CN219044377U - Self-balancing device and front and rear two-wheeled vehicle - Google Patents

Abstract

The utility model relates to the technical field of balance, in particular to a self-balancing device which comprises a top component, a precession driving component and a precession braking component, wherein the top component comprises an inner frame body rotatably arranged on a vehicle body, a rotating body rotatably arranged in the inner frame body and a power component for driving the rotating body to rotate, the rotating axis of the inner frame body is orthogonal with the rotating axis of the rotating body, the precession driving component and the precession braking component are both connected with the inner frame body, the precession driving component is used for controlling the inner frame body to rotate, and the precession braking component is used for locking or unlocking the inner frame body, so that the inner frame body is fixed or rotatable relative to the vehicle body. And also to a front-rear two-wheeled vehicle including the self-balancing device. The method can minimize the influence on the whole vehicle endurance of the vehicle, can meet the self-balancing requirement of the vehicle during parking and low-speed running, and can not influence the required tilting motion during rapid turning or lane changing of the vehicle.

Description

Self-balancing device and front and rear two-wheeled vehicle

Technical Field

The utility model relates to the technical field of balancing, in particular to a self-balancing device and a front and rear two-wheeled vehicle comprising the self-balancing device.

Background

In general, a gyro is arranged on a vehicle as a balancing device, and the balancing principle is that the effect that the moment of the gyro can be output by utilizing the precession of the gyro is utilized to correct the posture of the vehicle when the vehicle is inclined, so that the self-balancing adjustment of the vehicle is realized, and the angular momentum is an index for measuring the balancing capability of the gyro. At present, the research targets of the gyro balancing device on the vehicle are all to realize balance control under various working conditions such as stopping, advancing, retreating, turning, collision and the like of the vehicle, and the realization of the full-function target needs great angular momentum, but the larger the angular momentum is, the larger the size and the weight of the gyro are, the larger the power consumption is, and finally the size, the weight and the power consumption of the gyro are all large, so that the gyro has high cost, occupies the space of a battery on the vehicle, increases the weight of the vehicle and seriously influences the continuous voyage of the vehicle; meanwhile, the gyro always keeps a precession movement state in the use process of the vehicle, and the two-wheeled vehicle needs to incline the vehicle body to finish corresponding actions under the conditions of fast turning, vehicle lane changing and the like, but the precession movement of the gyro can prevent the inclination of the vehicle body to cause the vehicle to run away and fall down. At present, a gyro control algorithm designed for realizing rapid turning of a vehicle is not mature, does not have the conditions of wide application and commercial market entry, and is another important reason that the gyro balance device has not realized wide application so far.

In the prior art, a scheme of two or more gyroscopes is adopted to ensure that balance control under all working conditions is realized when the vehicle is used. For example, the patent publication CN209852452U discloses a balancing device and a vehicle provided with the balancing device, which have drawbacks of large size, heavy weight, large power consumption, large occupied battery space, influence on the cruising and noise of the vehicle, and problems of interference to the tilting motion required by the vehicle when the vehicle turns or changes lanes rapidly, resulting in non-popularization of practical application, and lack of practicality and practicality.

Disclosure of Invention

In view of the above-mentioned drawbacks of the prior art, the present utility model is to provide a self-balancing device, which can minimize the influence on the whole vehicle endurance, and can meet the self-balancing requirements of the vehicle during parking and low-speed driving, and can not influence the tilting motion required during rapid turning or lane changing of the vehicle.

In order to solve the technical problems, the utility model adopts the following technical scheme:

the utility model provides a self-balancing device, which comprises a top assembly, a precession driving part and a precession braking part, wherein the top assembly comprises an inner frame body rotatably arranged on a vehicle body, a rotating body rotatably arranged in the inner frame body and a power part for driving the rotating body to rotate, the rotating axis of the inner frame body is orthogonal with the rotating axis of the rotating body, the precession driving part and the precession braking part are both connected with the inner frame body, the precession driving part is used for controlling the inner frame body to rotate, and the precession braking part is used for locking or loosening the inner frame body to fix or rotate relative to the vehicle body.

Preferably, the power member, the precession drive member and the precession brake member are all connected to a control system.

Preferably, the power piece is arranged on the inner frame body, a precession shaft is arranged outside the inner frame body, and the precession shaft is rotatably connected with the vehicle body; the inside of the feed shaft is penetrated along the axial direction, and the electric wire of the power supply part passes through.

Preferably, the precession brake element is an electrically controlled brake element.

Preferably, the precession brake component comprises an electromagnetic brake, the electromagnetic brake comprises a rotor, an electromagnetic coil and an armature positioned between the rotor and the electromagnetic coil, the electromagnetic coil is fixedly connected with the vehicle body, and the rotor is fixedly connected with the inner frame body or is connected with the inner frame body through a transmission mechanism.

Preferably, the electromagnetic brake is a dog electromagnetic brake.

Preferably, the precession driving part comprises a driving motor, the driving motor is fixedly connected with the vehicle body, and a rotation output end of the driving motor is fixedly connected with the inner frame body or is connected with the inner frame body through a transmission mechanism.

Preferably, the transmission is a pulley transmission or a gear transmission or a chain transmission.

Preferably, the driving motor is a servo motor having an angle sensor or a servo motor having an angle sensor and a driving plate.

Preferably, the precession driving part and the precession braking part are connected and fixed with the vehicle body through connecting pieces, and the inner frame body is rotatably supported on the connecting pieces; the connecting piece comprises two split pieces which are respectively connected with the precession driving component and the precession braking component, or the connecting piece is an outer frame body which is simultaneously connected with the precession driving component and the precession braking component, and the gyro component, the precession driving component and the precession braking component are uniformly distributed in the outer frame body.

Preferably, a limit structure for limiting the rotation angle range of the inner frame body is further included.

Preferably, the inner frame body is an integrated annular frame, one side or two sides of the annular frame are connected with an outer cover, the outer cover and the annular frame form a containing space, or the inner frame body comprises two connected shells, and the two shells are butted to form the containing space; the rotator is accommodated in the accommodating space.

Preferably, the precession driving part comprises a driving motor, the driving motor is fixedly connected with the vehicle body, and a rotation output end of the driving motor and the annular frame are integrated into one part; the precession brake component comprises an electromagnetic brake, the electromagnetic brake comprises a rotor, an electromagnetic coil and an armature positioned between the rotor and the electromagnetic coil, the electromagnetic coil is fixedly connected with the vehicle body, and the rotor and the annular frame are integrated into a part.

Preferably, the two gyro assemblies are arranged, the rotation axes of the inner frame bodies of the two gyro assemblies are parallel to each other, the two inner frame bodies are in transmission connection through the transmission structure, and the two inner frame bodies can be simultaneously positioned at the precession center position under the restraint of the transmission structure and respectively do reverse synchronous motion around the respective rotation axes; the rotation directions of the rotating bodies of the two top assemblies are opposite when the two inner frame bodies are at the precession center position, and the rotation directions of the corresponding inner frame bodies are unchanged relative to the inner frame bodies in the process of rotating the corresponding inner frame bodies to the non-precession center position.

The utility model also provides a front-rear two-wheeled vehicle, which comprises the self-balancing device.

Preferably, the vehicle speed control system further comprises a control system and a vehicle speed sensor for detecting the vehicle speed, and the power piece, the precession driving part, the precession braking part and the vehicle speed sensor are all connected with the control system.

Preferably, the front and rear two-wheeled vehicles switch the operation state of the self-balancing device according to the vehicle speed, the operation state of the self-balancing device including a precession-free state in which the inner frame body of the gyro assembly is locked and a precession-balanced state in which the inner frame body of the gyro assembly is released and controlled by the precession driving part.

Preferably, the front and rear two-wheeled vehicles are provided with any one or a combination of a plurality of switch components, display components and alarm components, wherein the switch components are used for starting or closing the self-balancing device, the display components are used for displaying the running condition of the self-balancing device, and the alarm components are used for giving an alarm when the self-balancing device is stopped or is about to stop working or fails.

Preferably, the front and rear two-wheeled vehicle is an electric bicycle or an electric scooter or an electric motorcycle.

Compared with the prior art, the utility model has obvious progress:

the self-balancing device can be switched between two working states through the action of the precession brake component: the working state is a non-precession state that the precession brake component locks the inner frame body, and the self-balancing device does not output gyroscopic moment at the moment, so that the disturbance to a running vehicle is avoided, and particularly the tilting motion required by the rapid turning or lane changing of the vehicle is not influenced; the other working state is that the precession brake component loosens the precession balance state of the inner frame body, at the moment, the precession drive component controls the rotation of the inner frame body, and the self-balancing device provides controlled gyroscopic moment, so that the self-balancing adjustment of the vehicle can be realized. Therefore, the utility model can switch the working state of the self-balancing device according to the actual vehicle speed, so that the self-balancing device is in a precession balance state only when the vehicle is stopped and runs at a low speed, the self-balancing device meets the self-balancing requirement when the vehicle is stopped and runs at a low speed, and is in a non-precession state when the vehicle runs at a normal high speed, the self-balancing device can not interfere the running vehicle, particularly can not interfere the tilting motion of the vehicle when the vehicle turns or changes lanes at a high speed, and the safety when the vehicle runs at a high speed, turns or changes lanes at a high speed is ensured. Meanwhile, the self-balancing device only needs to output the gyro moment of precession movement to control the balance of the vehicle when the vehicle is stopped and runs at a low speed, so that excessive angular momentum and balancing capacity are not needed, and the self-balancing device can be realized by adopting a small gyro, so that the self-balancing device has the advantages of small gyro size, light weight, low power consumption, small occupied battery space, low noise and low cost. Therefore, the utility model can minimize the influence on the whole vehicle endurance of the vehicle, can meet the self-balancing requirement of the vehicle in the process of parking and running at low speed, can not influence the tilting motion required by the vehicle in the process of fast turning or lane changing, and has better practicability and practicability.

Drawings

Fig. 1 is a schematic view of a self-balancing apparatus of an embodiment of the present utility model mounted on a front and rear two-wheeled vehicle.

Fig. 2 is a schematic structural view of a first implementation of the self-balancing apparatus according to an embodiment of the present utility model.

Fig. 3 is a schematic top view of the self-balancing device shown in fig. 2.

Fig. 4 is a schematic cross-sectional view taken along A-A in fig. 3.

Fig. 5 is a schematic view of the self-balancing device shown in fig. 2 with the housing removed.

FIG. 6 is a schematic view of the assembly of the precession brake assembly of the self-balancing device shown in FIG. 2.

Fig. 7 is a schematic structural view of a second implementation of the self-balancing apparatus of the embodiment of the present utility model.

Fig. 8 is a schematic top view of the self-balancing device shown in fig. 7.

Fig. 9 is a schematic cross-sectional view taken along B-B in fig. 8.

FIG. 10 is a schematic view of the assembly of the precession brake assembly of the self-balancing device shown in FIG. 7.

Fig. 11 is a schematic structural view of a third implementation of the self-balancing apparatus of the embodiment of the present utility model.

Fig. 12 is a schematic structural view of a fourth implementation of the self-balancing apparatus of the embodiment of the present utility model.

Fig. 13 is a schematic top view of the self-balancing device shown in fig. 12.

Fig. 14 is a schematic cross-sectional view taken along the direction C-C in fig. 13.

FIG. 15 is a schematic view of a self-balancing device with two gyro assemblies according to an embodiment of the present utility model.

Wherein reference numerals are as follows:

100. fourth pulley of self-balancing device 23

200. Second belt of vehicle body 24

1. Gyro assembly 3 precession brake component

11. Inner frame 31 electromagnetic brake

111. Annular frame 311 rotor

112. Electromagnetic coil of housing 312

12. Armature of rotator 313

121. Axle 32 first pulley

122. Second pulley of wheel body 33

13. First drive belt of power member 34

14. Precession axis 35 connecting axis

15. First bearing 36 and second bearing

16. Transmission shaft 4 connecting piece

17. Third bearing 41 split piece

18. Outer frame of limiting piece 42

19. First support of outer cover 421

2. Second support of precession drive member 422

21. Baffle plate of driving motor 43

22. Third belt pulley 5 driving gear

Detailed Description

The following describes the embodiments of the present utility model in further detail with reference to the accompanying drawings. These embodiments are merely illustrative of the present utility model and are not intended to be limiting.

In the description of the present utility model, it should be noted that the terms "center", "longitudinal", "lateral", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, are merely for convenience in describing the present utility model and simplifying the description, and do not indicate or imply that the apparatus or elements referred to must have a specific orientation, be configured and operated in a specific orientation, and thus should not be construed as limiting the present utility model. Furthermore, the terms "first," "second," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.

In the description of the present utility model, it should be noted that, unless explicitly specified and limited otherwise, the terms "mounted," "connected," and "connected" are to be construed broadly, and may be either fixedly connected, detachably connected, or integrally connected, for example; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communication between two elements. The specific meaning of the above terms in the present utility model can be understood by those of ordinary skill in the art according to the specific circumstances. Unless otherwise indicated, the meaning of "a plurality" is two or more.

For front and rear two-wheeled vehicles, in actual use, the balance of the vehicle is easy to be kept during normal high-speed running (including straight running, fast turning and lane changing) of the vehicle, and the self-balancing requirement of the vehicle during parking and low-speed running is the most practical. And only meets the self-balancing requirement when the vehicle is stopped and runs at a low speed, and does not consider the working conditions of high-speed running, turning and the like of the vehicle, a large-size top is not needed to be adopted to provide large angular momentum and balancing capability. Therefore, a self-balancing device with small gyro size, weight, power consumption, occupied battery space, noise, cost and the like can be designed according to the self-balancing requirements of the vehicle in parking and low-speed running, the influence on the whole vehicle endurance of the front and rear two-wheel vehicles can be reduced to the minimum by adopting the self-balancing device, meanwhile, the self-balancing requirements of the front and rear two-wheel vehicles in parking and low-speed running are met, the precession movement of the self-balancing device can be locked when the vehicle runs at a normal high speed, so that the precession movement of the self-balancing device is prevented from interfering the running of the vehicle, and in particular, the uncontrolled falling of the vehicle caused by the inclination of the self-balancing device when the vehicle turns or changes lanes rapidly is avoided, so that the self-balancing device has good practicability.

Based on the above, the utility model provides a self-balancing device and a front and rear two-wheeled vehicle comprising the self-balancing device.

Fig. 1 to 15 show an embodiment of the self-balancing device of the present utility model.

Referring to fig. 1 to 5, the self-balancing device 100 of the present embodiment is mounted on a body 200 of a vehicle. The self-balancing device 100 of the present embodiment includes a gyro assembly 1, a precession driving part 2, and a precession braking part 3.

The top assembly 1 includes an inner frame 11, a rotating body 12 and a power member 13, wherein the inner frame 11 is rotatably mounted on a vehicle body 200, the rotating body 12 is rotatably disposed inside the inner frame 11, the power member 13 drives the rotating body 12 to rotate, and a rotation axis of the inner frame 11 is orthogonal to a rotation axis of the rotating body 12.

In the description of the present utility model, the "front" side is defined as the left side of the paper of fig. 1, and is also the side on which the front wheels of the vehicle are located; the "rear" side is the right side of the page of fig. 1, and is the side where the rear wheels of the vehicle are located; the front-rear direction is also the interval arrangement direction of the front and rear wheels of the vehicle; the "left" side is the paper outside of the paper of fig. 1, and the "right" side is the paper inside of the paper of fig. 1; the left-right direction and the front-back direction are mutually perpendicular in a horizontal plane; the "upper" side is the upper side of the page of FIG. 1; the "lower" side is the lower side of the paper surface of fig. 1, and the up-down direction is perpendicular to the horizontal plane. The self-balancing device 100 has two mounting orientations on the vehicle body 200, the first mounting orientation being such that the rotation axis of the inner frame body 11 extends in the left-right direction; the second mounting orientation is such that the rotational axis of the inner frame body 11 extends in the up-down direction. The first mounting orientation will be described below as an example.

The precession driving member 2 is connected to the inner frame 11, and the precession driving member 2 is adapted to control rotation of the inner frame 11. When the power piece 13 drives the rotator 12 to rotate at a high speed, the inner frame 11 is rotated, the whole gyro assembly 1 rotates along with the inner frame 11, namely, the gyro assembly 1 precesses, gyro moment is generated by the precession of the gyro assembly 1, the rotation of the inner frame 11 is controlled by the precession driving part 2, namely, the precession movement of the gyro assembly 1 is controlled, then, controlled gyro moment can be generated, the controlled gyro moment acts on the vehicle body 200, and the vehicle balance can be controlled, which is the precession balance principle of the gyro assembly 1.

The precession brake component 3 is connected with the inner frame body 11, the precession brake component 3 is used for locking or unlocking the inner frame body 11, when the precession brake component 3 locks the inner frame body 11, the inner frame body 11 is fixed relative to the vehicle body 200, and when the precession brake component 3 unlocks the inner frame body 11, the inner frame body 11 can rotate relative to the vehicle body 200. Thus, the self-balancing device 100 can be switched between two operating states by actuation of the precession brake element 3: the working state is that the precession brake component 3 locks the inner frame 11, at this time, the inner frame 11 is fixed relative to the vehicle body 200 and can not rotate, precession movement of the gyro assembly 1 is prevented by the precession brake component 3, the self-balancing device 100 is in a non-precession state, and in the non-precession state, the self-balancing device 100 does not output gyro moment, so that interference to a running vehicle is avoided, and particularly tilting movement required during rapid turning or lane changing of the vehicle is not affected; the other working state is that the precession brake component 3 releases the inner frame 11, at this time, the inner frame 11 can rotate relative to the vehicle body 200, the precession motion of the gyro assembly 1 is not affected, the self-balancing device 100 is in a precession balance state, in the precession balance state, the precession drive component 2 controls the rotation of the inner frame 11, and the self-balancing device 100 provides a controlled gyro moment, so that the self-balancing adjustment of the vehicle can be realized.

Therefore, by adopting the self-balancing device 100 of the embodiment, the working state of the self-balancing device 100 can be switched according to the actual vehicle speed, so that the self-balancing device 100 is in a precession balance state only when the vehicle is stopped and runs at a low speed, the self-balancing requirements of the vehicle when the vehicle is stopped and runs at a low speed are met, the self-balancing device 100 is in a non-precession state when the vehicle runs at a normal high speed, the running vehicle cannot be interfered, particularly the tilting movement of the vehicle during fast turning or lane changing cannot be interfered, and the safety of the vehicle during high-speed running, fast turning or lane changing is ensured. Meanwhile, since the self-balancing device 100 only needs to output the gyro moment of precession to control the balance of the vehicle when the vehicle is stopped and running at a low speed, excessive angular momentum and balancing capability are not needed, and thus the self-balancing device 100 of the embodiment can be realized by adopting a small gyro, so that the self-balancing device 100 has the advantages of small gyro size, light weight, low power consumption, small occupied battery space, low noise and low cost. Therefore, the self-balancing device 100 of the embodiment can minimize the influence on the whole vehicle endurance, can meet the self-balancing requirement of the vehicle in the process of parking and running at a low speed, can not influence the tilting motion required in the process of fast turning or lane changing, and has good practicability.

In this embodiment, the power element 13, the precession driving element 2 and the precession braking element 3 in the gyro assembly 1 are preferably all connected to a control system. Preferably, the power piece 13, the precession driving part 2 and the precession brake part 3 are all electrically connected with a control system, and the control system controls the power piece 13, the precession driving part 2 and the precession brake part 3 according to the working condition of the vehicle, so as to control the working state of the self-balancing device 100 and the switching of the working state. The form of the control system is not limited, and may be a control module of the vehicle itself or a control unit additionally provided. The control system comprises a controller, which can be a PLC controller or a singlechip, and is used for controlling the power piece 13, the precession driving part 2 and the precession braking part 3 to act.

In this embodiment, preferably, referring to fig. 4, a power member 13 is provided inside the inner frame body 11, the power member 13 is fixedly installed on the inner frame body 11, and the power member 13 is connected with the rotating body 12 and drives the rotating body 12 to rotate at a high speed. The power member 13 is preferably an electric motor. The inner frame 11 is provided with an advance shaft 14 on the outside, the advance shaft 14 is fixedly connected with the inner frame 11, the advance shaft 14 is rotatably connected with the vehicle body 200, i.e. the inner frame 11 is rotatably mounted on the vehicle body 200 by the advance shaft 14, and the advance shaft 14 is preferably rotatably mounted on the vehicle body 200 by the first bearing 15. The rotation axis of the inner frame 11 is the axis of the feed shaft 14. The inside of the precession shaft 14 is penetrated along the axial direction, the electric wire of the power supply piece 13 passes through, and the electric wire of the power supply piece 13 can pass through the precession shaft 14 and then be connected with the control system. The hollow precession shaft 14 is arranged for the electric wires of the power piece 13 to pass through, so that the movement range of the electric wires of the power piece 13 along with the rotation of the inner frame body 11 in the precession movement process of the top assembly 1 can be limited and reduced, and the abrasion caused by repeated scraping and collision of the electric wires and other parts is reduced.

In this embodiment, the precession brake element 3 is preferably an electrically controlled brake element to facilitate electrical control.

Preferably, referring to fig. 4 to 6 and 7 to 10, the precession brake unit 3 includes an electromagnetic brake 31, the electromagnetic brake 31 includes a rotor 311, an electromagnetic coil 312, and an armature 313 positioned between the rotor 311 and the electromagnetic coil 312, the electromagnetic coil 312 is fixedly connected to the vehicle body 200, and the rotor 311 is connected to the inner frame 11. The armature 313 is fixedly engaged with the rotor 311 in the circumferential direction, and the armature 313 is axially movable between the rotor 311 and the electromagnetic coil 312. The electromagnetic brake 31 may adopt a mode of electric braking, specifically: when the electromagnetic brake 31 is powered off, the electromagnetic coil 312 is separated from the armature 313, the armature 313 and the rotor 311 can rotate along with the inner frame 11, and at the moment, the precession brake component 3 releases the inner frame 11; when the electromagnetic brake 31 is energized, the electromagnetic coil 312 attracts the armature 313 to fix the armature 313, and the armature 313 is fixed to the rotor 311 in the circumferential direction, thereby locking the rotor 311 to prevent the inner frame 11 from rotating, and at this time, the precession brake member 3 locks the inner frame 11. In addition, the electromagnetic brake 31 may be a power-off brake. The following describes an electric brake system as an example.

In a preferred embodiment, referring to fig. 4 to 6, the electromagnetic brake 31 is directly connected to the inner frame 11, and the rotor 311 of the electromagnetic brake 31 is fixedly connected to the inner frame 11. Specifically, the electromagnetic brake 31 is sleeved on the precession shaft 14, the rotor 311 of the electromagnetic brake is fixedly connected with the precession shaft 14, so as to be fixedly connected with the inner frame 11, the armature 313 can move axially along the precession shaft 14 between the rotor 311 and the electromagnetic coil 312, the electromagnetic coil 312 and the armature 313 are rotatably matched with the precession shaft 14, and the electromagnetic coil 312 is fixed with the vehicle body 200. When the electromagnetic brake 31 is de-energized, the electromagnetic coil 312 is disengaged from the armature 313, and the armature 313 and the rotor 311 can rotate with the inner frame 11, at which time the precession brake member 3 releases the inner frame 11. When the electromagnetic brake 31 is energized, the electromagnetic coil 312 attracts the armature 313 to fix the armature 313, and the armature 313 is fixed to the rotor 311 in the circumferential direction, thereby locking the rotor 311 to prevent the inner frame 11 from rotating, and at this time, the precession brake member 3 locks the inner frame 11. The precession brake component 3 adopts a mode that the electromagnetic brake 31 is directly connected with the inner frame 11, which is beneficial to the compact structure of the self-balancing device 100.

In another preferred embodiment, referring to fig. 7 to 10, the rotor 311 of the electromagnetic brake 31 is connected to the inner frame 11 by a transmission mechanism. Specifically, the electromagnetic brake 31 is sleeved on the connecting shaft 35, the connecting shaft 35 is parallel to the advancing shaft 14, the connecting shaft 35 is rotatably connected with the vehicle body 200, the connecting shaft 35 is preferably rotatably mounted on the vehicle body 200 through a second bearing 36, a rotor 311 of the electromagnetic brake 31 is fixedly connected with the connecting shaft 35, an armature 313 can axially move along the connecting shaft 35 between the rotor 311 and an electromagnetic coil 312, the electromagnetic coil 312 and the armature 313 are rotatably matched with the connecting shaft 35, the electromagnetic coil 312 is fixedly connected with the vehicle body 200, and the connecting shaft 35 is in transmission connection with the advancing shaft 14 through a transmission mechanism. When the electromagnetic brake 31 is powered off, the electromagnetic coil 312 is separated from the armature 313, the armature 313 and the rotor 311 can rotate along with the connecting shaft 35, the transmission mechanism is driven between the connecting shaft 35 and the advancing shaft 14, the inner frame body 11 can rotate, and at the moment, the advancing brake part 3 releases the inner frame body 11. When the electromagnetic brake 31 is energized, the electromagnetic coil 312 attracts the armature 313 to fix the armature 313, the armature 313 is fixed to the rotor 311 in the circumferential direction, thereby locking the rotor 311 against rotation of the connecting shaft 35, the transmission mechanism is fixed, thereby preventing rotation of the inner frame 11, and the precession brake member 3 locks the inner frame 11.

The form of the transmission mechanism connecting the rotor 311 of the electromagnetic brake 31 and the inner frame 11 is not limited, and it may be a pulley transmission mechanism or a gear transmission mechanism or a chain transmission mechanism, preferably. Fig. 7 to 10 show a pulley transmission mechanism including a first pulley 32, a second pulley 33, and a first belt 34, the first pulley 32 being fixedly connected with a connecting shaft 35 so as to be rotatable with respect to the vehicle body 200, a rotor 311 of the electromagnetic brake 31 being fixedly connected with the connecting shaft 35 so as to be fixedly connected with the first pulley 32, the first pulley 32 being drivingly connected with the second pulley 33 through the first belt 34, and the second pulley 33 being fixedly connected with the advancing shaft 14 so as to be fixedly connected with the inner frame body 11. The gear transmission mechanism (not shown) may include a driving gear fixedly connected to the connection shaft 35 so as to be rotatable with respect to the vehicle body 200, and a driven gear fixedly connected to the driving gear fixedly connected to the input shaft 14 so as to be fixedly connected to the inner frame body 11, the driven gear being engaged with the driving gear, and a rotor 311 of the electromagnetic brake 31 being fixedly connected to the connection shaft 35 so as to be fixedly connected to the driving gear. The chain transmission mechanism (not shown in the drawings) may include a driving sprocket fixedly connected with the connection shaft 35 so as to be rotatable with respect to the vehicle body 200, a chain, and a driven sprocket fixedly connected with the connection shaft 35 so as to be fixedly connected with the driving sprocket, and the driving sprocket is fixedly connected with the driven sprocket through the chain, and the driven sprocket is fixedly connected with the feed shaft 14 so as to be fixedly connected with the inner frame body 11.

In this embodiment, the electromagnetic brake 31 used in the precession brake member 3 is preferably a dog electromagnetic brake, and the armature 313 of the dog electromagnetic brake is engaged with the rotor 311 to form an engagement pair. Of course, the electromagnetic brake 31 is not limited to the dog electromagnetic brake, and other forms of electromagnetic brake may be employed. The electromagnetic brake 31 of the precession brake unit 3 is connected to the control system.

In this embodiment, the precession drive member 2 is preferably an electronically controlled drive member to facilitate electrical control.

Preferably, referring to fig. 4 to 5 and 7 to 9, the precession driving part 2 includes a driving motor 21, the driving motor 21 is fixedly connected to the vehicle body 200, and a rotation output end of the driving motor 21 is connected to the inner frame 11 and controls rotation of the inner frame 11.

In a preferred embodiment, see fig. 4 and 5, the drive motor 21 is directly connected to the inner frame 11, i.e. the rotational output of the drive motor 21 is fixedly connected to the inner frame 11. The rotation axis of the inner frame 11 is also the axis of the rotation output end of the driving motor 21, and the axis of the rotation output end of the driving motor 21 coincides with the axis of the advancing shaft 14. Preferably, the rotation output end of the driving motor 21 and the precession axis 14 are respectively connected to the inner frame body 11 at both left and right sides of the inner frame body 11, so that one side (e.g., left side) of the inner frame body 11 is supported on the rotation output end of the driving motor 21 and rotatably supported on the vehicle body 200 through the fixed connection of the driving motor 21 and the vehicle body 200, and the other side (e.g., right side) of the inner frame body 11 is rotatably supported on the vehicle body 200 through the precession axis 14, thereby realizing the rotatable mounting of the inner frame body 11 on the vehicle body 200. The precession driving part 2 adopts a mode that the driving motor 21 is directly connected with the inner frame 11, which is beneficial to the compact structure of the self-balancing device 100.

In another preferred embodiment, referring to fig. 7 to 9, the rotation output end of the driving motor 21 is connected to the inner frame 11 through a transmission mechanism and controls the rotation of the inner frame 11. Specifically, the inner frame 11 is provided with a driving shaft 16, the driving shaft 16 is fixedly connected with the inner frame 11, the driving shaft 16 is rotatably connected with the vehicle body 200, that is, the inner frame 11 is rotatably mounted on the vehicle body 200 through the driving shaft 16, the driving shaft 16 is preferably rotatably mounted on the vehicle body 200 through a third bearing 17, then the rotation axis of the inner frame 11 is also the axis of the driving shaft 16, and the axis of the driving shaft 16 coincides with the axis of the advancing shaft 14. Preferably, the driving shaft 16 and the advancing shaft 14 are connected to the inner frame body 11 at the left and right sides of the inner frame body 11, respectively, and then the left and right sides of the inner frame body 11 are rotatably supported on the vehicle body 200 through the driving shaft 16 and the advancing shaft 14, respectively, thereby realizing the rotatable mounting of the inner frame body 11 on the vehicle body 200. The transmission mechanism connects the rotation output end of the driving motor 21 with the transmission shaft 16, and transmits the rotation power of the rotation output end of the driving motor 21 to the transmission shaft 16, thereby realizing that the precession driving part 2 controls the rotation of the inner frame 11.

The form of the transmission mechanism connecting the drive motor 21 and the inner frame body 11 is not limited, and it may be a pulley transmission mechanism or a gear transmission mechanism or a chain transmission mechanism. Shown in fig. 7-9 as a pulley drive mechanism, comprising a third pulley 22, a fourth pulley 23 and a second drive belt 24. The third pulley 22 is driven to rotate by the drive motor 21, the third pulley 22 is in driving connection with the fourth pulley 23 through the second transmission belt 24, and the fourth pulley 23 is fixedly connected with the inner frame 11. Specifically, the third pulley 22 is fixedly connected to the rotation output end of the driving motor 21, and the fourth pulley 23 is fixedly connected to the transmission shaft 16 on the inner frame body 11. The gear transmission mechanism (not shown) may include a driving gear driven to rotate by the driving motor 21 and a driven gear engaged with the driving gear and fixedly coupled to the inner frame 11. Specifically, the driving gear is fixedly connected with the rotation output end of the driving motor 21, and the driven gear is fixedly connected with the transmission shaft 16 on the inner frame body 11. The chain transmission mechanism (not shown in the drawings) may include a driving sprocket, a chain, and a driven sprocket, the driving sprocket being driven to rotate by the driving motor 21, the driving sprocket being in driving connection with the driven sprocket through the chain, the driven sprocket being fixedly connected with the inner frame 11. Specifically, the driving sprocket is fixedly connected with the rotation output end of the driving motor 21, and the driven sprocket is fixedly connected with the transmission shaft 16 on the inner frame body 11.

In the present embodiment, the driving motor 21 used for the precession driving part 2 is preferably a servo motor having an angle sensor, and further, the driving motor 21 used for the precession driving part 2 is a servo motor having an angle sensor and a driving plate. The drive motor 21 of the precession drive unit 2 is connected to a control system.

In this embodiment, preferably, the precession driving member 2 and the precession braking member 3 are both fixedly connected to the vehicle body 200 via the connecting member 4, and the inner frame 11 is rotatably supported to the connecting member 4, thereby realizing rotatable mounting of the inner frame 11 to the vehicle body 200.

In a preferred embodiment, referring to fig. 2 to 6 and 12 to 14, the connecting member 4 includes two split members 41 connected to the precession driving part 2 and the precession braking part 3, respectively, the split members 41 being adapted to be connected and fixed to the vehicle body 200, i.e. the self-balancing device 100 is integrally connected to the vehicle body 200 by the two split members 41. In this embodiment, the precession brake member 3 is preferably directly connected to the inner frame 11 by the electromagnetic brake 31, and the precession drive member 2 is preferably directly connected to the inner frame 11 by the drive motor 21. The advancing shaft 14 on the inner frame body 11 is rotatably mounted on a split member 41 through a first bearing 15, an electromagnetic coil 312 of the electromagnetic brake 31 is fixedly connected with the split member 41, and the advancing shaft 14 is rotatably mounted on the vehicle body 200 and the electromagnetic coil 312 is fixedly connected with the vehicle body 200 through the fixed connection of the split member 41 and the vehicle body. The fixed part of the driving motor 21 (stator of the driving motor 21) is fixedly mounted on the other split member 41, and the driving motor 21 is fixedly connected with the vehicle body 200 through the fixed connection of the other split member 41 with the vehicle body.

In another preferred embodiment, referring to fig. 7 to 10 and 11, the connecting piece 4 is an outer frame 42 connected to the precession driving part 2 and the precession braking part 3 at the same time, and the gyro assembly 1, the precession driving part 2 and the precession braking part 3 are uniformly arranged inside the outer frame 42, and the outer frame 42 is used for being connected and fixed with the vehicle body 200, that is, the self-balancing device 100 is integrally connected with the vehicle body 200 through the outer frame 42. In this embodiment, the precession brake component 3 may adopt a mode that the electromagnetic brake 31 is directly connected with the inner frame 11, or a mode that the electromagnetic brake 31 is combined with a transmission mechanism; the precession driving part 2 may adopt a mode that the driving motor 21 is directly connected with the inner frame 11, or a mode that the driving motor 21 and a transmission mechanism are combined.

When the precession brake unit 3 is a combination of the electromagnetic brake 31 and the transmission mechanism, as shown in fig. 7 to 10, it is preferable that a first support 421 is provided inside the outer frame 42, the first support 421 is fixedly connected with the outer frame 42, a connection shaft 35 in the precession brake unit 3 is rotatably mounted on the first support 421 through a second bearing 36, an electromagnetic coil 312 of the electromagnetic brake 31 is fixedly connected with the first support 421, a precession shaft 14 on the inner frame 11 is rotatably mounted on the outer frame 42 through a first bearing 15, the precession shaft 14 is rotatably mounted on the vehicle body 200 through the fixed connection of the outer frame 42 with the vehicle body 200, and a first pulley 32 (or a driving gear or a driving sprocket) fixedly connected with the connection shaft 35 is rotatably mounted on the vehicle body 200.

When the precession driving unit 2 adopts a mode of combining the driving motor 21 and the transmission mechanism, referring to fig. 7 to 10, it is preferable that a second support 422 is provided inside the outer frame 42, the second support 422 is fixedly connected with the outer frame 42, the driving motor 21 in the precession driving unit 2 is fixedly mounted on the second support 422, the transmission shaft 16 on the inner frame 11 is rotatably mounted on the outer frame 42 through the third bearing 17, and the transmission shaft 16 is rotatably connected with the vehicle body 200 and the driving motor 21 is fixedly connected with the vehicle body 200 through the fixed connection between the outer frame 42 and the vehicle body 200.

In the case that the first support 421 and/or the second support 422 are provided inside the outer frame 42, it is preferable that a horizontal platform that does not interfere with the movement of the gyro assembly 1 is extended inside the outer frame 42, and the first support 421 and/or the second support 422 may be provided on the horizontal platform, and the horizontal platform may be used for integrally mounting other components of the self-balancing device 100 or other components on a vehicle.

When the precession brake component 3 adopts the mode that the electromagnetic brake 31 is directly connected with the inner frame 11, referring to fig. 11, the precession shaft 14 on the inner frame 11 is rotatably mounted on the outer frame 42 through the first bearing 15, the electromagnetic coil 312 of the electromagnetic brake 31 is fixedly connected with the outer frame 42, and the precession shaft 14 is rotatably mounted on the vehicle body 200 and the electromagnetic coil 312 is fixedly connected with the vehicle body 200 through the fixed connection of the outer frame 42 and the vehicle body.

When the precession driving member 2 is configured such that the driving motor 21 is directly connected to the inner frame 11, referring to fig. 11, a fixed portion of the driving motor 21 (a stator of the driving motor 21) is fixedly mounted on the other outer frame 42, and the driving motor 21 is fixedly connected to the vehicle body 200 through a fixed connection between the outer frame 42 and the vehicle body.

In this embodiment, the self-balancing device 100 preferably further includes a limiting structure for limiting the rotation angle range of the inner frame 11 to limit the precession movement amplitude of the top assembly 1.

The spacing structure may be provided between the connector 4 and the inner frame 11. Referring to fig. 2, 7, 11 and 12, preferably, the limiting structure includes a baffle 43 provided on the connecting member 4 and two limiting members 18 provided on the inner frame body 11, the two limiting members 18 being arranged at intervals along the rotation direction of the inner frame body 11, specifically, the two limiting members 18 being arranged at intervals up and down on the inner frame body 11, and one end of the baffle 43 away from the connecting member 4 being located on the rotation locus of the two limiting members 18 and between the two limiting members 18. When the inner frame 11 rotates until one of the two limiting members 18 contacts with the baffle 43, the inner frame 11 cannot continue to rotate under the blocking of the baffle 43, so that the rotatable angle range of the inner frame 11 is limited by the interval between the two limiting members 18, namely, the precession movement amplitude of the gyro assembly 1 is limited, a protection mechanism of the gyro assembly 1 can be formed, and under the condition that a control system fails, the precession movement of the gyro assembly 1 in a limited range is ensured through the limiting structure, and the driving safety is ensured.

In this embodiment, the inner frame 11 of the top assembly 1 may be an integral whole or a separate piece.

In a preferred embodiment, referring to fig. 2 to 5, 7 to 9 and 11, the inner frame 11 of the top assembly 1 is an integrated annular frame 111, one or both sides of the annular frame 111 are connected with an outer cover 19, the outer cover 19 and the annular frame 111 form a containing space, and the rotator 12 of the top assembly 1 is contained in the containing space to play a role of safety protection. The power member 13 may be accommodated in the accommodating space to be disposed inside the inner frame body 11, and the power member 13 may be disposed outside the inner frame body 11. Specifically, the annular frame 111 is an internal hollow structure with an inner portion penetrating along an axial direction, an inner axis of the annular frame 111 extends along a front-rear direction, the rotor 12 and the power piece 13 are both installed inside the annular frame 111, two outer covers 19 are respectively connected to front and rear sides of the annular frame 111, and a portion of the rotor 12 and the power piece 13 exposed out of the annular frame 111 is covered, that is, two outer covers 19 and the annular frame 111 together enclose a containing space for containing the rotor 12 and the power piece 13.

In another preferred embodiment, referring to fig. 12 to 14, the inner frame 11 includes two connected shells 112, and the two shells 112 are butted to form a containing space, and the rotor 12 is contained in the containing space to play a role of safety protection. The power member 13 may be accommodated in the accommodating space to be disposed inside the inner frame body 11, and the power member 13 may be disposed outside the inner frame body 11. Specifically, the two housings 112 are disposed opposite one another and are fixedly connected to one another.

In the case where the inner frame 11 of the top assembly 1 employs the integrated annular frame 111, when the precession driving part 2 employs a manner in which the driving motor 21 is directly connected to the inner frame 11, it is preferable that the rotation output end of the driving motor 21 is integrated with the annular frame 111 into one piece; when the precession brake unit 3 is directly connected to the inner frame 11 by the electromagnetic brake 31, it is preferable that the rotor 311 of the electromagnetic brake 31 is integrated with the ring frame 111 into one piece; when both the driving motor 21 and the electromagnetic brake 31 are directly connected to the inner frame 11, it is preferable that both the rotation output end of the driving motor 21 and the rotor 311 of the electromagnetic brake 31 are integrated with the ring frame 111 as one piece. Therefore, the assembly can be convenient, the structure can be more compact, the number of parts is reduced, and the cost is reduced.

In this embodiment, the rotator 12 of the top assembly 1 preferably includes an axle 121 and a wheel body 122, the axle 121 is rotatably mounted on the inner frame 11, and the wheel body 122 is fixedly connected to the axle 121. The power piece 13 is connected with the wheel axle 121 and drives the wheel axle 121 to rotate, so that the wheel body 122 is driven to rotate. The axis of the axle 121 extends along the up-down direction, the wheel body 122 is fixedly sleeved on the axle 121, the axis of the axle 121 is the rotation axis of the rotator 12, and the rotator 12 horizontally rotates around the axis of the axle 121. When the inner frame 11 adopts an integrated annular frame 111, bearing holes are respectively formed in the upper and lower surfaces of the annular frame 111, and the upper and lower ends of the wheel axle 121 are rotatably mounted in the bearing holes in the annular frame 111 through bearings, respectively. When the inner frame 11 adopts a split structure in which two shells 112 are butted, bearing holes are respectively formed in the two shells 112, and the upper and lower ends of the wheel axle 121 are rotatably mounted in the bearing holes in the two shells 112 through bearings, respectively. Thereby, the rotor 12 is rotatably provided inside the inner frame 11.

In this example, fig. 2, 7, 11 and 12 show only four embodiments of the self-balancing device 100, respectively.

The first embodiment shown in fig. 2 is: the precession brake component 3 adopts a combination mode that an electromagnetic brake 31 is directly connected with the inner frame 11, the precession driving component 2 adopts a mode that a driving motor 21 is directly connected with the inner frame 11, the connecting piece 4 adopts two split pieces 41, and the inner frame 11 adopts an integral annular frame 111 to arrange the outer cover 19.

The second embodiment shown in fig. 7 is: the precession brake component 3 adopts a combination mode of an electromagnetic brake 31 and a transmission mechanism, the precession driving component 2 adopts a combination mode of a driving motor 21 and the transmission mechanism, the connecting piece 4 adopts an outer frame 42, and the inner frame 11 adopts an integrated annular frame 111 to configure an outer cover 19.

A third embodiment shown in fig. 11 is: the precession brake component 3 adopts a combination mode that an electromagnetic brake 31 is directly connected with the inner frame 11, the precession driving component 2 adopts a mode that a driving motor 21 is directly connected with the inner frame 11, the connecting piece 4 adopts an outer frame 42, and the inner frame 11 adopts an integral annular frame 111 to arrange the outer cover 19.

A fourth embodiment shown in fig. 12 is: the precession brake component 3 adopts a combination mode that an electromagnetic brake 31 is directly connected with the inner frame 11, the precession driving component 2 adopts a mode that a driving motor 21 is directly connected with the inner frame 11, the connecting piece 4 adopts two split pieces 41, and the inner frame 11 adopts a split type shell 112 to be butted.

It is to be understood that the combination of the self-balancing device 100 of the present embodiment is not limited to the above four combinations, but the self-balancing device 100 may be designed using any combination of two embodiments of the precession brake member 3, two embodiments of the precession drive member 2, two embodiments of the connecting member 4, and two embodiments of the inner frame body 11.

When the self-balancing apparatus 100 is provided with only one gyro assembly 1, in a precession-free state in which the inner frame 11 of the gyro assembly 1 is locked, the angular change of the gyro assembly 1 in space may bring about a minute roll moment to the vehicle without affecting driving when the vehicle enters an uphill or a downhill. In order to eliminate the roll moment, in a first preferred embodiment, referring to fig. 15, the self-balancing device 100 of the present embodiment may be provided with two gyro assemblies 1, the rotation axes of the inner frame bodies 11 of the two gyro assemblies 1 are parallel to each other, and the two inner frame bodies 11 are in driving connection through a driving structure, and the two inner frame bodies 11 may be simultaneously in a precession center position under the constraint of the driving structure and respectively perform inverse synchronous motions around the respective rotation axes; the rotational directions of the rotational bodies 12 of the two gyro assemblies 1 are opposite when the two inner frame bodies 11 are in the precession center position, and remain unchanged with respect to the inner frame bodies 11 during rotation of the respective inner frame bodies 11 to the non-precession center position. The precession center position refers to a rotational position of the inner frame body 11 when the rotational axis of the inner frame body 11 extends in the left-right direction and the rotational axis of the rotary body 12 extends in the up-down direction, or a rotational position of the inner frame body 11 when the rotational axis of the inner frame body 11 extends in the up-down direction and the rotational axis of the rotary body 12 extends in the left-right direction. The non-precession center position refers to a rotational position where the inner frame 11 is not at the precession center position when the gyro assembly 1 moves. As a result, the precession angles of the two gyro assemblies 1 can be made symmetrically opposite at any time, so that the roll moment of the individual gyro assemblies 1 can be completely eliminated. The transmission structure is preferably two mutually meshed transmission gears 5, and the two transmission gears 5 are respectively connected and fixed with the precession shafts 14 on the inner frame bodies 11 of the two gyro assemblies 1. The precession driving part 2 and the precession braking part 3 are connected with the inner frame body 11 of one gyro assembly 1 of the two gyro assemblies 1, namely, the inner frame body 11 of the two gyro assemblies 1 can be simultaneously acted through the transmission connection of the transmission structure. In the second embodiment, it is also possible to arrange two self-balancing devices 100 provided with one gyro assembly 1 on the vehicle body 200 with the rotation axes of the inner frame bodies 11 of the gyro assemblies 1 of the two self-balancing devices 100 parallel to each other, and the two inner frame bodies 11 can be simultaneously placed in the precession center position and respectively make opposite synchronous movements about the respective rotation axes, and the rotation directions of the rotation bodies 12 of the gyro assemblies 1 of the two self-balancing devices 100 are opposite when the two inner frame bodies 11 are placed in the precession center position and remain unchanged with respect to the inner frame bodies 11 during the rotation of the respective corresponding inner frame bodies 11 to the non-precession center position, whereby the roll moment of the single gyro assembly 1 can be completely eliminated as well.

Based on the self-balancing device 100 described above, this embodiment also provides an embodiment of the front-rear two-wheeled vehicle of the present utility model. The front-rear two-wheeled vehicle of the present embodiment includes the self-balancing apparatus 100 described above in the present embodiment, the self-balancing apparatus 100 is mounted on the vehicle body 200 of the front-rear two-wheeled vehicle, and the self-balancing apparatus 100 is connected and fixed to the vehicle body 200 by the connecting member 4 (the two split members 41 or the outer frame 42). Preferably, the front and rear two-wheeled vehicle is an electric bicycle or an electric scooter or an electric motorcycle, and the self-balancing device 100 may be fixed to two stringers under the foot pedals of the front and rear two-wheeled vehicle.

Preferably, the front and rear two-wheeled vehicle of the present embodiment switches the operation state of the self-balancing device 100 according to the vehicle speed, and the operation state of the self-balancing device 100 includes a precession-free state in which the inner frame 11 of the top assembly 1 is locked and a precession-balanced state in which the inner frame 11 of the top assembly 1 is released and controlled by the precession driving part 2. In the non-precession state, the precession brake part 3 locks the inner frame 11, so that precession movement of the gyro assembly 1 is prevented, and the self-balancing device 100 does not output gyro moment, so that interference to a running vehicle is avoided, and the self-balancing device is used for normal high-speed running processes (including straight running, fast turning and lane changing) of front and rear two-wheeled vehicles, and particularly, tilting movement required during fast turning or lane changing of the vehicle is not affected. In a precession balance state, the precession brake component 3 loosens the inner frame body 11, the inner frame body 11 can rotate relative to the vehicle body 200, precession movement of the gyro assembly 1 is not affected, the precession drive component 2 controls rotation of the inner frame body 11, the self-balancing device 100 provides controlled gyro moment, self-balancing adjustment of front and rear two-wheeled vehicles can be achieved, and the device is suitable for parking and low-speed running processes of the front and rear two-wheeled vehicles.

Preferably, the front and rear two-wheeled vehicle of the present embodiment further includes a control system and a vehicle speed sensor for detecting a vehicle speed, and the power element 13, the precession driving element 2, the precession braking element 3, and the vehicle speed sensor are all connected to the control system. Specifically, the electromagnetic brake 31 of the precession brake unit 3 is connected to a control system, and the drive motor 21 of the precession drive unit 2 is connected to the control system. The vehicle speed sensor conveys the detected vehicle speed information to the control system, the control system receives the vehicle speed information, judges working conditions of the front and rear two-wheeled vehicles according to the received vehicle speed information, controls the power piece 13, the precession driving part 2 and the precession brake part 3 according to the working conditions of the front and rear two-wheeled vehicles, controls the working state of the self-balancing device 100 and the switching of the working state, realizes that the self-balancing device 100 is in the precession balancing state only when the front and rear two-wheeled vehicles stop and run at a low speed, meets self-balancing requirements when the vehicles stop and run at a low speed, is in the non-precession state when the front and rear two-wheeled vehicles run at a normal high speed, and does not interfere the running vehicles. The form of the control system is not limited, and the control system may be a control module of the front and rear two-wheeled vehicles, or may be a control unit additionally provided. The control system comprises a controller, which can be a PLC controller or a singlechip, and is used for controlling the power piece 13, the precession driving part 2 and the precession braking part 3 to act.

Further, the front and rear two-wheeled vehicle of this embodiment may further include a vehicle body posture sensor for detecting a vehicle body posture and/or a handle bar rotation angle sensor for detecting a handle bar rotation angle, where the vehicle body posture sensor and the handle bar rotation angle sensor are both connected with the control system and transmit detected vehicle body posture information and handle bar rotation angle information to the control system, and the control system receives the vehicle body posture information and the handle bar rotation angle information and comprehensively determines the working conditions of the front and rear two-wheeled vehicle by combining the vehicle speed information detected by the vehicle speed sensor, so that the determination result is more accurate.

Preferably, the front and rear two-wheeled vehicle of the present embodiment is provided with any one or a combination of a plurality of switch parts, display parts, and alarm parts. Wherein a switching means is used to activate or deactivate the self-balancing device 100, the switching means may be a push button or an electric door lock. The display component is used for displaying the operation condition of the self-balancing device 100, including the starting or closing state of the self-balancing device 100, the working state of the self-balancing device 100, etc. The alarm means is used to give an alarm when the self-balancing device 100 has stopped or is about to stop working (the battery level of the front and rear vehicles is lower than a set low battery level value) or fails, and the alarm may be in the form of a buzzer or a flashing light, etc.

The control method of the front and rear two-wheeled vehicle of the embodiment is that the control system switches the working state of the self-balancing device 100 according to the vehicle speed information detected by the vehicle speed sensor: and when the vehicle speed is increased to a set high speed value, the vehicle is switched to a non-precession state, and when the vehicle speed is reduced to a set low speed value, the vehicle is switched to a precession balance state, and the set high speed value is larger than or equal to the set low speed value.

Preferably, in the control method of the front and rear two-wheeled vehicle of the present embodiment, the high speed value is set to be less than 10km/h, and the low speed value is set to be less than 10km/h.

Preferably, in the method for controlling a front and rear two-wheeled vehicle according to the present embodiment, the control system adjusts the power of the self-balancing device 100 in real time according to the power required for the front and rear two-wheeled vehicles to travel, specifically, adjusts the power of the power member 13 of the gyro assembly 1, so that the total power of the whole vehicle is kept within the set limit value. The battery system of the front and rear two-wheeled vehicle has a certain limitation on the output current (power), if the total current exceeds the allowable value, the battery life is rapidly reduced, and the total current (total power) of the vehicle and the gyro assembly 1 needs to be limited within the allowable value in order to protect the battery. Both the acceleration of the vehicle and the acceleration of the power element 13 of the gyroscopic assembly 1 require a large current, and if both are accelerated at the same time, the total power may exceed the allowable value of the battery. So when the vehicle is running (mainly when the vehicle is accelerating), the control system will preferentially ensure the current (power) required by the vehicle acceleration, and the power value allocated to the power piece 13 of the gyro assembly 1 will be smaller than the difference between the total power and the real-time power of the vehicle. Based on this, if the power element 13 of the gyro assembly 1 has driven the rotor 12 to operate at the highest rotation speed, since the rotor 12 is not accelerated when operating at the highest rotation speed, the power of the power element 13 is small and can generally satisfy the difference value of the total power and the real-time power of the vehicle, so that the power of the power element 13 of the gyro assembly 1 is not adjusted when the vehicle accelerates in this case, and the high-speed rotation of the rotor 12 of the gyro assembly 1 is not affected; if the power piece 13 of the gyro assembly 1 is accelerating to drive the rotation 12, the power of the power piece 13 is larger, so that the power of the power piece 13 of the gyro assembly 1 needs to be limited when the vehicle accelerates under the condition, the power of the power piece 13 of the gyro assembly 1 is reduced, the acceleration of the gyro assembly 1 is slowed down, the power required by the acceleration of the vehicle is ensured, and after the acceleration of the vehicle is completed (reaching a constant speed or starting to decelerate), the power of the power piece 13 of the gyro assembly 1 is increased, so that the gyro assembly 1 starts to accelerate under full power. Therefore, the whole vehicle can be continued without influencing the service life of the battery.

Further, the control system controls the power piece 13 to convert the kinetic energy of the rotating body 12 into electric energy to be charged back into the power supply of the front and rear two-wheeled vehicles when decelerating, thereby having the energy storage effect and further increasing the cruising ability of the whole vehicle.

As described above, the self-balancing device 100 and the front and rear two-wheeled vehicle including the self-balancing device of the present embodiment are designed to realize the self-balancing requirement in the vehicle parking and low-speed running by the precession brake unit 3 in the precession balanced state only in the vehicle parking and low-speed running to satisfy the self-balancing requirement in the vehicle parking and low-speed running, and in the non-precession state in the normal high-speed running without interfering with the running vehicle, especially in the fast turning or lane changing, because the self-balancing device 100 only needs to output the gyroscopic moment of precession movement to control the vehicle balance in the vehicle parking and low-speed running, excessive angular momentum and balancing capability are not required, and a small gyroscope is adopted to realize the self-balancing device 100, so that the self-balancing device 100 has the advantages of small gyroscope size, light weight, low power consumption, small occupied battery space, small noise and low cost. The self-balancing device 100 can reduce the influence on the whole vehicle endurance of the front and rear two-wheeled vehicles to the minimum, and can meet the self-balancing requirement of the front and rear two-wheeled vehicles when the vehicles are parked and run at a low speed, and the required tilting movement of the vehicles during fast turning or lane changing can not be influenced, so that the self-balancing device has good practicability.

The foregoing is merely a preferred embodiment of the present utility model, and it should be noted that modifications and substitutions can be made by those skilled in the art without departing from the technical principles of the present utility model, and these modifications and substitutions should also be considered as being within the scope of the present utility model.

Claims (19)

1. The utility model provides a self-balancing device, its characterized in that includes top subassembly (1), precession drive unit (2) and precession brake unit (3), top subassembly (1) including rotationally install internal frame body (11) on automobile body (200), rotationally locate internal frame body (11) inside rotor (12), and drive rotor (12) pivoted power piece (13), the axis of rotation of internal frame body (11) with the axis of rotation of rotor (12) is orthogonal, precession drive unit (2) with precession brake unit (3) all are connected with internal frame body (11), precession drive unit (2) are used for controlling internal frame body (11) are rotated, precession brake unit (3) are used for locking or unclamping internal frame body (11), make internal frame body (11) are relative automobile body (200) are fixed or rotatable.

2. Self-balancing device according to claim 1, characterized in that the power element (13), the precession drive element (2) and the precession brake element (3) are all connected to a control system.

3. Self-balancing device according to claim 1, characterized in that the power element (13) is provided on the inner frame body (11), the inner frame body (11) being provided externally with an precession shaft (14), the precession shaft (14) being rotatably connected with the vehicle body (200); the inside of the advancing shaft (14) is penetrated along the axial direction, so that the electric wire of the power piece (13) passes through.

4. Self-balancing device according to claim 1, characterized in that the precession brake element (3) is an electrically controlled brake element.

5. Self-balancing device according to claim 4, characterized in that the precession brake element (3) comprises an electromagnetic brake (31), the electromagnetic brake (31) comprising a rotor (311), an electromagnetic coil (312) and an armature (313) located between the rotor (311) and the electromagnetic coil (312), the electromagnetic coil (312) being fixed in connection with the vehicle body (200), the rotor (311) being fixed in connection with the inner frame body (11) or being connected with the inner frame body (11) by means of a transmission.

6. Self-balancing device according to claim 5, characterized in that the electromagnetic brake (31) is a dog electromagnetic brake.

7. Self-balancing device according to claim 1, characterized in that the precession drive means (2) comprises a drive motor (21), which drive motor (21) is fixed in connection with the vehicle body (200), the rotational output of which drive motor (21) is fixed in connection with the inner frame body (11) or with the inner frame body (11) via a transmission.

8. The self-balancing device of claim 5 or 7, wherein the transmission is a pulley transmission or a gear transmission or a chain transmission.

9. Self-balancing device according to claim 7, characterized in that the drive motor (21) is a servo motor with an angle sensor or a servo motor with an angle sensor and a drive plate.

10. Self-balancing device according to claim 1, characterized in that the precession drive element (2) and the precession brake element (3) are both fixed in connection with the vehicle body (200) by means of a connecting piece (4), the inner frame body (11) being rotatably supported in the connecting piece (4); the connecting piece (4) comprises two split pieces (41) which are respectively connected with the precession driving component (2) and the precession braking component (3), or the connecting piece (4) is an outer frame body (42) which is simultaneously connected with the precession driving component (2) and the precession braking component (3), and the gyroscope component (1), the precession driving component (2) and the precession braking component (3) are uniformly distributed in the outer frame body (42).

11. Self-balancing device according to claim 1, characterized in that it further comprises a limiting structure for limiting the rotation angle range of the inner frame body (11).

12. Self-balancing device according to claim 1, characterized in that the inner frame body (11) is an integral ring-shaped frame (111), one or both sides of the ring-shaped frame (111) are connected with an outer cover (19), the outer cover (19) and the ring-shaped frame (111) form a containing space, or the inner frame body (11) comprises two connected shells (112), and the two shells (112) are butted to form a containing space; the rotator (12) is accommodated in the accommodating space.

13. Self-balancing device according to claim 12, characterized in that the precession drive means (2) comprise a drive motor (21), the drive motor (21) being fixed in connection with the vehicle body (200), the rotational output of the drive motor (21) being integrated in one piece with the annular frame (111); the precession brake component (3) comprises an electromagnetic brake (31), the electromagnetic brake (31) comprises a rotor (311), an electromagnetic coil (312) and an armature (313) arranged between the rotor (311) and the electromagnetic coil (312), the electromagnetic coil (312) is fixedly connected with the vehicle body (200), and the rotor (311) and the annular frame (111) are integrated into one part.

14. Self-balancing device according to claim 1, characterized in that the top assembly (1) is provided with two, the axes of rotation of the inner frame bodies (11) of the two top assemblies (1) are mutually parallel, and the two inner frame bodies (11) are in transmission connection through a transmission structure, and the two inner frame bodies (11) can be simultaneously in a precession center position under the constraint of the transmission structure and respectively do opposite synchronous movements around the respective axes of rotation; the rotation directions of the rotating bodies (12) of the two top assemblies (1) are opposite when the two inner frame bodies (11) are positioned at the precession center position, and the rotation directions of the corresponding inner frame bodies (11) are kept unchanged relative to the inner frame bodies (11) during the process of rotating the corresponding inner frame bodies (11) to the non-precession center position.

15. A front-rear two-wheeled vehicle comprising a self-balancing device as claimed in any one of claims 1 to 14.

16. The front-rear two-wheeled vehicle according to claim 15, further comprising a control system and a vehicle speed sensor for detecting a vehicle speed, wherein the power element (13), the precession driving element (2), the precession braking element (3) and the vehicle speed sensor are all connected to the control system.

17. Front and rear two-wheeled vehicle according to claim 15, characterized in that the front and rear two-wheeled vehicle switches the operation state of the self-balancing device according to the vehicle speed, which includes a precession-free state in which the inner frame body (11) of the gyro assembly (1) is locked and a precession-balanced state in which the inner frame body (11) of the gyro assembly (1) is released and controlled by the precession driving part (2).

18. The front and rear two-wheeled vehicle according to claim 15, wherein the front and rear two-wheeled vehicle is provided with any one or a combination of a switch means for turning on or off the self-balancing device, a display means for displaying the operation condition of the self-balancing device, and an alarm means for giving an alarm when the self-balancing device has stopped or is about to stop working or is malfunctioning.

19. The front-rear two-wheeled vehicle according to claim 15, wherein the front-rear two-wheeled vehicle is an electric bicycle or an electric scooter or an electric motorcycle.

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