of the second support, and the second heat dissipation boss is located on the other of the top wall and the bottom wall of the second support.

Further, a first mounting column and a second mounting column are configured in the second support member, the gyroscope drive plate is provided with a first mounting hole, the tilting motor drive plate is provided with a second mounting hole, the first mounting column is matched with the first mounting hole, and the second mounting column is matched with the second mounting hole.

According to some specific examples of the invention, the second support comprises: the second shell is arranged on the pedal base, the gyroscope is rotatably arranged on the second shell, the gyroscope driving plate and the tilting motor driving plate are arranged in the second shell, and one side of the second shell, which is back to the gyroscope, is opened; a second cover plate detachably mounted to the second housing and covering the opened side of the second housing.

Further, the gyroscopes are multiple and are all rotatably mounted between the first support and the second support; the gyroscope drive plates are arranged in the second support piece and are electrically connected with the plurality of gyroscopes in a one-to-one correspondence mode.

According to some embodiments of the invention, the footrest base comprises: the two ends of the first U-shaped bottom pipe are respectively connected with the front frame and the rear frame, and the first pressure pipe is mounted on the first U-shaped bottom pipe and tightly presses the first supporting piece to the first U-shaped bottom pipe; the two ends of the second U-shaped bottom pipe are respectively connected with the front frame and the rear frame, and the second pressure pipe is installed on the second U-shaped bottom pipe and compresses the second supporting piece on the second U-shaped bottom pipe.

Furthermore, at least one of the first pressing pipe and the second pressing pipe is provided with a limiting sheet used for limiting the maximum rotation angle of the gyroscope.

According to some specific embodiments of the invention, the electric motorcycle further comprises: a handlebar front fork assembly rotatably mounted to the front bracket; the automatic steering device is arranged on the front frame and connected with the handlebar front fork assembly, and the central control device is electrically connected with the automatic steering device.

According to some embodiments of the invention, the automatic steering device comprises: the motor bracket is arranged on the front frame and provided with a motor mounting hole; the steering motor is arranged in the motor mounting hole; the steering driving wheel is connected with the steering motor; the steering driven wheel is connected with the handlebar front fork assembly and is in transmission fit with the steering driving wheel; the adjusting spacer bush is sleeved on the steering motor and assembled in the motor mounting hole, and the outer peripheral surface and the inner peripheral surface of the adjusting spacer bush are eccentrically arranged.

Furthermore, the inner circumferential surface of the adjusting spacer bush is attached to the outer circumferential surface of the steering motor, and the outer circumferential surface of the adjusting spacer bush is attached to the inner circumferential surface of the motor mounting hole.

Further, the outer circumferential surface of the steering motor and the inner circumferential surface of the adjusting spacer are round and matched with each other, and the inner circumferential surface of the motor mounting hole and the outer circumferential surface of the adjusting spacer are round and matched with each other.

Further, the adjustment spacer comprises: the adjusting ring is sleeved on the steering motor and assembled in the motor mounting hole, and the outer peripheral surface and the inner peripheral surface of the adjusting ring are eccentrically arranged; the support ring, the support ring connect in the adjustable ring just is located outside the motor mounting hole, the support ring support in the motor support.

Further, the adjustment spacer has an opening that breaks the adjustment spacer in its circumferential direction.

Further, the motor bracket includes: the steering motor comprises a first ring arm and a second ring arm, one end of the first ring arm is connected with one end of the second ring arm, the other end of the first ring arm is disconnected from the other end of the second ring arm and is fastened through a threaded fastener, a motor mounting hole is formed between the first ring arm and the second ring arm, and the clamping force of the steering motor is clamped by the first ring arm and the second ring arm and is adjusted through the threaded fastener.

According to some specific examples of the invention, the steering driving wheel and the steering driven wheel are both gears, and the steering driving wheel and the steering driven wheel are in transmission fit through meshing.

According to some specific examples of the invention, the steering driving wheel and the steering driven wheel are both belt wheels, and the steering driving wheel and the steering driven wheel are in transmission fit through a transmission belt.

According to some specific examples of the invention, the steering driving wheel and the steering driven wheel are both chain wheels, and the steering driving wheel and the steering driven wheel are in transmission fit through a transmission chain.

According to some embodiments of the present invention, the front frame has a tray located forward of the handlebar front fork assembly, and the rotating motor is supported to the tray.

According to some specific embodiments of the invention, the electric motorcycle further comprises: and the automatic temple device is arranged on the pedal base and is electrically connected with the central control device.

According to some embodiments of the invention, the automatic temple apparatus comprises: the support is arranged on the pedal base; the temple motor is arranged on the support and is electrically connected with the central control device; and the supporting rod is rotatably arranged on the supporting seat and is driven by the temple motor to rotate.

According to some specific embodiments of the invention, the electric motorcycle further comprises: the rear hub motor is mounted on the rear frame; the first controller is mounted on the rear frame and is electrically connected with the rear hub motor and the central control device respectively; and the second controller is arranged on the rear frame and is respectively and electrically connected with the rear hub motor and the whole vehicle control wire harness of the electric motorcycle.

Further, the first controller and the second controller are mounted at the rear end of the rear frame and located above the rear hub motor.

Further, the first controller and the second controller are arranged side by side in a width direction of the vehicle frame.

Further, the rear frame is provided with a mounting seat, and the first controller and the second controller are mounted on the mounting seat.

Additional aspects and advantages of the invention will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the invention.

Drawings

The above and/or additional aspects and advantages of the present invention will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which:

fig. 1 is a schematic structural view of an electric motorcycle according to an embodiment of the present invention.

Fig. 2 is a schematic structural view of a self-balancing device of an electric motorcycle according to an embodiment of the present invention.

Fig. 3 is a schematic structural diagram of a synchronous transmission assembly of a self-balancing device of an electric motorcycle according to an embodiment of the invention.

Fig. 4 is a schematic structural diagram of a gyroscope of a self-balancing device of an electric motorcycle according to an embodiment of the present invention.

Fig. 5 is a schematic structural view of a synchronous transmission assembly of a self-balancing device of an electric motorcycle according to another embodiment of the present invention.

Fig. 6 is a schematic structural diagram of a gyroscope drive plate and a tilting motor drive plate of a self-balancing device of an electric motorcycle according to an embodiment of the invention.

Fig. 7 is a schematic structural view of another angle at the gyro drive plate and the tilt motor drive plate of the self-balancing device of the electric motorcycle according to the embodiment of the present invention.

Fig. 8 is a schematic structural view of a gyroscope of a self-balancing device of an electric motorcycle according to an embodiment of the present invention.

Fig. 9 is a schematic view of arrangement of gyroscopes in self-balancing devices of electric motorcycles according to another embodiment of the present invention.

Fig. 10 is a schematic view of arrangement of gyroscopes in self-balancing devices for electric motorcycles according to still another embodiment of the present invention.

Fig. 11 is a schematic view of arrangement of gyroscopes in self-balancing devices of electric motorcycles according to still another embodiment of the present invention.

Fig. 12 is a partial structural schematic view of an electric motorcycle according to an embodiment of the present invention.

Fig. 13 is a schematic structural view of an automatic steering apparatus of an electric motorcycle according to an embodiment of the present invention.

Fig. 14 is a partial structural schematic view of an electric motorcycle according to an embodiment of the present invention.

Reference numerals:

an electric motorcycle 1,

The bicycle comprises a bicycle frame 10, a front bicycle frame 11, a pedal base 12, a rear bicycle frame 13, a first U-shaped bottom pipe 14, a first pressure pipe 15, a second U-shaped bottom pipe 16, a second pressure pipe 17, a limiting sheet 18, a tray 19, a battery bin 131,

A handlebar front fork assembly 20,

An automatic steering device 30,

The motor bracket 310, the motor mounting hole 311, the first ring arm 312, the second ring arm 313, the threaded fastener 314, the steering motor 320, the steering driving wheel 330, the steering driven wheel 340, the adjusting spacer 350, the adjusting ring 351, the supporting ring 352, the opening 353, the connecting rod and the connecting rod,

A self-balancing device 40,

A first support 410, a first housing 411, a first cover 412, a sliding slot 413,

A second support member 420, a second housing 421, a second cover 422, an interface terminal 423, a first heat dissipating projection 424, a second heat dissipating projection 425, a first mounting post 426, a second mounting post 427, a,

A gyroscope 430, a first mounting arm 431, a second mounting arm 432, a first gyroscope 433, a second gyroscope 434, magnetic steel 435, a third mounting arm 436, a fourth mounting arm 437,

A tilting motor 440, a connecting bridge 450,

A synchronous transmission assembly 460, a synchronous driving wheel 461, a first synchronous driven wheel 462, a first synchronous idle wheel 463, a second synchronous driven wheel 464, a second synchronous idle wheel 465, a synchronous belt 466,

A gyroscope drive board 471, a tilting motor drive board 472, a heating element 473,

A central control device 50,

An automatic temple device 60,

A support 610, a temple motor 620, a support bar 630,

A front wheel 70,

A rear wheel 80, a rear hub motor 81,

A first controller 91, a second controller 92, and a mounting seat 93.

Detailed Description

Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the accompanying drawings are illustrative only for the purpose of explaining the present invention, and are not to be construed as limiting the present invention.

In the description of the present invention, it is to be understood that the terms "central," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," "circumferential," and the like are used in the orientations and positional relationships indicated in the drawings for convenience in describing the invention and to simplify the description, and are not intended to indicate or imply that the referenced device or element must have a particular orientation, be constructed and operated in a particular orientation, and are not to be considered limiting of the invention.

In the description of the present invention, "the first feature" and "the second feature" may include one or more of the features. In the description of the present invention, "a plurality" means two or more, and "several" means one or more.

An electric motorcycle 1 according to an embodiment of the present invention is described below with reference to the drawings.

As shown in fig. 1, an electric motorcycle 1 according to an embodiment of the present invention includes a frame 10, a self-balancing device 40, and a center control device 50.

The frame 10 includes a front frame 11, a footrest base 12 and a rear frame 13, the footrest base 12 being connected between the front frame 11 and the rear frame 13, and a rider can place his feet on the footrest base 12 during riding. The self-balancing device 40 is installed in the pedal base 12. The central control device 50 is installed in the pedal base 12, and the central control device 50 is electrically connected with the self-balancing device 40. The central control device 50 controls the self-balancing device 40 to realize automatic balancing of the vehicle to prevent the vehicle from toppling over.

According to the electric motorcycle 1 provided by the embodiment of the invention, the frame 10 is arranged into the front frame 11, the pedal base 12 and the rear frame 13, and the self-balancing device 40 and the central control device 50 are arranged in the pedal base 12, so that the self-balancing device 40 and the central control device 50 are reasonably arranged, the modularization and the integration degree of the whole vehicle layout are improved, the whole vehicle space is fully utilized, the original structure and the appearance of the electric motorcycle are not required to be greatly changed, and therefore, during batch production, the frame and the customized appearance piece are not required to be separately developed, only the parts are required to be additionally arranged, the mold cost and the development time are effectively reduced, the yield and the quality are improved, and the working procedures are reduced.

Therefore, the electric motorcycle 1 according to the embodiment of the present invention realizes self-balancing, has a low demand for improving the original structure and appearance of the vehicle, and has the advantages of low cost, high production efficiency, and the like.

In some embodiments of the present invention, as shown in fig. 1, the electric motorcycle 1 further includes a seat cushion (not shown), a front wheel 70, and a rear wheel 80.

The cushion is mounted on the rear frame 13, and the pedal base 12 is located in front of and below the cushion. The front wheel 70 is mounted to the front frame 11, and the front wheel 70 is positioned in front of the footrest base 12. The rear wheels 80 are mounted on the rear frame 13, and the rear wheels 80 are positioned below the seat cushion and behind the pedal base 12. Therefore, the pedal base 12, the self-balancing device 40 and the central control device 50 are accommodated, so that the gravity center of the whole motorcycle and the mass distribution of the whole motorcycle can be ensured, the gravity center of the whole motorcycle tends to be in the middle lower part, and the stability of the electric motorcycle 1 is further improved.

Further, a containing cavity is formed in the pedal base 12, a battery of the electric motorcycle 1 can be placed in the containing cavity, the self-balancing device 40 and the central control device 50 are arranged in the containing cavity, the central control device 50 is located behind the self-balancing device 40, for example, the self-balancing device 40 and the central control device 50 are respectively installed on the pedal base 12 through bolts, so that the space in the pedal base 12 is fully utilized, and the utilization rate of the space of the whole motorcycle is improved.

In addition, as shown in fig. 1, rear portion frame 13 is equipped with sits the bucket (not shown in the figure), sit the bucket and be close to pedal base 12 setting and be located the cushion below, sit the bucket and limit battery compartment 131 on rear portion frame 13, be provided with power battery in the battery compartment 131, so, utilize the space of cushion below on rear portion frame 13, the space utilization of whole car can be further improved to the holding power battery, and guarantee power battery's security and dismouting convenience.

In some embodiments of the present invention, as shown in fig. 2-11, self-balancing device 40 includes a first support 410, a second support 420, a gyroscope 430, and a tilt motor 440.

The first support 410 and the second support 420 are spaced apart and mounted to the footrest base 12, and the gyroscope 430 is rotatably mounted between the first support 410 and the second support 420. The tilt motor 440 is mounted on at least one of the first support 410 and the second support 420, and the tilt motor 440 is located between the first support 410 and the second support 420, and the tilt motor 440 drives the gyroscope 430 to rotate.

Specifically, the gyro 430 incorporates a motor, a gyro rotor, and the like, and the gyro rotor is driven to rotate by the motor, and when the gyro 430 is energized, the gyro rotor inside rotates at a high speed around the Z axis. Tilt motor 440 may be coupled to gyroscope 430 via a transmission assembly to drive gyroscope 430 to rotate about the X-axis. The gyroscope 430 functions to adjust the balance in combination with the rotation of the internal gyro rotor about the Z axis and the rotation of the entire gyroscope itself about the X axis.

For example, when self-balancing device 40 is applied to a vehicle, the Y-axis direction of self-balancing device 40 may be parallel to the front-back direction of the vehicle, the self-balancing mode is turned on, the gyroscope inside gyroscope 430 is at a certain rotation speed, when a posture sensor located in the vehicle body detects that the vehicle is about to topple left and right, tilt motor 440 may rotate gyroscope 430 around the X-axis by adjusting the output rotation speed, and thus may perform a function of adjusting balance, for example, when the vehicle is tilted left, gyroscope 430 is in a state of being high in front and low in back when viewed along the front-back connecting line direction of the wheels, and gyroscope 430 is also restored to a horizontal state after the vehicle is adjusted until the vehicle is restored to balance, where gyroscope 430 is adjusted in real time, and only when the vehicle is tilted slightly, the adjustment range of both.

Therefore, by providing the first support 410 and the second support 420, the self-balancing device 40 can be integrally supported, and the self-balancing device 40 can be conveniently installed. Moreover, gyroscope 430 and tilting motor 440 all set up between first support piece 410 and second support piece 420, thereby gyroscope 430 and tilting motor 440 are integrated in self-balancing unit 40's inside, self-balancing unit 40's integrated level has effectively been improved, make self-balancing unit 40 modularization be a whole, the whole volume of self-balancing unit 40 has not only been reduced, and assembly is convenient, and because self-balancing unit 40 compact structure, can realize self-balancing unit 40's assembly under the condition of not destroying original outward appearance of vehicle and part, the uniformity of vehicle outward appearance has been guaranteed.

In some embodiments of the present invention, as shown in fig. 2, the self-balancing device 40 further includes at least one connection bridge 450, the connection bridge 450 is disposed between the first support 410 and the second support 420, one end of the connection bridge 450 is connected to the first support 410, and the other end of the connection bridge 450 is connected to the second support 420, so that stability of relative positions of the first support 410 and the second support 420 is improved, thereby improving structural reliability of the self-balancing device 40 as a whole.

Of course, in order to further improve the structural reliability of the first support 410 and the second support 420, the connecting bridges 450 may be provided in plurality, and the specific number and arrangement position of the connecting bridges 450 may be set according to actual conditions.

As shown in fig. 8, the gyroscope 430 has a first mounting arm 431 and a second mounting arm 432, the first mounting arm 431 and the second mounting arm 432 are located at two radial sides of the gyroscope 430, the central axes of the first mounting arm 431 and the second mounting arm 432 are coincident, for example, both are parallel to the X axis, the first mounting arm 431 is mounted to the first support 410 through a first bearing, and the second mounting arm 432 is mounted to the second support 420 through a second bearing, so that the gyroscope 430 can be supported between the first support 410 and the second support 420, and the rotation requirement of the gyroscope 430 can be met.

In some embodiments of the present invention, as shown in fig. 3-5, gyroscope 430 is multiple and includes a first gyroscope 433 and a second gyroscope 434, and self-balancing device 40 further includes a synchronization transmission assembly 460.

The synchronous transmission assembly 460 is arranged in the first support member 410, the synchronous transmission assembly 460 is respectively connected with the tilting motor 440 and the first gyroscope 433 and the second gyroscope 434, and the tilting motor 440 drives the first gyroscope 433 and the second gyroscope 434 to synchronously rotate through the synchronous transmission assembly 460.

From this, through setting up synchronous transmission assembly 460, utilize synchronous transmission assembly 460 to connect tilting motor 440 and first gyroscope 433 and second gyroscope 434, can utilize one tilting motor 440 to drive first gyroscope 433 drive and second gyroscope 434 simultaneously from this, reduced the quantity of tilting motor and drive plate, improved the integrated level to the space that has reduced to occupy, and the cost is reduced. Moreover, the control difficulty of the whole system is reduced, and the synchronization consistency of the first gyroscope 433 and the second gyroscope 434 is better.

In addition, the synchronous transmission assembly 460 is disposed in the first support 410, so that the synchronous transmission assembly 460 can be protected and dustproof, and the integration level and the modularization degree are further improved.

Specifically, as shown in fig. 4, the first gyroscope 433 has a first mounting arm 431 and a second mounting arm 432, the first mounting arm 431 and the second mounting arm 432 are located at both sides of the first gyroscope 433 in the radial direction, the central axes of the first mounting arm 431 and the second mounting arm 432 may be coincident and parallel to the X axis, the first mounting arm 431 is mounted to the first support 410 by a first bearing, and the second mounting arm 432 is mounted to the second support 420 by a second bearing.

The second gyro 434 has a third mounting arm 436 and a fourth mounting arm 437, the third mounting arm 436 and the fourth mounting arm 437 are located at both radial sides of the second gyro 434, the central axes of the third mounting arm 436 and the fourth mounting arm 437 may coincide and be parallel to the X-axis, the third mounting arm 436 is mounted to the first support 410 by a third bearing, and the fourth mounting arm 437 is mounted to the second support 420 by a fourth bearing.

Thereby, the first gyro 433 and the second gyro 434 are supported between the first support 410 and the second support 420, and the rotation requirements of the first gyro 433 and the second gyro 434 are satisfied.

In some specific examples of the present invention, as shown in fig. 3 and 5, the synchronizing transmission assembly 460 includes a synchronizing drive pulley 461, a first synchronizing driven pulley 462, a first synchronizing idler pulley 463, a second synchronizing driven pulley 464, and a second synchronizing idler pulley 465.

The synchronous driving wheel 461 is rotatably installed in the first support 410 and connected to the tilting motor 440, for example, the synchronous driving wheel 461 is connected to an output shaft of the tilting motor 440 through a flat key and a jack screw.

The first synchronously driven wheel 462 is rotatably installed in the first supporting member 410 and connected to the first gyroscope 433, the second synchronously driven wheel 464 is rotatably installed in the first supporting member 410 and connected to the second gyroscope 434, for example, the first synchronously driven wheel 462 and the second synchronously driven wheel 464 are respectively located at two sides of the synchronously driving wheel 461 in the length direction of the first supporting member 410 and the second supporting member 420, the first synchronously driven wheel 462 is connected to the first installation arm 431 of the first gyroscope 433 through a flat key and a top wire, and the second synchronously driven wheel 464 is connected to the third installation arm 436 of the second gyroscope 434 through a flat key and a top wire.

A first synchronous idler 463 is rotatably installed in the first support 410 between the synchronous driving wheel 461 and the first synchronous driven wheel 462, and the first synchronous idler 463 is in transmission fit with the synchronous driving wheel 461 and the first synchronous driven wheel 462 respectively. The second synchronous idle wheel 465 is rotatably mounted in the first support 410 and located between the synchronous driving wheel 461 and the second synchronous driven wheel 464, and the second synchronous idle wheel 465 is in transmission fit with the synchronous driving wheel 461 and the second synchronous driven wheel 464 respectively.

From this, it is rotatory to vert the synchronous action wheel 461 of drive behind the motor 440 operation, and synchronous action wheel 461 drives first synchronous idler 463 and the synchronous idler 465 rotation of second in step to synchronous drive first synchronous follow driving wheel 462 and the synchronous follow driving wheel 464 synchronous rotation of second in step, and then drive first gyroscope 433 and the synchronous rotation of winding the X axle of second gyroscope 434.

The synchronous driving wheel 461, the first synchronous driven wheel 462, the first synchronous idle wheel 463, the second synchronous driven wheel 464 and the second synchronous idle wheel 465 can be in transmission fit in different manners, such as synchronous belts, synchronous chains or tooth engagement.

Specifically, as shown in fig. 3, the timing drive pulley 461, the first timing driven pulley 462, the first timing idle pulley 463, the second timing driven pulley 464, and the second timing idle pulley 465 are all pulleys and are drivingly connected by a timing belt 466.

Further, as shown in fig. 3, the first support 410 is provided with a sliding groove 413, and a rotating shaft of the second synchronous idle wheel 465 is slidably fitted in the sliding groove 413, so as to adjust the tension of the synchronous belt 466 by adjusting the position of the rotating shaft of the second synchronous idle wheel 465 in the sliding groove 413.

Furthermore, the sliding grooves 413 are formed on two opposite side walls of the first supporting member 410, two ends of the rotating shaft of the second synchronous idle wheel 465 are respectively slidably fitted in the sliding grooves 413 on the two side walls, so as to improve the sliding stability of the second synchronous idle wheel 465, and ensure that the rotating shaft of the second synchronous idle wheel 465 is always parallel to the X axis, after the position of the second synchronous idle wheel 465 is adjusted, two ends of the rotating shaft of the second synchronous idle wheel 465 are respectively fastened with the first supporting member 410 through the tuck bolts, so that the position of the second synchronous idle wheel 465 is fixed, and the rotation of the second synchronous idle wheel 465 is not affected.

It is understood that the sliding groove 413 may be provided at a position corresponding to the rotating shaft of the first synchronous idle gear 463, or the sliding groove 413 may be provided at a position corresponding to the rotating shaft of the first synchronous idle gear 463 and the rotating shaft of the second synchronous idle gear 465.

In other embodiments of the present invention, the synchronous driving wheel 461, the first synchronous driven wheel 462, the first synchronous idle wheel 463, the second synchronous driven wheel 464 and the second synchronous idle wheel 465 are all sprockets and are connected by a synchronous chain transmission, and the specific structure of the chain transmission mode can refer to the synchronous belt transmission structure shown in fig. 3, and the sprockets and the synchronous chain are replaced correspondingly.

In some other examples of the present invention, as shown in fig. 5, the synchronous driving wheel 461, the first synchronous driven wheel 462, the first synchronous idle wheel 463, the second synchronous driven wheel 464 and the second synchronous idle wheel 465 are all gears and are connected by a mesh transmission.

The different transmission matching modes can realize synchronous transmission of power, so that a self-balancing function is completed, variable-speed transmission (such as speed reduction transmission) can be realized by designing the size of the wheel diameter, and the technical personnel in the field can set according to actual conditions.

In some specific examples of the present invention, as shown in fig. 3, the first support 410 includes a first housing 411 and a first cover plate 412.

The first housing 411 is mounted on the pedal base 12, the first mounting arm 431 of the first gyroscope 433 and the third mounting arm 436 of the second gyroscope 434 are rotatably mounted on the first housing 411, respectively, the tilting motor 440 is mounted on the first housing 411, the synchronous transmission assembly 460 is disposed in the first housing 411, and one side of the first housing 411, which faces away from the first gyroscope 433 and the second gyroscope 434, is open. The first cover 412 is detachably mounted to the first housing 411 and covers an opened side of the first housing 411, and sliding grooves 413 may be formed on the first housing 411 and the first cover 412, respectively. The first cover plate 412 can be disassembled, so that the synchronous transmission assembly 460 can be conveniently disassembled, maintained, replaced and the like.

In some embodiments of the present invention, as shown in fig. 6-7, self-balancing device 40 further includes a gyroscope drive plate 471 and a tilt motor drive plate 472.

The gyro drive board 471 is installed in the second support member 420 and electrically connected to the gyro 430, and after the gyro 430 is powered on, the gyro rotor therein rotates at a high speed around the Z axis according to a control signal of the gyro drive board 471. The tilting motor drive plate 472 is installed in the second support member 420 and electrically connected to the tilting motor 440, and the tilting motor 440 may be connected to the gyroscope 430 through the synchronous transmission assembly 460, and the gyroscope 430 is driven to rotate around the X axis according to a control signal of the tilting motor drive plate 472.

The central control device 50 is electrically connected to the gyroscope drive board 471 and the tilting motor drive board 472, and is configured to transmit a corresponding control signal.

From this, set up gyroscope drive plate 471 and the motor drive plate 472 that verts in second support piece 420, not only with gyroscope drive plate 471 and the motor drive plate 472 that verts integrated in self-balancing unit 40's inside, improved modularization and integrated level, reduced the space that self-balancing unit 40 occupy, made things convenient for the assembly, shortened the length of relevant pencil moreover by a wide margin, effectively weakened unstable risk of signal and electromagnetic interference, and then promoted the stability of wholeness ability.

In some embodiments of the present invention, to improve the ability of the self-balancing device 40 to adjust the balance, the gyroscopes 430 are multiple and are rotatably mounted between the first support 410 and the second support 420. The plurality of gyroscope drive boards 471 are disposed in the second support member 420, and the plurality of gyroscope drive boards 471 are electrically connected to the plurality of gyroscopes 430 in a one-to-one correspondence manner.

Fig. 6 and 7 show an example in which the two gyroscopes 430 are provided, the two gyroscopes 430 are arranged in the lengthwise direction of the first support 410 and the second support 420, the two gyroscope drive boards 471 are provided, and the tilt motor drive board 472 is provided between the two gyroscope drive boards 471.

Specifically, as shown in fig. 8, the gyroscope 430 has a first mounting arm 431 and a second mounting arm 432, the first mounting arm 431 and the second mounting arm 432 are located at two radial sides of the gyroscope 430, the central axes of the first mounting arm 431 and the second mounting arm 432 are coincident, for example, both are parallel to the X axis, the first mounting arm 431 is mounted to the first support 410 through a first bearing, and the second mounting arm 432 is mounted to the second support 420 through a second bearing, so that the gyroscope 430 can be supported between the first support 410 and the second support 420, and the rotation requirement of the gyroscope 430 can be met.

In some specific examples of the present invention, as shown in fig. 6 and 7, the gyroscope 430 is provided with a magnetic steel 435 rotating with the gyroscope 430, for example, the magnetic steel 435 is provided on the end surface of the second mounting arm 432 and is magnetized radially, the gyroscope drive board 471 is provided with a magnetic encoder (not shown in the figure), the magnetic encoder is kept at a certain distance from the magnetic steel 435, when the tilt motor 440 operates to rotate the gyroscope 430 around the X axis, the magnetic steel 435 rotates with the gyroscope 430, and the magnetic encoder reads the rotation angle of the magnetic steel 435, so as to obtain the rotation angle of the gyroscope 430.

In some embodiments of the present invention, the gyro drive board 471 and the tilt motor drive board 472 are electrically connected by a wire, which is located in the second support member 420 and below the gyro drive board 471 and the tilt motor drive board 472.

Further, an interface terminal 423 is provided at an end wall of the second support member 420, a center control line is connected to the tilting motor drive board 472, the center control line extends from a lower portion of the tilting motor drive board 472 to the interface terminal 423 and is connected to the interface terminal 423, and the center control device 50 is connected to the interface terminal 423.

So, accomplish the line of gyroscope drive plate 471 and the motor drive plate 472 that verts, and the bottom of second support piece 420 is arranged in to these pencil equipartitions, and the pencil line is more regular, and in some other examples, gyroscope drive plate 471 and the motor drive plate 472 that verts can also set up the power cord respectively and be connected to interface terminal 423, through interface terminal 423 unified and external connection.

In some specific examples of the present invention, as shown in fig. 6 and 7, the second support member 420 is configured with a first heat dissipation boss 424 and a second heat dissipation boss 425 therein, the heat generating component 473 (such as a MOS transistor) on the gyro drive board 471 is in contact with the first heat dissipation boss 424 for heat conduction, and the heat generating component 473 (such as a MOS transistor) on the tilt motor drive board 472 is in contact with the second heat dissipation boss 425 for heat conduction, thereby achieving heat dissipation of the gyro drive board 471 and the tilt motor drive board 472.

In order to make the heat distribution more uniform and improve the heat dissipation efficiency, the first heat dissipation boss 424 is located on one of the top wall and the bottom wall of the second support member 420, and the second heat dissipation boss 425 is located on the other of the top wall and the bottom wall of the second support member 420, that is, the first heat dissipation boss 424 and the second heat dissipation boss 425 are arranged in a staggered manner in the vertical direction (Z-axis direction).

Further, as shown in fig. 6 and 7, a plurality of first mounting posts 426 and a plurality of second mounting posts 427 are configured in the gyroscope 430, the gyroscope drive board 471 is provided with a plurality of first mounting holes, the tilting motor drive board 472 is provided with a plurality of second mounting holes, the first mounting posts 426 are fitted in the first mounting holes in a one-to-one correspondence manner, and the second mounting posts 427 are fitted in the second mounting holes in a one-to-one correspondence manner, so that the positioning of the gyroscope drive board 471 and the tilting motor drive board 472 in the second support member 420 is realized, and the structure is simple and the assembly and disassembly are convenient.

In some specific examples of the present invention, as shown in fig. 6 and 7, the second support 420 includes a second housing 421 and a second cover 422.

The second housing 421 is mounted on the pedal base 12, the second mounting arm 432 of the gyroscope 430 is rotatably mounted on the second housing 421 through a second bearing, the gyroscope drive board 471 and the tilting motor drive board 472 are disposed in the second housing 421, the first heat dissipation boss 424, the second heat dissipation boss 425, the first mounting post 426 and the second mounting post 427 are integrally formed with the second housing 421, and are made of aluminum, and one side of the second housing 421, which faces away from the gyroscope 430, is open. The second cover plate 422 is detachably mounted on the open side of the second housing 421 and the second housing 421, so that the second cover plate 422 can be detached, thereby facilitating the disassembly, assembly, maintenance, replacement and other operations of the gyroscope drive plate 471 and the tilting motor drive plate 472.

In some specific examples of the present invention, the plurality of gyroscopes 430 are disposed between the first and

second supports

410 and 420, and the plurality of gyroscopes 430 may be arranged along the length direction of the first and

second supports

410 and 420, i.e., along the Y-axis as shown in fig. 1, but the gyroscopes 430 may be formed at different angles as shown in fig. 10 and 11. The plurality of gyroscopes 430 may also be arranged in the height direction of the first and

second supports

410 and 420, i.e., in the Z-axis as shown in fig. 9.

In some specific examples of the present invention, as shown in FIG. 1, the footrest base 12 includes a first U-shaped bottom tube 14, a first pressure tube 15, a second U-shaped bottom tube 16, and a second pressure tube 17.

The first U-shaped bottom tube 14 is substantially a U with an upward opening, two ends of the first U-shaped bottom tube 14 are respectively connected with the front frame 11 and the rear frame 13, the first pressure tube 15 is mounted on the first U-shaped bottom tube 14, and the first support member 410 is pressed downwards in the recess of the first U-shaped bottom tube 14 by the first pressure tube 15.

The second U-shaped bottom tube 16 is substantially U-shaped with an upward opening, two ends of the second U-shaped bottom tube 16 are respectively connected with the front frame 11 and the rear frame 13, the second pressure tube 17 is mounted on the second U-shaped bottom tube 16, and the second pressure tube 17 presses the second supporting member 420 downward in the recess of the second U-shaped bottom tube 16. Therefore, the self-balancing device 40 is fixed on the pedal base 12, the structure is simple and stable, the framework of the pedal base 12 is utilized to complete the fixation of the self-balancing device 40, and an additional fixing structure is not required.

Further, at least one of the first pressing pipe 15 and the second pressing pipe 17 is provided with a limiting sheet 18, and the limiting sheet 18 is used for limiting the maximum rotation angle of the gyroscope 430 around the X axis, so that the gyroscope 430 is prevented from rotating too much, and the reliability of self-balancing is ensured.

The limiting pieces 18 may be arranged in pairs, the number of pairs of limiting pieces 18 is the same as the number of gyroscopes 430, and the two limiting pieces 18 in each pair are respectively located at the left and right sides of the gyroscopes 430.

In some embodiments of the present invention, as shown in fig. 1, the electric motorcycle 1 further includes a handlebar front fork assembly 20 and an automatic steering apparatus 30.

The front handlebar assembly 20 is rotatably mounted to the front frame 11, the automatic steering apparatus 30 is mounted to the front frame 11 and connected to the front handlebar assembly 20, the central control apparatus 50 is electrically connected to the automatic steering apparatus 30, and the central control apparatus 50 controls the rotation of the front handlebar assembly 20 through the automatic steering apparatus 30, so that the automatic steering is realized.

From this, install automatic steering device 30 in anterior frame 11, thereby the position of rational arrangement automatic steering device 30 on whole car, the modularization and the integrated level of whole car overall arrangement have been improved, make full use of whole car space, original structure and outward appearance that need not to change the electricity by a wide margin and rub, when batch production like this, need not independent development frame and customization outward appearance piece, only need install these parts additional can, effectively reduced mould cost and development time, thereby improve productivity, quality, reduce the process.

Further, as shown in fig. 12 and 13, the automatic steering device 30 includes a motor holder 310, a steering motor 320, a steering driving wheel 330, a steering driven wheel 340, and an adjustment spacer 350.

The motor bracket 310 is mounted to the front frame 11, the motor bracket 310 has a motor mounting hole 311, and the steering motor 320 is mounted to the motor mounting hole 311. The steering driving wheel 330 is connected with the steering motor 320, the steering driven wheel 340 is connected with the handlebar front fork assembly 20, and the steering driven wheel 340 is in transmission fit with the steering driving wheel 330, namely the steering driving wheel 330 and the steering driven wheel can transmit power. The adjusting spacer 350 is sleeved on the steering motor 320 and assembled in the motor mounting hole 311, the outer circumferential surface and the inner circumferential surface of the adjusting spacer 350 are eccentrically arranged, and the adjusting spacer 350 rotates to adjust the center distance between the steering driving wheel 330 and the steering driven wheel 340.

Specifically, the output shaft of the steering motor 320 may be matched with the steering driving wheel 330 through a flat key, the steering driven wheel 340 may be matched with the handlebar front fork assembly 20 through a flat key, the adjusting spacer 350 is assembled in the motor mounting hole 311, the steering motor 320 is installed in the adjusting spacer 350, that is, the adjusting spacer 350 is located between the steering motor 320 and the inner wall of the motor mounting hole 311, the center of the outer circumferential surface of the adjusting spacer 350 and the center of the inner circumferential surface of the adjusting spacer 350 are arranged in a staggered manner, for example, the eccentricity may be H, when the center distance between the steering driving wheel 330 and the steering driven wheel 340 needs to be adjusted, the value of the center distance between the steering driving wheel 330 and the steering driven wheel 340 may be adjusted by rotating the adjusting spacer 350 in the range of 0 to H in an electrodeless manner, thereby ensuring that the steering driving wheel 330.

When the electric motorcycle 1 performs automatic steering control, the central control device of the electric motorcycle 1 controls the steering motor 320 to operate, and the steering motor 320 drives the handlebar front fork assembly 20 to rotate through the steering driving wheel 330 and the steering driven wheel 340, so as to realize automatic steering.

Thus, the adjusting spacer 350 is arranged between the inner walls of the steering motor 320 and the motor mounting hole 311, and the inner circumferential surface and the outer circumferential surface of the adjusting spacer 350 are eccentrically arranged, so that the position of the steering driving wheel 330 can be adjusted by rotating the adjusting spacer 350, the center distance between the steering driving wheel 330 and the steering driven wheel 340 can be adjusted, manufacturing and assembling errors can be adapted, the assembling and welding requirements of the electric motorcycle 1 can be reduced, and the production efficiency can be improved.

In some embodiments of the present invention, as shown in fig. 13, the inner circumferential surface of the adjusting spacer 350 is attached to the outer circumferential surface of the steering motor 320, and the outer circumferential surface of the adjusting spacer 350 is attached to the inner circumferential surface of the motor mounting hole 311, so that the effectiveness of adjusting the center distance between the steering driving wheel 330 and the steering driven wheel 340 can be ensured, and the reliability of the steering motor 320 in the motor mounting hole 311 can be improved.

For example, the outer circumferential surface of the steering motor 320 and the inner circumferential surface of the adjustment spacer 350 are round shapes that fit each other, and the inner circumferential surface of the motor mounting hole 311 and the outer circumferential surface of the adjustment spacer 350 are round shapes that fit each other, so that the adjustment spacer 350 can be rotated conveniently, and the accuracy of adjusting the center distance between the steering driving wheel 330 and the steering driven wheel 340 can be improved.

In some embodiments of the present invention, as shown in fig. 13, the adjustment spacer 350 includes an adjustment ring 351 and a support ring 352, and the adjustment ring 351 and the support ring 352 may be integrally formed.

The adjusting ring 351 is arranged on the steering motor 320 and assembled in the motor mounting hole 311, the outer circumferential surface and the inner circumferential surface of the adjusting ring 351 are eccentrically arranged, and the rotation of the adjusting ring 351 can adjust the center distance between the steering driving wheel 330 and the steering driven wheel 340. The support ring 352 is connected to the adjustment ring 351 and located outside the motor mounting hole 311, the support ring 352 is supported on the motor holder 310, for example, the support ring 352 is connected to the upper end of the adjustment ring 351 and extends outward in the radial direction of the adjustment ring 351, the support ring 352 is supported on the upper surface of the motor holder 310, and the support ring 352 can improve the stability of the adjustment spacer 350 in the motor mounting hole 311 and facilitate the rotation of the adjustment spacer 350.

Further, as shown in fig. 13, the adjusting spacer 350 has an opening 353 for cutting off the adjusting spacer 350 along the circumferential direction thereof, and the opening 353 cuts off the adjusting ring 351 and the support ring 352, so that the circumference of the adjusting spacer 350 has an adjustable shape, thereby facilitating the fastening degree of the adjusting motor bracket 310 to the adjusting spacer 350 and the steering motor 320 and avoiding the adjusting spacer 350 from being folded.

In some specific examples of the present invention, as shown in fig. 13, the motor bracket 310 includes a first ring arm 312 and a second ring arm 313, one end of the first ring arm 312 is connected to one end of the second ring arm 313, the other end of the first ring arm 312 and the other end of the second ring arm 313 are disconnected and fastened by a threaded fastener 314, the threaded fastener 314 may be a screw, a bolt, or a combination of either one of the two and a nut, a motor mounting hole 311 is formed between the first ring arm 312 and the second ring arm 313, the first ring arm 312 and the second ring arm 313 together embrace and clamp the steering motor 320, and the clamping force of the first and

second ring arms

312 and 313 clamping the steering motor 320 is adjusted by the threaded fastener 314, by loosening the threaded fastener 314, the adjusting spacer 350 can be conveniently rotated, and the threaded fastener 314 is locked after the center distance between the steering driving wheel 330 and the steering driven wheel 340 is adjusted.

In some embodiments of the present invention, the steering driving wheel 330 and the steering driven wheel 340 may be drivingly engaged in different manners, such as, for example, a driving belt, a driving chain, a toothed engagement, and the like.

Specifically, fig. 12 and 13 show an example of a transmission using a meshing manner, that is, the steering driving wheel 330 and the steering driven wheel 340 are both gears, and the steering driving wheel 330 and the steering driven wheel 340 are in transmission engagement through meshing.

Of course, the steering driving wheel 330 and the steering driven wheel 340 may be both pulleys, and the steering driving wheel 330 and the steering driven wheel 340 are in transmission fit through a transmission belt.

In some other examples of the present invention, the steering driving wheel 330 and the steering driven wheel 340 may also be both sprockets, and the steering driving wheel 330 and the steering driven wheel 340 are in driving fit through a driving chain.

The different transmission cooperation modes of the steering driving wheel 330 and the steering driven wheel 340 can realize the transmission of power, thereby completing the automatic steering function, realizing variable speed transmission (such as speed reduction transmission) by designing the size of the wheel diameter, and being capable of being set by a person skilled in the art according to the actual situation.

In some embodiments of the present invention, as shown in fig. 1, 12 and 13, the front frame 11 has a tray 19, the tray 19 is located in front of the handlebar front fork assembly 20, and the steering motor 320 is supported to the tray 19, thereby further stabilizing the steering motor 320 using the tray 19.

In some embodiments of the present invention, as shown in fig. 1, the electric motorcycle 1 further includes an automatic temple device 60, and the automatic temple device 60 is installed on the pedal base 12 and electrically connected to the central control device 50.

Specifically, the automatic temple device 60 includes a support 610, a temple motor 620, and a support bar 630.

The support 610 is installed on the pedal base 12, the temple motor 620 is installed on the support 610 and electrically connected with the central control device 50, the support rod 630 is rotatably installed on the support 610, and the support rod 630 is driven by the temple motor 620 to rotate, so that the whole vehicle is supported.

In some embodiments of the present invention, as shown in fig. 14, the electric motorcycle 1 further includes a rear hub motor 81, a first controller 91, and a second controller 92.

A rear hub motor 81 is mounted to the rear frame 13, and the rear hub motor 81 is connected to the rear wheel 80 for driving the rear wheel 80 to rotate so as to realize forward and backward movement of the vehicle. The first controller 91 and the second controller 92 are mounted to the rear frame 13.

The first controller 91 is electrically connected to the rear hub motor 81 and the central control device 50, respectively, and is configured to control the rear hub motor 81 in a self-balancing mode, so as to control the forward and backward movement of the vehicle.

The second controller 92 is electrically connected to the rear hub motor 81 and the entire vehicle control harness of the electric motorcycle 1, that is, the second controller 92 is electrically connected to the entire vehicle control harness of the vehicle, so as to control the rear hub motor 81 in a non-self-balancing mode (e.g., in a normal riding mode) and realize the forward and backward movement of the vehicle.

From this, through setting up first controller 91 and second controller 92, can utilize first controller 91 and second controller 92 to control back in-wheel motor 81 respectively under different modes like this, realize the independent control to back in-wheel motor 81 under the different modes, control logic is simpler, has improved the reliability that the vehicle travel, and first controller 91 and second controller 92 are each other backup redundancy, and fail safe nature is higher.

In some specific examples of the present invention, as shown in fig. 14, the first controller 91 and the second controller 92 are installed at the rear end of the rear frame 13 and above the rear hub motor 81, so that the first controller 91 and the second controller 92 are accommodated in a narrow space at the rear end of the frame 10, the space of the entire vehicle is fully utilized, and the space utilization rate of the entire vehicle is improved.

Specifically, the first controller 91 and the second controller 92 may both extend along the length direction of the vehicle frame 10 (i.e., extend along the front-rear direction), and the first controller 91 and the second controller 92 may be arranged side by side along the width direction of the vehicle frame 10 (i.e., arranged side by side along the left-right direction), so that the entire vehicle can be ensured to have a small width while accommodating the first controller 91 and the second controller 92.

Among them, the rear frame 13 is provided with an installation seat 93, and the first controller 91 and the second controller 92 are installed on the installation seat 93, for example, the first controller 91 and the second controller 92 are respectively installed on the installation seat 93 by bolts.

According to the electric motorcycle 1 of the embodiment of the present invention, when the self-balancing state is started (the user can start the electric motorcycle by a button, a switch, etc.), the central control device 50 sends an instruction, the support rod 630 of the automatic temple device 60 automatically retracts, and the gyroscope 430 adjusts the angle around the X-axis direction in real time, so as to ensure that the electric motorcycle 1 keeps self-balancing. When the central control device 50 issues a steering command, the steering motor 320 drives the front handlebar assembly 20 to automatically steer. When the central control device 50 issues a forward/backward command, the first controller 91 controls the rear wheel 80 to move forward and backward by the rear hub motor 81.

Other configurations and operations of the electric motorcycle 1 according to the embodiment of the present invention are known to those skilled in the art and will not be described in detail herein.

In the description herein, references to the description of "a particular embodiment," "a particular example," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example.

While embodiments of the invention have been shown and described, it will be understood by those of ordinary skill in the art that: various changes, modifications, substitutions and alterations can be made to the embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the claims and their equivalents.

Claims

1. An electric motorcycle, characterized by comprising:

the bicycle comprises a bicycle frame, a bicycle frame and a bicycle frame, wherein the bicycle frame comprises a front bicycle frame, a pedal base and a rear bicycle frame, and the pedal base is connected between a front bracket and a rear bracket;

the self-balancing device is arranged in the pedal base;

and the central control device is arranged in the pedal base and is electrically connected with the self-balancing device.

2. The electric motorcycle of claim 1, further comprising:

the cushion is mounted on the rear frame, and the pedal base is positioned in front of and below the cushion;

the front wheel is arranged on the front frame and is positioned in front of the pedal base;

the rear wheel is arranged on the rear frame and is positioned below the cushion and behind the pedal base.

3. The electric motorcycle of claim 2, wherein the rear frame is provided with a seat tub disposed adjacent the footrest base and below the seat cushion, the seat tub defining a battery compartment on the rear frame, the battery compartment being provided with a power battery therein.

4. The electric motorcycle of claim 1, wherein a receiving cavity is configured in the pedal base, the self-balancing device and the central control device are arranged in the receiving cavity, and the central control device is located behind the self-balancing device.

5. Electric motorcycle according to claim 1, characterized in that said self-balancing means comprise:

the first supporting piece and the second supporting piece are arranged at intervals and are installed on the pedal base;

a gyroscope rotatably mounted between the first support and the second support;

a tilt motor installed in at least one of the first support member and the second support member and located between the first support member and the second support member, the tilt motor drives the gyroscope to rotate.

6. The electric motorcycle of claim 5, wherein the gyroscope is plural and includes a first gyroscope and a second gyroscope, the self-balancing device further comprising:

the synchronous transmission assembly is arranged in the first supporting piece, the synchronous transmission assembly is respectively connected with the tilting motor and the first gyroscope and the second gyroscope, and the tilting motor drives the first gyroscope and the second gyroscope to synchronously rotate.

7. An electric motorcycle according to claim 6, characterised in that said synchronization transmission assembly comprises:

the synchronous driving wheel is rotatably arranged in the first supporting piece and is connected with the tilting motor;

the first synchronous driven wheel is rotatably arranged in the first supporting piece and is connected with the first gyroscope;

the first synchronous idler wheel is rotatably arranged in the first supporting piece and is respectively in transmission fit with the synchronous driving wheel and the first synchronous driven wheel;

the second synchronous driven wheel is rotatably arranged in the first supporting piece and is connected with the second gyroscope;

the second synchronous idle wheel is rotatably arranged in the first supporting piece and is respectively in transmission fit with the synchronous driving wheel and the second synchronous driven wheel.

8. The self-balancing device of claim 7, wherein the synchronous driving wheel, the first synchronous driven wheel, the first synchronous idle wheel, the second synchronous driven wheel and the second synchronous idle wheel are all belt wheels and are connected through a synchronous belt transmission; or

The synchronous driving wheel, the first synchronous driven wheel, the first synchronous idle wheel, the second synchronous driven wheel and the second synchronous idle wheel are chain wheels and are connected through a synchronous chain; or

The synchronous driving wheel, the first synchronous driven wheel, the first synchronous idle wheel, the second synchronous driven wheel and the second synchronous idle wheel are gears and are connected in a meshing transmission mode.

9. An electric motorcycle according to claim 8, wherein the first support member is provided with a slide groove to which a rotating shaft of the second synchronous idler is slidably fitted to adjust a tension of the synchronous belt.

10. Electric motorcycle according to any one of claims 6-9, characterised in that said first support comprises:

the first shell is arranged on the pedal base, the first gyroscope and the second gyroscope are respectively and rotatably arranged on the first shell, the tilting motor is arranged on the first shell, the synchronous transmission assembly is arranged in the first shell, and one side of the first shell, which is back to the first gyroscope and the second gyroscope, is opened;

a first cover plate detachably mounted to the first housing and covering an opened side of the first housing.

11. The electric motorcycle of claim 5, wherein the self-balancing apparatus further comprises:

a gyroscope drive board mounted within the second support and electrically connected with the gyroscope;

the motor drive plate verts, the motor drive plate that verts install in the second support piece and with the motor electricity that verts is connected.

The central control device is electrically connected with the gyroscope drive plate and the tilting motor drive plate.

12. The electric motorcycle of claim 11, wherein the second support member has a first heat dissipating boss and a second heat dissipating boss formed therein, and the heat generating component of the gyroscope drive board is in contact with the first heat dissipating boss for heat conduction, and the heat generating component of the tilt motor drive board is in contact with the second heat dissipating boss for heat conduction.

13. Electric motorcycle according to any one of claims 11-12, characterised in that said second support comprises:

the second shell is arranged on the pedal base, the gyroscope is rotatably arranged on the second shell, the gyroscope driving plate and the tilting motor driving plate are arranged in the second shell, and one side of the second shell, which is back to the gyroscope, is opened;

a second cover plate detachably mounted to the second housing and covering the opened side of the second housing.

14. An electric motorcycle according to claim 5, wherein the footrest base comprises:

the two ends of the first U-shaped bottom pipe are respectively connected with the front frame and the rear frame, and the first pressure pipe is mounted on the first U-shaped bottom pipe and tightly presses the first supporting piece to the first U-shaped bottom pipe;

the two ends of the second U-shaped bottom pipe are respectively connected with the front frame and the rear frame, and the second pressure pipe is installed on the second U-shaped bottom pipe and compresses the second supporting piece on the second U-shaped bottom pipe.

15. The electric motorcycle of claim 1, further comprising:

a handlebar front fork assembly rotatably mounted to the front bracket;

the automatic steering device is arranged on the front frame and connected with the handlebar front fork assembly, and the central control device is electrically connected with the automatic steering device.

16. An electric motorcycle according to claim 15, wherein the automatic steering device includes:

the motor bracket is arranged on the front frame and provided with a motor mounting hole;

the steering motor is arranged in the motor mounting hole;

the steering driving wheel is connected with the steering motor;

the steering driven wheel is connected with the handlebar front fork assembly and is in transmission fit with the steering driving wheel;

the adjusting spacer bush is sleeved on the steering motor and assembled in the motor mounting hole, and the outer peripheral surface and the inner peripheral surface of the adjusting spacer bush are eccentrically arranged.

17. An electric motorcycle according to claim 16, characterised in that the adjustment spacer comprises:

the adjusting ring is sleeved on the steering motor and assembled in the motor mounting hole, and the outer peripheral surface and the inner peripheral surface of the adjusting ring are eccentrically arranged;

the support ring, the support ring connect in the adjustable ring just is located outside the motor mounting hole, the support ring support in the motor support.

18. An electric motorcycle according to any one of claims 16 to 17, wherein the steering driving wheel and the steering driven wheel are both gears, the steering driving wheel and the steering driven wheel being in driving engagement by meshing; or

The steering driving wheel and the steering driven wheel are belt wheels, and are in transmission fit through a transmission belt; or

The steering driving wheel and the steering driven wheel are chain wheels, and are in transmission fit through a transmission chain.

19. The electric motorcycle of claim 1, further comprising:

and the automatic temple device is arranged on the pedal base and is electrically connected with the central control device.

20. An electric motorcycle according to claim 19, wherein the automatic temple device comprises:

the support is arranged on the pedal base;

the temple motor is arranged on the support and is electrically connected with the central control device;

and the supporting rod is rotatably arranged on the supporting seat and is driven by the temple motor to rotate.

21. The electric motorcycle of claim 1, further comprising:

the rear hub motor is mounted on the rear frame;

the first controller is mounted on the rear frame and is electrically connected with the rear hub motor and the central control device respectively;

and the second controller is arranged on the rear frame and is respectively and electrically connected with the rear hub motor and the whole vehicle control wire harness of the electric motorcycle.

22. The electric motorcycle of claim 21, wherein the first controller and the second controller are mounted to a rear end of the rear frame above the rear hub motor.