CN212195776U - Flywheel bracket device of monocycle device - Google Patents

Abstract

The utility model discloses a flywheel bracket device of a monocycle device, wherein a flywheel is arranged on the flywheel bracket; the flywheel bracket is also provided with a second motor driving system which is used for driving the flywheel to rotate and comprises a second motor; the third motor driving system is used for driving the flywheel and the flywheel bracket to swing left and right and comprises a steering engine motor; the flywheel bracket comprises concave socket parts which are used for accommodating and fixing the second motor and the steering engine motor respectively and is arranged corresponding to the inner space of the flywheel; the flywheel is arranged on the flywheel bracket through a bracket rotating shaft. The utility model discloses the flywheel bracket device of wheel barrow device is owing to adopted the concave nest portion of fixed steering wheel motor respectively and second motor that realizes on the flywheel bracket, and correspond the inboard space setting of flywheel has conveniently realized rotating the flywheel of wheel barrow device simultaneously and the control realization that sways.

Description

Flywheel bracket device of monocycle device

Technical Field

The utility model relates to a flywheel bracket device improvement of self-balancing car device.

Background

In the prior art, a single-wheel or two-wheel self-balancing vehicle already exists, but the self-balancing vehicle is realized by controlling the front and rear gravity centers of a human body of a user to realize automatic balancing of the human body, and a control driving system and a motion system driven and controlled by the control driving system are generally arranged in a vehicle body support. A device for actively realizing self-balancing of the vehicle body by automatic balancing control in the vehicle body has not yet been provided.

Although the prior art has the implementation scheme of the gyroscope, most of the gyroscope is used for self-balancing parameter detection or navigation application of large equipment, and at present, the implementation of the driving scheme of the self-balancing vehicle by directly controlling the flywheel is not realized.

The flywheel in the prior art is usually made of heavy metal materials, and the flexibility of equipment assembly and design is lacked, so that the fast and flexible design and assembly are difficult to realize in the current complex technical application scene.

In addition, the flywheel bracket structure in the prior art is complex, and the realization of the flywheel and the swing mode thereof cannot be realized. Accordingly, the prior art is yet to be improved and developed.

SUMMERY OF THE UTILITY MODEL

An object of the utility model is to provide a flywheel bracket device of wheel barrow device provides the convenient structural scheme who realizes the flywheel bracket to the convenient rotation and the drive of swaing of realization to the flywheel.

The technical scheme of the utility model as follows:

a flywheel bracket device of a wheelbarrow device, the wheelbarrow device comprises a main bracket; the main bracket is also provided with a flywheel bracket through a central rotating shaft, and the flywheel bracket is provided with a flywheel; the flywheel bracket is also provided with a second motor driving system which is used for driving the flywheel to rotate and comprises a second motor; the third motor driving system is used for driving the flywheel and the flywheel bracket to swing left and right and comprises a steering engine motor; the flywheel bracket comprises concave socket parts which are used for accommodating and fixing the second motor and the steering engine motor respectively and is arranged corresponding to the inner space of the flywheel; the flywheel is arranged on the flywheel bracket through a bracket rotating shaft.

The flywheel swinging device of the monocycle device is characterized in that the steering engine is provided with a rotating handle controlled to rotate by a required angle, the end part of the rotating handle is hinged to one end of a connecting rod through a first universal joint, and the other end of the connecting rod is hinged to the main support through a second universal joint.

The flywheel bracket device of the monocycle device is characterized in that the main bracket is formed by butting two disks, and two butting blocks are arranged to form a shaft hole for bearing the rotating shaft.

The flywheel bracket device of the monocycle device is characterized in that the butt-joint blocks are fixed on the inner sides of the two disks respectively in pairs, and the butt-joint blocks are provided with insertion holes; and the other butt joint block is correspondingly provided with a plug-in bolt.

The flywheel bracket device of the monocycle device is characterized in that the insertion holes and the insertion studs are arranged into a corresponding pair.

The flywheel bracket device of the monocycle device is characterized in that the second motor is fixedly arranged on the inner side of the flywheel; the second motor is connected with a second driving gear and is used for meshing and driving a second driven gear which is coaxially and fixedly arranged with the flywheel.

The flywheel bracket device of the monocycle device is characterized in that the flywheel is provided with a pot-shaped hub arranged towards one side, and the second driven gear is arranged on a rotating shaft in the center of the hub and is fixedly arranged with the hub.

The flywheel bracket device of the wheelbarrow device comprises a tire, a first motor driving system and a second motor driving system, wherein the tire is arranged on the outer side and is used for being in contact with the ground to drive, and the first motor driving system is arranged by a rack arranged along the circumference of the tire and correspondingly meshed with the rack; the first motor driving system is arranged on the main bracket.

The utility model provides a flywheel bracket device of wheel barrow device owing to adopted the concave nest portion of fixed steering wheel motor respectively and second motor that realizes on the flywheel bracket, and correspond the inboard space setting of flywheel has conveniently realized rotating the flywheel of wheel barrow device simultaneously and the control realization that sways.

Drawings

Fig. 1 is a schematic side-tipping view of the wheelbarrow apparatus of the present invention.

Fig. 2 is a schematic diagram of the wheelbarrow device of the present invention tilted at another angle.

Fig. 3 is a schematic view of the wheelbarrow device of the present invention when self-balancing stands.

Fig. 4 is a schematic sectional view of the wheelbarrow device after being cut along the center of the tire.

Fig. 5 is a schematic view of a central flywheel component of the wheelbarrow apparatus of the present invention.

Fig. 6 is a schematic perspective view of a central flywheel component of the wheelbarrow device of the present invention.

Fig. 7 is a schematic view of the outer tire of the wheelbarrow device of the present invention.

Fig. 8 is a schematic front view of the flywheel of the wheelbarrow device of the present invention.

Fig. 9 is a schematic cross-sectional view of the center of the flywheel of the wheelbarrow device after being cut.

Fig. 10 is a schematic sectional view of the wheelbarrow device of the present invention, which is sectioned along a vertical plane of a tire.

Fig. 11 is a schematic view of a control flow of the wheelbarrow device of the present invention.

Fig. 12 is a schematic view of the main stand of the wheelbarrow device of the present invention (turning right).

Fig. 13 is a schematic view (left turn) of the main stand of the wheelbarrow device according to the present invention swinging in the other side direction.

Fig. 14 is an assembly diagram of the flywheel device of the wheelbarrow device according to the present invention.

Fig. 15 is a left turn of the wheelbarrow device of fig. 13 with the outer annular ring removed.

Fig. 16 is a schematic view of the adjustment of the flywheel when the unicycle device of the present invention is walking straight.

Fig. 17 is a schematic view of the wheelbarrow device shown in fig. 16 with the outer annular ring removed when the wheelbarrow device is traveling straight.

Fig. 18 is a right-hand turn of the wheelbarrow shown in fig. 12 with the outer ring blades removed.

Fig. 19 is a schematic view of a flywheel bracket of the wheelbarrow apparatus of the present invention.

Detailed Description

The following describes in detail preferred embodiments of the present invention.

The present invention provides a preferred embodiment of a wheelbarrow device, as shown in fig. 1, 2 and 3, which is a schematic view of a vehicle leaning and falling from left to right and self-balancing standing, and includes a tire 110 disposed along the outside of a main support for contacting and driving with the ground, and a rack 111 disposed on the inner circumference of the tire 110, but in other embodiments, other driving structure may be provided, such as disposing the rack on one or both sides of the tire, and not limited to the inner circumference of the tire. The tire 110 is usually made of plastic or rubber, and a tire support 112 may be disposed on the inner side of the tire, as shown in fig. 7, and the rack 111 is disposed on the inner circumference of the tire support 112.

A main support 113 is disposed in the hollow space inside the tire 110 for carrying a flywheel support 131 and a flywheel 132, the main support 113 is disposed opposite to the tire 110, that is, the main support 113 itself cannot swing left and right except the tire 110 is rotatably disposed opposite to the main support 113. For the convenience of control, the components on the main support 113 are arranged to be bound by the tread center line of the tire 110, and the tire 110 can rotate along the main support 113 from the outer periphery side while keeping the left-right symmetrical layout as far as possible; at the same time, the center of gravity of each component arranged on the main stand 113 is kept low and is lower than the rotation center of the whole wheel, and a balancing weight needs to be added if necessary, so that the wheel does not rotate reversely in the opposite direction of the rotation of the wheel during the driving process, and the rotation driving of the wheel can be finally converted into the advancing power of the whole wheel barrow.

The utility model discloses the nodical pivot of flywheel horizontal hunting is regarded as with the nodical of tire axis of rotation place horizontal plane and tire circumference, and the axis of rotation of flywheel and the axis of rotation of tire are coincidence when the flywheel does not swing, and the axis of rotation can form certain contained angle when the flywheel swings, but the flywheel centre of a circle coincides with the tire centre of a circle, from this could utilize the gyro effect more effectively, can explain in detail below the structure example and the control implementation method of wheel barrow device.

In the preferred embodiment of the present invention, the flywheel 132 is disposed concentrically with the tire 110 without swinging, and can rotate outside relative to the flywheel bracket 131. The flywheel 132 may be provided with a weight as required to match the driving capacity of the overall unicycle device. The flywheel 132 may be provided with a spoke 133, as shown in fig. 8 and 9, for example, a continuous piece or spoke structure, and a second driven gear 134, which is arranged at the wheel axle position and is in driving connection with the second motor driving system 130, is coaxially and fixedly arranged with the flywheel 132, and a second motor 135, which is arranged on the flywheel bracket 131 and is connected to drive a second driving gear 136, so that the rotation driving of the flywheel 132 is realized through the meshing driving of the second driven gear 134. The spoke 133 can also be arranged to adopt a pot-shaped hub, and the second driven gear 134 is arranged on a rotating shaft in the center of the hub and is fixedly arranged with the hub.

A third motor driving system 140 is further disposed on the flywheel bracket 131, as shown in fig. 5, 6 and 19, for driving the flywheel and the flywheel bracket to swing left and right. The flywheel bracket 131 is provided with a rotating shaft 137 for swinging left and right, hinged to the main bracket 113, horizontally arranged in the advancing direction of the tire 110, and rotatably arranged on the main bracket 113, the rotating shaft is provided with two rotating shaft points connected with the main bracket, horizontally arranged in the advancing direction of the tire, and the connecting line passes through the center of the main bracket 113, namely the rotating center of the flywheel 132.

The flywheel bracket 131 includes recessed portions 341 and 342 for receiving and fixing the second motor 135 and the steering engine motor 141, respectively, and as shown in fig. 19, the flywheel bracket is configured as a sheet structure configured according to the shape of the side of the flywheel 132, and the recessed portion 341 corresponding to the upper portion is configured as a square shape and is used for assembling and fixing the steering engine motor 141. A motor kit 343 is provided corresponding to the second motor 135, and is fixed in the concave portion 342, and the steering engine motor 141 and the second motor 135 are fixed in a space inside the flywheel. The flywheel 132 is further mounted on the flywheel bracket 131 through a bracket rotating shaft 344. The rotating shafts 137 are arranged on both sides of the piece of the flywheel bracket 131. Therefore, the scheme of rotating and swinging the flywheel can be conveniently realized.

In the wheelbarrow device of the present invention, the whole wheelbarrow device needs to be moved in the front-rear direction, i.e. when turning action is not involved, as shown in fig. 16 and 17, the flywheel 132 maintains the same vertical plane position as the tire 110, and the high-speed rotation of the flywheel 132 only plays a role in stable balance, so that the wheelbarrow device can maintain a standing state in a self-balancing manner without left-right tilting. When the wheelbarrow device needs to turn left and right, including the state of being inclined to the ground in the initial state as shown in fig. 1 and fig. 2, and needs to be turned to a standing state, the rotation direction of the rotating shaft needs to be balanced by the rotation of the flywheel 132 and is not consistent with the rotation direction of the tire, so that the whole wheelbarrow device can be driven to change the standing state.

The operation principle of the balance adjustment is that when the flywheel 132 keeps a high-speed rotation state, it can be known from the gyroscopic effect that the flywheel 132 has a stabilizing effect in the rotation axis direction, so that when the third motor driving system is used to adjust the left or right swing of the flywheel, it is equivalent to push the rotation axis axial direction of the flywheel 132 with a steady state, so that a reaction force is inevitably generated between the opposite structure, for example, between the flywheel bracket and the main bracket, and the main bracket 113 bears the main structure of the whole unicycle device, thereby generating an inclination angle between the whole device and the ground, which is required for the whole body of the unicycle device to be righted or turned.

In particular embodiments, the third motor drive system 140 requires a push-pull action between the flywheel bracket and the main bracket. As shown in fig. 5 and 6, in the preferred embodiment of the present invention, a steering gear device disposed on the flywheel bracket 131 is adopted, and specifically includes the steering gear motor 141, and a rotating handle 142 for controlling a desired angle of rotation is disposed on the steering gear motor 141 by driving control. In the implementation scheme of the prior art, the steering engine is provided with a control unit, a rotating handle (namely a rudder) of the steering engine can be driven to swing leftwards or rightwards and swing angles through a remote control signal, and the steering engine is generally applied to an automatic rudder control system of a ship as long as the control of corresponding rudder angles can be realized within the maximum amplitude of the rotating handle.

In the embodiment, the setting has adopted following implementation structure: the other end of the rotating handle 142 is hinged to one end of a connecting rod 144 through a first universal joint 143, as shown in fig. 5 and 6, the other end of the connecting rod 144 is hinged to the main bracket 113 through a second universal joint 145, and the hinged point of the connecting rod 144 and the main bracket 113 is deviated from the rotating shaft 137, so that the swinging drive between the main bracket and the flywheel bracket can be realized through the rotation control of the steering engine rotating handle 142.

The rotation handle 142 shown in fig. 6 is in a substantially balanced position, i.e. when the rotation plane of the flywheel coincides with the rotation plane of the tire, the wheelbarrow device is in a stable linear motion. At this time, the handle 142 is in a position substantially perpendicular to the connecting rod 144, which may be defined as an initial position.

As shown in fig. 13 and fig. 15, when the rotating handle 142 swings downward (the swing amplitude can only be within the maximum amplitude according to the control requirement), the distance between the position of the rotating shaft of the rotating handle 142 (i.e. the position of the steering engine motor 141, i.e. on the flywheel bracket) and the second universal joint 145 of the connecting rod 144 is increased, at this time, due to the adoption of the first universal joint 143 and the second universal joint 145, the lateral displacement stroke formed when the flywheel bracket 131 swings to one side can be eliminated, and finally, the swinging motion around the rotating shaft 137 is completed by the flywheel and the upper side of the flywheel bracket to the right, the lower side and the left side, and the swing amplitude is controllable by the driving of the steering engine motor 141.

As shown in fig. 12 and 18, when the flywheel and the flywheel motor need to swing to one side in opposite directions, the steering engine motor 141 is controlled to swing the rotating handle 142 in opposite directions, and the swing angle is controlled according to the swing amplitude, at this time, the distance between the rotating shaft position of the rotating handle 142 and the second universal joint 145 connected to the connecting rod 144 is reduced, and the flywheel bracket 131 and the flywheel 132 can be guaranteed to swing in opposite directions because the first universal joint 143 and the second universal joint 145 eliminate the angle and displacement required for torsion.

The main bracket 113 is configured by abutting two discs 181 side by side, as shown in fig. 17 (one disc is omitted in the figure, and only one disc is shown), and two abutting blocks 281 are provided at the rotation shaft point to form a shaft hole for receiving the rotation shaft 137, and in a necessary embodiment, the shaft hole may be configured by a bearing structure. The butt-joint blocks 281 can be separated from or assembled from the center line of the shaft hole position, the symmetrical arrangement mode is convenient for standard processing, two butt-joint blocks are completely the same, and a part design processing scheme can be adopted.

The two paired butt-joint blocks are respectively fixed on the inner sides of the two circular discs 181 and are circumferentially distributed, the opposite butt-joint surfaces are provided with insertion holes, and the other butt-joint block is correspondingly provided with insertion studs 282 for inserting the insertion holes, as shown in fig. 17. In another embodiment, the docking blocks are arranged in the same number and position of the insertion holes, preferably two or three, and the docking blocks are further provided with longer studs penetrating through the corresponding insertion holes for insertion connection.

In the preferred embodiment of the present invention, a first motor driving system 120 is further disposed on the main frame 113 corresponding to the rack 111, as shown in fig. 4, 5, 6, 12 and 13, the first motor driving system 120 is disposed on the main frame 113, preferably, at the lower center of gravity of the main frame 113, and is further disposed to change the speed and transmit the power through a gear set 121, the inner side of the tire 110 is disposed on the main frame 113, and a first gear 122 is disposed at the position of the rack 111 corresponding to the meshing driving, for meshing with the rack 111. The first gear 122 is disposed on the main bracket, and a driven gear 123 for transmission is coaxially fixed or integrally disposed, and is in transmission connection with the gear set 121. In a conceivable scheme, the gear set 121 and the driven gear 123 may be provided with a transmission mechanism adopting other manners, such as a pulley set, and the like, which will not be described herein again.

The first motor drive system 120 can drive the outer tire 110 through the first gear 122, so as to drive the whole forward direction of the wheelbarrow.

As shown in fig. 14, the flywheel 132 is provided with the balance weights 310 uniformly distributed along the circumference of the flywheel, which may be, but not limited to, a ring-column type, and the flywheel 132 is provided with a ring-shaped piece 320 that is sandwiched by two sides and has a size that is just capable of being disposed in the inner space of the main bracket 113. Between the two circular ring pieces 320, corresponding mounting posts 330 are uniformly distributed along the circumference for fixing and assembling the weight block 310. The mounting columns 330 can be arranged more densely as required, the number of the counterweight blocks arranged on the mounting columns 330 can be selected according to the design requirement, and the counterweight blocks are uniformly distributed along the circumference. Therefore, the required design scheme can be conveniently selected according to the actual market application scene, for example, the number of the balancing weights to the weight and the uniformly distributed intervals can be adjusted according to the requirement.

The flywheel 132 is disposed in the cavity of the main support 113 of the wheelbarrow device, and axial stability (gyroscope principle) can be generated by high-speed rotation of the flywheel 132 to ensure the independent standing function of the wheelbarrow. The working principle of the third motor driving system is used for explaining the self-balancing standing and turning functions of the monocycle device.

In another preferred embodiment of the present invention, side covers 150 are further provided on both sides of the outside of the main support 113, as shown in fig. 1-3 and 10, the side covers 150 are symmetrically disposed on both sides of the main support with respect to the tire 110, and power receiving parts 151, specifically, a battery pack or a battery compartment, are provided on the side covers, and a pedal structure is further provided on the side covers for a person to step on in a unicycle device as a transportation vehicle.

In the preferred embodiment of the wheelbarrow device of the present invention, a supporting protrusion 160 is further disposed below the outer side of the side cover, as shown in fig. 1 and 2, to facilitate maintaining the side inclination angle of the wheelbarrow device, for example, the angle of tipping upside down when the wheelbarrow device is stationary cannot be too large, it is better that the angle between the plane of the tire tread central line and the ground is not less than 45 degrees, it is to be ensured that the outer tire 110 can always keep in contact with the ground, otherwise, the raising of the flywheel 132 is difficult. In addition, the supporting protrusions 160 also serve to cushion the wheelbarrow device from side contact during a fall, thereby reducing side impact damage to the wheelbarrow device. And when the tire 110 starts to rotate, the supporting protrusions 160 maintain frictional resistance with the ground so as to form reaction force with the rotation force of the outer tire, and the wheelbarrow device can automatically change from a rolling static state to a standing moving state on the ground by matching with the swinging and righting actions of the flywheel and the flywheel bracket.

In a preferred embodiment of the wheelbarrow apparatus, a remote control toy can be provided, for example, a start button (first button or set of buttons) is provided, which is self-righted by the high-speed rotation of the flywheel, but because the tire is in a completely static state, the momentum balance is hard to be ensured, therefore, the advancing and retreating (second button or set of buttons) of the tire can be synchronously controlled, and the tire rotation and the spiral stability of the flywheel play a balance role together. During the driving and moving process of the tire, a third or a group of keys can be arranged for controlling turning, and the actual working process is that the flywheel swings leftwards or rightwards under the control of a third motor driving system, and the rolling directions and angles of the tire and the main support are correspondingly regulated and controlled, so that the turning actions leftwards or rightwards are completed when the driving wheel rolls at the same time. Be relative drive between main support and the tire, for playing sufficient drive power when setting up each part on the main support, include flywheel support, flywheel, first motor-driven system, second motor-driven system and third motor-driven system to and side cap etc. holistic inside focus will be less than the rolling pivot center of tire, just so can guarantee tire and the frictional force on ground can drive whole wheel barrow and go forward, and not the relative tire of main support is reverse rotation.

In another preferred embodiment of the wheelbarrow device, the wheelbarrow device can be further arranged as a transportation means, and is different from a toy device in that the corresponding proportion of all the parts is enlarged, and the wheelbarrow device is made of firmer materials so as to form a certain bearing effect, for example, the wheelbarrow device can be used as a cargo carrying platform to realize an automatic carrying function and make full use of the strong passing ability of the wheelbarrow.

The utility model also provides a realization the control implementation method of wheel barrow device, as shown in fig. 11, carry out the operation to the sign indicating number after remote control unit starts to set up on remote control unit and the wheel barrow device of being controlled and show that the warning light and/or voice prompt "connection has succeeded", if to the sign indicating number success then the LED lamp is long bright, otherwise shows for breathing type stroboscopic. After the codes are successfully matched, the control of the wheelbarrow device can be realized through the remote control handle. Description of the components therein:

TX (remote control): ON-OFF switch 1 RX (wheelbarrow): 1 ON-OFF switch

Trigger VR 11 MOTORs 1 (Gyroscope MOTOR: balance, i.e. second MOTOR drive system)

Knob VR 21 MOTORs 2 (Main support MOTOR: driving, i.e. first MOTOR driving system)

LED blue indicator 1, steering engine 1 (direction control, i.e. third motor driving system)

The remote controller is powered by 3 AA batteries and 6 AAA batteries

Tact switch (Fine left and right)

The specific control comprises the following steps:

A. after the main body of the wheelbarrow device is started, the second motor driving system is controlled to start the rotation of the flywheel, namely the gyro works stably. And then the main control circuit board is used for carrying out posture detection and control on the first motor driving system of the main support, namely the main control circuit board PCB sends a control instruction to the first motor driving system, the first motor driving system feeds forward tilting data back to the posture detection PCB, and the forward tilting data are transmitted back to the motor of the first motor driving system for speed limiting.

B. The left-right swinging control of the flywheel and the flywheel bracket is realized by controlling the third motor driving system so as to realize the centering or turning control of the monocycle device; specifically, the swinging direction and the swinging angle of the steering engine can be controlled by a trigger or a knob on a remote controller.

C. The first motor driving system is controlled to realize the rotation driving of the tire, so that the movement of the wheelbarrow device is controlled; specifically, the forward direction of the wheelbarrow device can be controlled by remotely controlling the forward rotation or the backward rotation of the tire.

Step B and step C can be carried out to the exchange order, work as the wheel barrow device just adopts the mode of carrying out step B earlier from stopping when ground starts, regulates and control the self-balancing of whole wheel barrow device and stands, then rethread step C realizes advancing and retreating. And if the wheelbarrow device is in the moving process, after the forward and backward movement control process of the step C, the step B of swinging left and right is executed to realize the control of turning the wheelbarrow device. As shown in fig. 11, the control curve at each control position is pointed to the corresponding position by an arrow, which is a specific embodiment of the control implementation method of the present invention and is not a limitation to the protection scope of the present invention.

The utility model provides a flywheel device of wheel barrow device, through a plurality of motor drive system control that set up on the main support have realized automatic balanced wheel barrow device and control implementation method, can realize a novel self-balancing toy to can use industry automatic transportation field, realize a vehicle of transportation of facilitate the operation. Simultaneously, the balancing weights which are uniformly distributed along the circumference are adopted by the flywheel device, so that the freedom and flexibility of flywheel design are realized, and the flywheel device is very suitable for actual design and manufacture.

It will be understood that modifications and variations can be made by persons skilled in the art in light of the above teachings and all such modifications and variations are considered to be within the scope of the invention as defined by the following claims.

Claims (8)

1. A flywheel bracket device of a wheelbarrow device, the wheelbarrow device comprises a main bracket; the device is characterized in that a flywheel bracket is further arranged on the main bracket through a central rotating shaft, and a flywheel is arranged on the flywheel bracket; the flywheel bracket is also provided with a second motor driving system which is used for driving the flywheel to rotate and comprises a second motor; the third motor driving system is used for driving the flywheel and the flywheel bracket to swing left and right and comprises a steering engine motor; the flywheel bracket comprises concave socket parts which are used for accommodating and fixing the second motor and the steering engine motor respectively and is arranged corresponding to the inner space of the flywheel; the flywheel is arranged on the flywheel bracket through a bracket rotating shaft.

2. The flywheel bracket device of the unicycle device as claimed in claim 1, wherein a rotating handle with a controlled rotation angle is provided by the driving control of the steering engine motor, the end of the rotating handle is hinged to one end of a connecting rod through a first universal joint, and the other end of the connecting rod is hinged to the main bracket through a second universal joint.

3. The flywheel bracket assembly of a unicycle device of claim 2, wherein the main bracket arrangement is formed by abutting two discs, and two abutting blocks are provided to form a shaft hole for receiving the shaft.

4. The flywheel bracket device of the unicycle device of claim 3, wherein the butt-joint blocks are fixed inside the two discs respectively in pairs, and insertion holes are provided on the butt-joint blocks; and the other butt joint block is correspondingly provided with a plug-in bolt.

5. The flywheel bracket assembly of a unicycle device of claim 4, wherein the insertion holes and the insertion studs are provided as a corresponding pair.

6. The flywheel bracket assembly of the unicycle device of claim 5, wherein the second motor is fixedly disposed inside the flywheel; the second motor is connected with a second driving gear and is used for meshing and driving a second driven gear which is coaxially and fixedly arranged with the flywheel.

7. The flywheel bracket device of the unicycle device of claim 6, wherein the flywheel is configured with a pot-shaped hub disposed toward one side, and the second driven gear is disposed on a rotating shaft at the center of the hub and is fixedly disposed with the hub.

8. The flywheel frame assembly of the unicycle device of claim 7, further comprising a tire disposed outside for ground contact driving, wherein a first motor driving system is disposed through a rack disposed along a circumference of the tire and correspondingly engaging the rack; the first motor driving system is arranged on the main bracket.

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