CN205034234U - Two rounds of balance cars with bionics tail structure - Google Patents

Abstract

The utility model discloses a two-wheel balance vehicle with a bionic tail structure, which belongs to the technical field of automatic control. The device applies the principle of bionics to modern life, abstracts the mechanical tail from the significance of the tail to its own balance in animal movement, and uses the mechanical tail to regulate the automatic control system to improve the overall stability of the system, so as to achieve a bionic tail structure. The adjustment and control of the two-wheel balance car under extreme conditions can greatly shorten the response time required for the system to restore the balance state. The realization of this device is to maintain the balance of the body by moving up and down, left and right through the mechanical tail structure installed at the rear of the two-wheel balance car using the principle of bionics. At the same time, the two-wheel balance car itself also controls the independent rotation (speed, direction) of the two wheels Cooperative control of balance, this design overcomes the obvious shortcomings of the automatic balance of the two-wheeled self-balancing vehicle itself, and also shows functions that other two-wheeled vehicle platforms cannot or are difficult to achieve.

Description

A two-wheel balance car with a bionic tail structure

technical field

The utility model belongs to the technical field of automatic control, in particular to a two-wheel balance car with a bionic tail structure.

Background technique

The traditional two-wheel balance vehicle can adjust its balance through two-wheel movement to maintain an upright posture. It can be used as a transport vehicle or apply some robots that need to work in a small space. Compared with the traditional four-wheel vehicle, the two-wheel vehicle has a large Advantage. First of all, two-wheeled vehicles have higher flexibility and more degrees of freedom. It can achieve various actions that many traditional four-wheeled vehicles cannot achieve, such as spinning in place. Therefore, two-wheel vehicles are more suitable for moving in crowded environments. Secondly, the two-wheeled vehicle takes up less space, is smaller and lighter, which makes it more suitable as a personal means of transportation in the city. Since two-wheel vehicles have fewer structures than four-wheel vehicles, the manufacturing cost is relatively much less. The two-wheel self-balancing vehicle can realize automatic balance, and it is difficult to achieve its own upright state or cannot return to the upright state within the expected time when it is off the ground or not off the ground but subjected to external forces. However, the two-wheeled self-balancing car with the tail structure described in the utility model can effectively solve this problem, and the addition of the bionic tail structure greatly improves the robustness and controllability of the overall system of the self-balancing car. The two-wheel balance car with the bionic tail has a good application prospect in many fields such as business and scientific research. For example: In terms of unmanned vehicles widely used in two-wheeled self-balancing vehicles, the results of this research project can directly improve the stability of the vehicle and thus improve the riding experience of passengers; The flexibility of the detector, the original two-wheeled balance car needs more moving space to maintain balance, but this achievement can achieve the same effect by controlling the smaller tail; in addition, the balance car developed by this project can be detected by no one In terms of good application, in the scene where the two-wheeled vehicle needs to move back and forth to maintain balance, the results of this project can minimize the range of movement by adjusting the tail to ensure the stability of the video field of view.

For the bionic tail, there have been many robots or vehicle systems using similar tail structures. These works have shown that the similar tail structure has a great contribution to the balance of the whole machine, and can often greatly improve the stability of the system. For example, the University of California Berkeley Thomas Libby once studied the influence of tail motion on the balance of the car body and the landing state (Nature481, 181-184 (12January2012)) when the four-wheeled vehicle was moving in the air, but there is no such thing as described in the utility model at present. A two-wheeled balance bike with a bionic tail. However, after the bionic tail structure described in the utility model is applied to the two-wheel balance vehicle, it shows good balance performance and greatly improves the stability of the whole machine system, so it has far-reaching application prospects.

Utility model content

In order to solve the problems existing in the prior art, the purpose of the utility model is to provide a two-wheel balance vehicle with a bionic tail structure capable of adjusting its own balance.

The technical solution adopted by the utility model to solve its technical problems is as follows:

A two-wheeled self-balancing vehicle with a bionic tail structure, consisting of a self-balancing vehicle body 1 and a mechanical tail 2, wherein the mechanical tail 2 is at the upper rear of the self-balancing vehicle body 1, and the mechanical tail 2 has two places and the balance The car body 1 is connected. The connection method between the mechanical tail 2 and the balance car 1 will be given when the components of the mechanical tail are introduced below. The mechanical tail 2 is composed of the tail structure and the control system. It consists of a control system and a second control system for controlling the vertical motion of the tail.

The first control system is a belt transmission, which is made up of a pinion control part 3, a belt 4 and a bull gear control part 5. The pinion 6 in the pinion control part 3 is connected with the bull gear 7 in the bull gear control part by a belt 4. The pinion control part is composed of a pinion 6, a motor 8, a first code disc 9, a first photoelectric encoder 10 and a self-tapping screw 11. Motor 8 is a DC geared motor, and its material is a plastic shell. The diameter of the head of the self-tapping screw 11 is greater than the aperture of the middle hole of the pinion 6, and the self-tapping screw 11 is passed through the middle of the pinion, and then the self-tapping screw 11 is passed through the middle of the first code disc 9, and then the self-tapping screw 11 is passed through the middle of the first code disc 9. 11. The end of the rod part is tapped into the shaft of the motor 8, so that the motor 8 can drive the pinion 6 and the first code disc 9 to rotate synchronously, and the motor 8 is fixed on the lower agley bracket 12 with a copper column of an appropriate length. It means that after selecting a copper column with an appropriate length and fixing it so that the small gear 6 and the large gear 7 are on the same horizontal plane, the concave groove of the photoelectric encoder 10 is clamped on both sides of the first code wheel 9, and the fixed end of the photoelectric encoder 10 Use AB glue to fix the lower agley bracket 12. The big gear control part 5 is composed of a big gear 7, a bearing 13, a flange 14, a bolt 15 and a nut 16. The big gear 7 is on the lower agley bracket 12, and the flange The disk 14 is under the lower agley bracket 12, and a circle with the same size as the shaft of the bearing 13 is made at the corresponding position of the lower agley bracket 12, and the bearing is put into it. Fix the bearing 13 on the lower agley bracket 12, put the head of the bolt 15 down, pass through the center hole of the bearing 13 from bottom to top, insert the large gear 7 into the bolt 15, and use a nut 16 on it fixed. The bolt 15 of appropriate length is that the length of the bolt 15 is enough to put on the large tooth 7 wheel and screw on the nut 16. The large gear 7 is fixed on the lower floor of the Yagley support 12 through the bearing 13 and the flange 14, and the large gear 7 can be wound around Bolt 15 turns freely.

The second control system is made of stay rope motor 17, the second code disc 18, the second photoelectric encoder 19, rope 20, pulley 21, pulley support 22, the first long bolt 23, tail platform 24, and rope 20 selects fishing line for use, The tail platform 24 is fixed on the bull gear 7, the hole with the same aperture as the bolt 15 is drilled in the upper part of the tail platform, the gasket with the same aperture is put on the nut 16, the tail platform is passed on the bolt 15, and it is screwed with a nut. fixed. Pulley support 22 is made up of concave groove 25 and and the second long bolt 26, and concave groove 25 and the second long bolt 26 have been welded into a whole by electric welding, and concave groove 25 both sides are drilled with first long bolt 23 apertures. Same hole, put pulley 21 in the groove of concave groove 25, pass concave groove 25 both sides and pulley 21 simultaneously with first long bolt 23, fix it with nut outside concave groove 25 both sides, Drill the hole with the same aperture of the second long bolt 26 in the middle of the tail platform, and the second long bolt 26 is passed through the tail platform 24 both sides to fix it with nuts. The rope motor 17 is fixed on the top of the tail platform 24 with a copper column of appropriate length, so that the shaft on one side and the hole with the same aperture as the bolt 15 drilled in the middle and upper part of the tail platform and the second long bolt are drilled in the middle of the tail platform. 26 The holes with the same aperture are on the same straight line, wrap the shaft on this side with a rope 20, and fix the second code wheel 18 with the other side shaft with self-tapping screws, so that the second code wheel 18 is coaxial with the rope motor 17 Rotate, the concave groove of the second photoelectric encoder 19 is clamped on both sides of the second code disc 18, the fixed end of the second photoelectric encoder 19 is fixed on the tail platform 24 with AB glue, and the rope is connected from the tail structure Pass through the two holes of the base plate 27 at the bottom of the tail, choose the maximum length that can make the hinge into an angle of 120 degrees as the rope 20, tie the two ropes at the same position at the two ends of the rope, and move the rope head from the 17th axis of the pull rope motor. The central hole is penetrated, and the shaft is knotted around the half shaft. Finally, the rope 20 can be extended or shortened with the rotation of the rope motor 17, and the rope 20 acts on the tail structure through the fixed pulley.

The tail structure is composed of a hinge 29 connecting the tail upper base plate 28 and the tail lower base plate 27. The tail lower base plate 7 is connected to the rope 20, and the tail upper base plate 28 is firmly connected with the tail platform 24 through an aluminum adapter 31. The bottom base plate 28 is connected with the tail lower base plate 27 with a freely rotatable hinge 29. One end of the spring 30 is fixed on the tail upper base plate 28 near the end of the tail lower base plate 27, and the other end is fixed on the tail lower base plate 27 near the tail upper base plate 28. and be fixed on the back side of the plane formed by the tail lower bottom plate 27 and the tail upper bottom plate 28 (near the fuselage surface), when the bionic tail structure is unfolded (that is, the tail upper bottom plate 28 and the tail lower bottom plate 27 are on the same straight line When) the spring is in a fully relaxed state, so when the bionic tail is subjected to the tension of the rope 20 greater than the stress of the spring, the bionic tail structure curls (that is, the angle formed by the upper bottom plate 28 and the lower bottom plate 27 of the tail is less than 180 degrees), and when the rope 20 When the tensile force is less than the stress of the spring, the bionic tail structure stretches (that is, the angle formed by the upper tail base plate 28 and the lower tail base plate 27 returns to a 180-degree bend) to control the vertical movement of the bionic tail structure (here, the up and down movement refers to the bionic tail structure). The end of the tail structure moves up and down); when the two-wheel balance vehicle is moving on the ground in balance, the total length of the tail upper base plate 28 and the tail lower base plate 27 is less than the distance from the tail platform 24 to the ground, and the length of the tail upper base plate 28 is less than the tail lower base plate 27 in length.

Balance car body 1 is made up of upper floor car body 32, lower floor car body 33. The upper car body 32 and the lower car body 33 are connected by copper pillars 34. The upper car body is composed of the upper agley bracket 35, the upper computer 36 and the lower computer 37. Both the upper computer 36 and the lower computer 37 are fixed on the upper agley by copper pillars The top of the bracket 35. The lower car body 33 is composed of the lower agley bracket 12, the first motor drive 38, the second motor drive 39, the first fixed frame 40, the first motor 41, the first coupling 42, the first wheel 43, and the second fixed frame 44, the second motor 45, the second shaft coupling 46, the second wheel 47, the battery 48, the battery support 49, the angle sensor 50, and the angle sensor support 51 are formed. The first motor drive 38 and the second motor drive 39 are fixed on the lower agley bracket 12 with copper pillars, and the first wheel 43 is connected with the first motor 41 through the first coupling 42, so that the first wheel 43 and the first motor 41 rotates coaxially, the first motor 41 is fixed on the lower agley bracket 12 through the first fixing frame 40, the second fixing frame 44, the second motor 45, the second coupling 46, and the second wheel 47 are fixed in the same way as the first A fixed frame 40, a first motor 41, a first coupling 42, and a first wheel 43 are identical. The battery 48 is fixed on the lower acrylic bracket 12 by the battery bracket 49, on the same side as the first wheel 43, and the angle sensor 50 is fixed on the lower acrylic bracket 12 by an angle sensor bracket 51, on the same side as the first wheel 43, and the angle sensor The bracket 51 is below the battery bracket 49, and both the angle sensor bracket 51 and the battery bracket 49 are fixed on the lower agley bracket 12 with AB glue.

The device improves system stability by adding a mechanical tail structure, and has strong practicability. Through the control of the mechanical tail, the movement posture of the body in the air can be controlled, and the body can be guaranteed to land smoothly, reducing the occurrence of mechanical vibration and dumping of the body. When moving on the ground, it balances itself and makes it more stable by controlling the tail structure and the wheels of the car body at the same time.

Description of drawings

Below in conjunction with accompanying drawing and embodiment the utility model is further described.

Figure 1 is an overall schematic diagram of a two-wheel balance car with a bionic tail structure

Among them: balance trolley body 1, mechanical tail 2;

Fig. 2 is a top view of the first control system of a two-wheel balance car with a bionic tail structure

Among them: small gear control part 3, belt 4, large gear control part 5;

Fig. 3 is a side view of the pinion part of a two-wheel balance car with bionics tail structure

Among them: small gear 6, large gear 7, motor 8, first code disc 9, first photoelectric encoder 10, self-tapping screw 11, lower agley bracket 12;

Figure 4 Side view of the large gear part

Among them: large gear 7, lower agley bracket 12, bearing 13, flange 14, bolt 15, nut 16;

Fig. 5 is a side view of the second control system of a two-wheel balance car with a bionic tail structure

Among them: rope motor 17, second code disc 18, second photoelectric encoder 19, rope 20, pulley 21, pulley bracket 22, first long bolt 23, tail platform 24, concave groove 25, second long bolt 26 , Tail lower bottom plate 27;

Fig. 6 is a side view of the tail structure of a two-wheel balance car with bionics tail structure

Among them: tail lower bottom plate 27, connecting tail upper bottom plate 28, hinge 29, spring 30;

Figure 7 is a schematic diagram of the connection between the tail structure and the tail platform of a two-wheel balance vehicle with a bionic tail structure

Among them: tail platform 24, aluminum adapter 31;

Figure 8 is a side view of a two-wheel balance car with a bionic tail structure

Wherein: upper car body 32, lower car body 33;

Figure 9 is a schematic diagram of the body part connection of a two-wheel balance car with a bionic tail structure

Among them: copper pillar 34, upper agley bracket 35, upper computer 36, lower computer 37, first motor drive 38, second motor drive 39;

Figure 10 is a schematic diagram of the connection of the lower body of a two-wheel balance car with a bionic tail structure

Among them: the first fixed frame 40, the first motor 41, the first coupling 42, the first wheel 43, the second fixed frame 44, the second motor 45, the second coupling 46, the second wheel 47, the battery 48 , battery support 49, angle sensor 50, angle sensor support 51.

Fig. 11 is a program flow chart of a two-wheel balance car with bionics tail structure

Figure 12 is a complete machine control diagram of a two-wheel balance car with a bionic tail structure

detailed description

The method of the utility model will be further described below through specific embodiments, and the described embodiments are only specific descriptions of the claims of the utility model, and the claims include but are not limited to the content of the described embodiments.

A two-wheel balance trolley with a bionic tail structure adjusts the movement state of the trolley by controlling the position of the tail to control the overall center of gravity. The overall structure includes a two-wheel balance car body 1 and a mechanical tail 2. The mechanical tail 2 is composed of a tail structure and a control system. The control system consists of a first control system that controls the horizontal movement of the tail and a second control system that controls the vertical movement of the tail. system composition.

The first control system is a belt transmission, which is made up of a pinion control part 3, a belt 4 and a bull gear control part 5. The pinion 6 in the pinion control part 3 is connected with the bull gear 7 in the bull gear control part by a belt 4. The pinion control part is composed of a pinion 6, a motor 8, a first code disc 9, a first photoelectric encoder 10 and a self-tapping screw 11. Motor 8 is a DC geared motor, and its material is a plastic casing. The diameter of the head of the self-tapping screw 11 is greater than the aperture of the middle hole of the pinion 6, and the self-tapping screw 11 is passed through the middle of the pinion, and then the self-tapping screw 11 is passed through the middle of the first code disc 9, and then the self-tapping screw 11 is passed through the middle of the first code disc 9. 11. The end of the rod part is tapped into the shaft of the motor 8, so that the motor 8 can drive the pinion 6 and the first code disc 9 to rotate synchronously, and the motor 8 is fixed on the lower agley bracket 12 with a copper column of an appropriate length. It means that after selecting a copper column with an appropriate length and fixing it so that the small gear 6 and the large gear 7 are on the same horizontal plane, the concave groove of the photoelectric encoder 10 is clamped on both sides of the first code wheel 9, and the fixed end of the photoelectric encoder 10 Use AB glue to fix the lower agley bracket 12. The big gear control part 5 is composed of a big gear 7, a bearing 13, a flange 14, a bolt 15 and a nut 16. The big gear 7 is on the lower agley bracket 12, and the flange The disk 14 is under the lower agley bracket 12, and a circle with the same size as the shaft of the bearing 13 is made at the corresponding position of the lower agley bracket 12, and the bearing is put into it. Fix the bearing 13 on the lower agley bracket 12, put the head of the bolt 15 down, pass through the center hole of the bearing 13 from bottom to top, insert the large gear 7 into the bolt 15, and use a nut 16 on it fixed. The bolt 15 of appropriate length is that the length of the bolt 15 is enough to put on the large tooth 7 wheel and screw on the nut 16. The large gear 7 is fixed on the lower floor of the Yagley support 12 through the bearing 13 and the flange 14, and the large gear 7 can be wound around Bolt 15 turns freely.

The second control system is made of stay rope motor 17, the second code disc 18, the second photoelectric encoder 19, rope 20, pulley 21, pulley support 22, the first long bolt 23, tail platform 24, and rope 20 selects fishing line for use, The tail platform 24 is fixed on the bull gear 7, the hole with the same aperture as the bolt 15 is drilled in the upper part of the tail platform, the gasket with the same aperture is put on the nut 16, the tail platform is passed on the bolt 15, and it is screwed with a nut. fixed. Pulley support 22 is made up of concave groove 25 and and the second long bolt 26, and concave groove 25 and the second long bolt 26 have been welded into a whole by electric welding, and concave groove 25 both sides are drilled with first long bolt 23 apertures. Same hole, put pulley 21 in the groove of concave groove 25, pass concave groove 25 both sides and pulley 21 simultaneously with first long bolt 23, fix it with nut outside concave groove 25 both sides, Drill the hole with the same aperture of the second long bolt 26 in the middle of the tail platform, and the second long bolt 26 is passed through the tail platform 24 both sides to fix it with nuts. The rope motor 17 is fixed on the top of the tail platform 24 with a copper column of appropriate length, so that the shaft on one side and the hole with the same aperture as the bolt 15 drilled in the middle and upper part of the tail platform and the second long bolt are drilled in the middle of the tail platform. 26 The holes with the same aperture are on the same straight line, wrap the shaft on this side with a rope 20, and fix the second code wheel 18 with the other side shaft with self-tapping screws, so that the second code wheel 18 is coaxial with the rope motor 17 Rotate, the concave groove of the second photoelectric encoder 19 is clamped on both sides of the second code disc 18, the fixed end of the second photoelectric encoder 19 is fixed on the tail platform 24 with AB glue, and the rope is connected from the tail structure Pass through the two holes of the base plate 27 at the bottom of the tail, choose the maximum length that can make the hinge into an angle of 120 degrees as the rope 20, tie the two ropes at the same position at the two ends of the rope, and move the rope head from the 17th axis of the pull rope motor. The central hole is penetrated, and the shaft is knotted around the half shaft. Finally, the rope 20 can be extended or shortened with the rotation of the rope motor 17, and the rope 20 acts on the tail structure through the fixed pulley.

The tail structure is composed of a hinge 29 connecting the tail upper base plate 28 and the tail lower base plate 27. The tail lower base plate 7 is connected to the rope 20, and the tail upper base plate 28 is firmly connected with the tail platform 24 through an aluminum adapter 31. The bottom base plate 28 is connected with the tail lower base plate 27 with a freely rotatable hinge 29. One end of the spring 30 is fixed on the tail upper base plate 28 near the end of the tail lower base plate 27, and the other end is fixed on the tail lower base plate 27 near the tail upper base plate 28. and be fixed on the back side of the plane formed by the tail lower bottom plate 27 and the tail upper bottom plate 28 (near the fuselage surface), when the bionic tail structure is unfolded (that is, the tail upper bottom plate 28 and the tail lower bottom plate 27 are on the same straight line When) the spring is in a fully relaxed state, so when the bionic tail is subjected to the tension of the rope 20 greater than the stress of the spring, the bionic tail structure curls (that is, the angle formed by the upper bottom plate 28 and the lower bottom plate 27 of the tail is less than 180 degrees), and when the rope 20 When the tensile force is less than the stress of the spring, the bionic tail structure stretches (that is, the angle formed by the upper tail base plate 28 and the lower tail base plate 27 returns to a 180-degree bend) to control the vertical movement of the bionic tail structure (here, the up and down movement refers to the bionic tail structure). The end of the tail structure moves up and down); when the two-wheel balance vehicle is moving on the ground in balance, the total length of the tail upper base plate 28 and the tail lower base plate 27 is less than the distance from the tail platform 24 to the ground, and the length of the tail upper base plate 28 is less than the tail lower base plate 27 in length.

Balance car body 1 is made up of upper floor car body 32, lower floor car body 33. The upper car body 32 and the lower car body 33 are connected by copper pillars 34. The upper car body is composed of the upper agley bracket 35, the upper computer 36 and the lower computer 37. Both the upper computer 36 and the lower computer 37 are fixed on the upper agley by copper pillars The top of the bracket 35. The lower car body 33 is composed of the lower agley bracket 12, the first motor drive 38, the second motor drive 39, the first fixed frame 40, the first motor 41, the first coupling 42, the first wheel 43, and the second fixed frame 44, the second motor 45, the second shaft coupling 46, the second wheel 47, the battery 48, the battery support 49, the angle sensor 50, and the angle sensor support 51 are formed. The first motor drive 38 and the second motor drive 39 are fixed on the lower agley bracket 12 with copper pillars, and the first wheel 43 is connected with the first motor 41 through the first coupling 42, so that the first wheel 43 and the first motor 41 rotates coaxially, the first motor 41 is fixed on the lower agley bracket 12 through the first fixing frame 40, the second fixing frame 44, the second motor 45, the second coupling 46, and the second wheel 47 are fixed in the same way as the first A fixed frame 40, a first motor 41, a first coupling 42, and a first wheel 43 are identical. The battery 48 is fixed on the lower acrylic bracket 12 by the battery bracket 49, on the same side as the first wheel 43, and the angle sensor 50 is fixed on the lower acrylic bracket 12 by an angle sensor bracket 51, on the same side as the first wheel 43, and the angle sensor The bracket 51 is below the battery bracket 49, and both the angle sensor bracket 51 and the battery bracket 49 are fixed on the lower agley bracket 12 with AB glue.

A working process of a two-wheel balance car with a bionic tail structure: the first photoelectric encoder 10 measures the rotation speed of the first code wheel 9, that is, the rotation speed of the pinion 6, and feeds it back to the lower computer. The rotation of the pinion 6 is driven by the belt 4 to make the large gear 7 rotate accordingly, and the transmission of the large gear 7 drives the coaxial tail platform 24 to rotate, thereby driving the linked mechanical tail 2 to rotate. The control system that controls the tail vertical movement controls the length of the rope 20 by the rotation of the rope motor 17, and the rope acts on the tail structure by the pulley 21 transmission, the second code disc 18 rotates coaxially with the rope motor 17, and the second photoelectric The encoder 19 measures the rotational speed of the second code disc 18, that is, the rotational speed of the rope motor 17 and feeds it back to the lower computer, and the lower computer can control the vertical and horizontal tail by controlling the motor 8 that drives the pinion and the rope motor 17. rotation. Lower computer 37 controls the first motor drive 38, the second motor drive 39, the first motor drive 38 drives the first motor 41, the second motor drive 39 drives the second motor 45, the first motor 41 drives the first wheel 43 to rotate, the second The second motor 47 drives the second wheel 47 to rotate, and the lower computer 37 controls the rotation of the first wheel 43 and the second wheel 47 thus. The battery 48 supplies power for the entire system, and the angle sensor 50 is used to measure the angle of the car body, and the feedback is given to the lower computer 37. The lower computer 37 transmits the parameters to be calculated to the upper computer 36, and the upper computer 36 issues instructions to the lower computer 37 after calculation.

Claims (7)

1. one kind has two of bionics tail structure and takes turns balance truck, be made up of balance truck car body (1) and mechanical tail (2), wherein, machinery tail (2) upper rear in balance truck car body (1), machinery tail (2) is made up of tail structure and control system, and the second control system that control system is moved by the first control system and control tail vertical direction that control tail horizontal motion forms, it is characterized in that, first control system is belt-driving, be made up of miniature gears control part (3), belt (4), big gear wheel control part (5), miniature gears (6) is connected with big gear wheel (7) by belt (4), miniature gears control part (3) is made up of miniature gears (6), motor (8), the first code-disc (9) and the first photoelectric encoder (10), motor (8) and photoelectric encoder (10) are separately fixed at above one end of lower floor Ya Geli support (12), photoelectric encoder (10) is fixed between motor (8) and miniature gears (6), the Baltimore groove of photoelectric encoder (10) is clipped in the both sides of the first code-disc (9), big gear wheel control part (5) is made up of big gear wheel (7), bearing (13) and flange (14), big gear wheel (7) is on the other end of lower floor Ya Geli support (12), flange (14) is below lower floor Ya Geli support (12), be fixed on lower floor Ya Geli support (12) with flange (14) by bearing (13), big gear wheel (7) is namely fixed on lower floor Ya Geli support (12) by bearing (13), flange (14), second control system is by stay cord motor (17), second code-disc (18), second photoelectric encoder (19), rope (20), pulley (21), pulley bracket (22), first overbolt (23) and afterbody platform (24) are formed, afterbody platform (24) is fixed in big gear wheel (7), pulley bracket (22) forms by Baltimore groove (25) with the second overbolt (26), pulley (21) is fixed on Baltimore groove (25), second overbolt (26) is fixed on afterbody platform (24), stay cord motor (17) is fixed on afterbody platform (24) top, it is made to be tied with a side shaft of rope (20), second overbolt (26) and bolt (15) are in same plane, second code-disc (18) and stay cord motor (17) another side shaft are fixed, make the second code-disc (18) and stay cord motor (17) coaxial rotation, the Baltimore groove of the second photoelectric encoder (19) is clipped in the both sides of the second code-disc (18), second photoelectric encoder (19) is fixed on afterbody platform (24), the rope other end is walked around pulley (21) and connect tail lower raft (27) afterwards, tail structure connects tail top base plate (28) by hinge (29), tail lower raft (27) is formed, tail top base plate (28) is connected with afterbody platform (24), and spring (30) is fixed on the two ends of tail top base plate (28) and tail lower raft (27).

2. a kind of as claimed in claim 1 have two of bionics tail structure and take turns balance truck, and it is characterized in that, balance truck car body (1) is made up of upper strata car body (32) and lower floor's car body (33), upper strata car body (32) is connected with lower floor's car body (33) copper post (34), upper strata car body (32) is made up of upper strata Ya Geli support (35), upper computer (36) and lower computer (37), and upper computer (36) and lower computer (37) are fixed on above upper strata Ya Geli support (35), lower floor's car body (33) is by lower floor Ya Geli support (12), first motor drives (38), second motor drives (39), first fixed mount (40), first motor (41), first coupler (42), first wheel (43), second fixed mount (44), second motor (45), second coupler (46), second wheel (47), battery (48), battery bracket (49), angular transducer (50) and angular transducer support (51) composition, first motor drives (38) and the second motor to drive (39) to be fixed on lower floor Ya Geli support (12), first wheel (43) is connected with the first motor (41) by the first coupler (42), make the first wheel (43) and the first motor (41) coaxial rotation, first motor (41) is fixed on lower floor Ya Geli support (12) by the first fixed mount (40), second fixed mount (44), second motor (45), second coupler (46), the fixed form of the second wheel (47) and the first fixed mount (40), first motor (41), first coupler (42), first wheel (43) is identical, battery (48) is fixed on lower floor Ya Geli support (12) by battery bracket (49), with the first wheel (43) homonymy, angular transducer (50) is fixed on lower floor Ya Geli support (12) by angular transducer support (51), with the first wheel (43) homonymy, angular transducer support (51) is in battery bracket (49) below, and angular transducer support (51) and battery bracket (49) are fixed on lower floor Ya Geli support (12).

3. a kind of as claimed in claim 1 have two of bionics tail structure and take turns balance truck, and it is characterized in that, described motor (8) is DC speed-reducing, and material is plastic casing.

4. a kind of as claimed in claim 1 have two of bionics tail structure and take turns balance truck, it is characterized in that, miniature gears control part also comprises self-tapping screw (11), the head diameter of self-tapping screw (11) is greater than the aperture of circular hole in the middle of miniature gears (6), self-tapping screw (11) is passed in the middle of miniature gears, again self-tapping screw (11) is passed in the middle of the first code-disc (9), again self-tapping screw (11) bar portion end is shot in the axle of motor (8), such motor (8) can drive miniature gears (6) and the first code-disc (9) synchronous axial system.

5. a kind of as claimed in claim 1 have two of bionics tail structure and take turns balance truck, it is characterized in that, big gear wheel part also comprises bolt (15) and nut (16), by the head of bolt (15) under, passing from bearing (13) centre hole from bottom to top, big gear wheel (7) is penetrated in bolt (15), use nut (16) to fix thereon, big gear wheel (7) freely can be rotated around bolt (15).

6. a kind of as claimed in claim 1 have two of bionics tail structure and take turns balance truck, and it is characterized in that, rope (20) is fishing line.

7. a kind of as claimed in claim 1 have two of bionics tail structure and take turns balance truck, and it is characterized in that, hinge (29) becomes 120 degree of angles.