CN115783103A

CN115783103A - Self-balancing device, front and rear two-wheeled vehicle and control method thereof

Info

Publication number: CN115783103A
Application number: CN202211642346.2A
Authority: CN
Inventors: 郑志成
Original assignee: Shanghai Yaoxiang Intelligent Technology Co ltd
Current assignee: Shanghai Yaoxiang Intelligent Technology Co ltd
Priority date: 2022-12-20
Filing date: 2022-12-20
Publication date: 2023-03-14

Abstract

The invention relates to the technical field of balance, in particular to a self-balancing device which comprises a gyro assembly, a precession driving component and a precession brake component, wherein the gyro 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 component for driving the rotating body to rotate, the rotating axis of the inner frame body is orthogonal to the rotating axis of the rotating body, the precession driving component is used for controlling the inner frame body to rotate, and the precession brake component is used for locking or loosening the inner frame body so as to enable the inner frame body to be fixed or rotatable relative to the vehicle body. The control method mainly comprises that a control system switches the working state of the self-balancing device according to the vehicle speed information detected by a vehicle speed sensor: when the vehicle speed is increased to a set high speed value, the state is switched to a no precession state, when the vehicle speed is reduced to a set low speed value, the state is switched to a precession balance state, and the set high speed value is larger than or equal to the set low speed value.

Description

Self-balancing device, front and rear two-wheeled vehicle and control method thereof

Technical Field

The invention relates to the technical field of balance, in particular to a self-balancing device, a front-and-back two-wheeled vehicle comprising the self-balancing device and a control method of the front-and-back two-wheeled vehicle.

Background

Generally, a gyroscope is arranged on a vehicle as a balancing device, the balancing principle is that the vehicle attitude is corrected when the vehicle tilts by utilizing the effect that the precession of the gyroscope can output the moment of the gyroscope, the self-balancing adjustment of the vehicle is realized, and the angular momentum is an index for measuring the balancing capability of the gyroscope. At present, the research targets of a gyro balancing device on a vehicle are to realize balance control under various working conditions such as vehicle stopping, advancing, backing, turning, collision and the like, and the realization of the full-function target needs a large angular momentum, but the larger the angular momentum is, the larger the size and the weight of the gyro is, the larger the power consumption is, and finally the size, the weight and the power consumption of the gyro are large, so that the cost of the gyro is high, the battery space on the vehicle is occupied, the vehicle weight is increased, and the vehicle endurance is seriously influenced; meanwhile, the gyroscope is always in a precession movement state in the use process of the vehicle, and the vehicle body needs to be inclined to finish corresponding actions under the conditions of rapid turning, vehicle lane changing and the like of the two-wheeled vehicle, but the precession movement of the gyroscope can prevent the vehicle body from inclining to cause the vehicle to be out of control and fall down. At present, a gyro control algorithm designed for realizing quick turning of a vehicle is not mature, and the gyro control algorithm does not have the condition of wide application and entering the commercial market, which is another important reason why a gyro balance device has not been widely applied so far.

The scheme of adopting two or more gyros in the prior art guarantees to realize the balance control under the full operating mode when the vehicle uses. For example, utility model publication No. CN209852452U discloses a balancing device and a vehicle provided with the same, which have complicated structure, and thus have disadvantages of large size, heavy weight, large power consumption, large battery space occupation, great influence on the cruising of the vehicle, great noise, etc., and have problems of interference to the tilting motion required by the vehicle when the vehicle is rapidly turned or changes lanes, resulting in failure of popularization of practical application, and thus lack of practicability and practicability.

Disclosure of Invention

In view of the above-mentioned defects in the prior art, the technical problem to be solved by the present invention is to provide a self-balancing device, which can minimize the influence on the vehicle endurance, and at the same time, can satisfy the self-balancing requirement when the vehicle is stopped and running at low speed, and can not influence the tilting motion required when the vehicle is fast turned or changes lanes.

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

the invention provides a self-balancing device, which comprises a gyro assembly, a precession driving part and a precession braking part, wherein the gyro assembly comprises an inner frame body, a rotating body and a power part, the inner frame body is rotatably arranged on a vehicle body, the rotating body is rotatably arranged in the inner frame body, the power part is used for driving the rotating body to rotate, the rotating axis of the inner frame body is orthogonal to 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 so as to enable the inner frame body to be fixed or rotatable relative to the vehicle body.

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

Preferably, the power part 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 inner part of the precession shaft is axially communicated for an electric wire of the power piece to pass through.

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

Preferably, the precession brake part comprises an electromagnetic brake, the electromagnetic brake comprises a rotor, an electromagnetic coil and an armature iron 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 type electromagnetic brake.

Preferably, the precession driving component comprises a driving motor, the driving motor is connected and fixed with the vehicle body, and the rotation output end of the driving motor is connected and fixed with the inner frame body or 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 drive motor is a servo motor having an angle sensor or a servo motor having an angle sensor and a drive plate.

Preferably, the precession drive part and the precession brake part are both connected and fixed with the vehicle body through a connecting piece, and the inner frame body is rotatably supported on the connecting piece; the connecting piece comprises two separated pieces respectively connected with the precession driving part and the precession brake part, or the connecting piece is an outer frame body simultaneously connected with the precession driving part and the precession brake part, and the gyro assembly, the precession driving part and the precession brake part are uniformly distributed in the outer frame body.

Preferably, the inner frame further comprises a limiting structure for limiting the rotation angle range of the inner frame.

Preferably, the inner frame body is an integrated annular frame, one side or two sides of the annular frame are connected with the outer cover, and the outer cover and the annular frame form an accommodating space, or the inner frame body comprises two connected shells which are butted to form the accommodating space; the rotating body 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 the rotation output end of the driving motor and the annular frame are integrated into a part; the precession brake part comprises an electromagnetic brake, the electromagnetic brake comprises a rotor, an electromagnetic coil and an armature iron positioned between the rotor and the electromagnetic coil, the electromagnetic coil is connected and fixed 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 positioned at the precession central position simultaneously under the constraint of the transmission structure and respectively perform reverse synchronous motion around the respective rotation axes; the rotating directions of the rotating bodies of the two gyro assemblies are opposite when the two inner frame bodies are positioned at the precession center position, and the rotating directions of the rotating bodies of the two gyro assemblies are kept unchanged relative to the inner frame bodies in the process that the corresponding inner frame bodies rotate to the non-precession center position.

The invention also provides a front and rear two-wheeled vehicle which comprises the self-balancing device.

Preferably, the system also comprises a control system and a vehicle speed sensor for detecting the vehicle speed, and the power part, 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 operating state of the self-balancing device according to the vehicle speed, the operating state of the self-balancing device includes a precession free state in which the inner frame of the gyro assembly is locked and a precession balanced state in which the inner frame 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 combination of more of a switch part for starting or closing the self-balancing device, a display part for displaying the operation condition of the self-balancing device, and an alarm part for giving a warning when the self-balancing device has stopped working or is about to stop working or has a fault.

Preferably, the front and rear two-wheeled vehicles are electric bicycles or electric scooters or electric motorcycles.

The present invention further provides a method for controlling a front and rear two-wheeled vehicle as described above, wherein the operating states of the self-balancing device include a non-precession state in which the inner frame of the gyro assembly is locked and a precession balance state in which the inner frame of the gyro assembly is released and is controlled by the precession drive unit, and the control system switches the operating states of the self-balancing device according to vehicle speed information detected by the vehicle speed sensor: when the vehicle speed is increased to a set high speed value, the state is switched to a no precession state, when the vehicle speed is reduced to a set low speed value, the state 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, the control system adjusts the power of the self-balancing device in real time according to the power required by the running of the front and rear two-wheeled vehicles, so that the total power of the whole vehicle is kept within a set limit value.

Preferably, the control system controls the power part to convert the kinetic energy of the rotating body into electric energy to be recharged into the power supply of the front and rear two-wheeled vehicles when the power part is decelerated.

Compared with the prior art, the invention has the remarkable progress that:

the self-balancing device can be switched between two working states through the action of the precession brake component: one working state is a non-precession state that a precession brake part locks an inner frame body, and at the moment, a self-balancing device does not output gyroscopic moment, so that the running vehicle cannot be interfered, and especially the required tilting motion of the vehicle during quick turning or lane changing cannot be influenced; the other working state is a precession balance state that the precession brake part loosens the inner frame body, at the moment, the precession drive part controls the rotation of the inner frame body, the self-balancing device provides controlled gyro moment, and the self-balancing adjustment of the vehicle can be realized. Therefore, the working state of the self-balancing device can be switched according to the actual speed, so that the self-balancing device is in a precession balance state only when the vehicle stops and runs at a low speed, the self-balancing requirement when the vehicle stops and runs at a low speed is met, the self-balancing device is in a non-precession state when the vehicle runs at a normal high speed, the running vehicle cannot be interfered, particularly the inclined motion of the vehicle during quick turning or lane changing cannot be interfered, and the safety of the vehicle during high-speed running, quick turning or lane changing is ensured. Meanwhile, the self-balancing device only needs to output gyroscopic moment of precession motion to control the balance of the vehicle when the vehicle stops and runs at low speed, so that overlarge 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 invention can reduce the influence on the whole vehicle endurance of the vehicle to the minimum, can meet the most practical self-balancing requirement of the vehicle during parking and low-speed running, can not influence the tilting motion required by the vehicle during quick turning or lane changing, and has better practicability and practicability.

Drawings

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

Fig. 2 is a schematic structural diagram of a first implementation manner of a self-balancing device according to an embodiment of the present invention.

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

Fig. 4 isbase:Sub>A schematic sectional view taken alongbase:Sub>A-base:Sub>A in fig. 3.

Fig. 5 is a schematic view of the self-balancing device shown in fig. 2 without the outer cover.

Fig. 6 is an assembly view of a precession brake block in the self-balancing apparatus shown in fig. 2.

Fig. 7 is a schematic structural view of a second embodiment of a self-balancing device according to an embodiment of the present invention.

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

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

Fig. 10 is an assembly view of a precession brake block of the self-balancing apparatus shown in fig. 7.

Fig. 11 is a schematic structural view of a third embodiment of a self-balancing device according to an embodiment of the present invention.

Fig. 12 is a schematic structural view of a fourth embodiment of a self-balancing apparatus according to an embodiment of the present invention.

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

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

Fig. 15 is a schematic structural diagram of a self-balancing device provided with two gyro assemblies according to an embodiment of the present invention.

Wherein the reference numerals are as follows:

100. fourth pulley of self-balancing device 23

200. Second belt for vehicle body 24

1. Gyro assembly 3 precession brake component

11. Inner frame 31 electromagnetic brake

111. Ring frame 311 rotor

112. Housing 312 electromagnetic coil

12. Rotating body 313 armature

121. Axle 32 first pulley

122. Wheel body 33 second belt wheel

13. Power element 34 first drive belt

14. Precession shaft 35 connecting shaft

15. First bearing 36 and second bearing

16. Transmission shaft 4 connecting piece

17. Third bearing 41 split

18. Stopper 42 outer frame

19. First support of outer cover 421

2. Precession drive component 422 second support

21. Driving motor 43 baffle

22. Third belt wheel 5 transmission gear

Detailed Description

The following describes embodiments of the present invention in further detail with reference to the accompanying drawings. These embodiments are merely illustrative of the present invention and are not intended to limit the present invention.

In the description of the present invention, it should be noted that the terms "center", "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate orientations or positional relationships based on those shown in the drawings, and are only for convenience of description and simplicity of description, but do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first" and "second" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.

In the description of the present invention, it should be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood according to specific situations by those of ordinary skill in the art. "plurality" means two or more unless otherwise specified.

In the case of a front and rear two-wheeled vehicle, when in actual use, the balance of the vehicle is easily maintained by the driver during normal high-speed running of the vehicle (including straight running, quick turning, and lane changing), and the self-balancing requirement is most practical when the vehicle is stopped and running at a low speed. And the large-size gyroscope is not needed to provide large-angle momentum and balancing capacity only by meeting the self-balancing requirement when the vehicle stops and runs at low speed and not considering the working conditions of high-speed running, turning and the like of the vehicle. Therefore, a self-balancing device with smaller gyro size, weight, power consumption, battery space occupation, noise, cost and the like can be designed aiming at the self-balancing requirement when the vehicle stops and runs at low speed, the self-balancing device can reduce the influence on the whole vehicle endurance of front and back two-wheeled vehicles to the minimum, and simultaneously meets the self-balancing requirement when the front and back two-wheeled vehicles stop and run at low speed, the precession motion of the self-balancing device can be locked when the vehicle normally runs at high speed, so that the precession motion of the self-balancing device is prevented from interfering the running of the vehicle, particularly, the precession motion of the self-balancing device is prevented from blocking the inclination required by the vehicle when the vehicle quickly turns or changes lanes, so that the vehicle is prevented from being out of control and falling down, and the self-balancing device has better practicability and practicability.

Based on this, the invention provides a self-balancing device, a front and rear two-wheeled vehicle comprising the self-balancing device and a control method of the front and rear two-wheeled vehicle.

Fig. 1 to 15 show an embodiment of a self-balancing device according to the present invention.

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

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

In the description of the present invention, it is defined that the "front" side is the left side of the sheet of fig. 1, and the "front" side is also the side on which the front wheels of the vehicle are located; the "rear" side is the right side of the plane of the paper of fig. 1, the "rear" side is also the side where the rear wheels of the vehicle are located; the front-rear direction is also the direction of the spaced arrangement of the front and rear wheels of the vehicle; the "left" side is the outer side of the paper on the page of FIG. 1, and the "right" side is the inner side of the paper on the page of FIG. 1; the left-right direction and the front-back direction are vertical to each other in the horizontal plane; the "upper" side is the upper side of the paper of FIG. 1; the "lower" side is the lower side of the paper of fig. 1, and the vertical 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 is to extend the rotation axis of the inner frame 11 in the left-right direction; the second mounting orientation is such that the rotation axis of the inner frame 11 extends in the up-down direction. The first mounting orientation will be described below as an example.

The precession driving unit 2 is connected to the inner frame 11, and the precession driving unit 2 is used for controlling the inner frame 11 to rotate. When the power part 13 drives the rotating body 12 to rotate at a high speed, the inner frame body 11 can rotate, the whole gyro assembly 1 can rotate along with the inner frame body 11, namely precession of the gyro assembly 1, the precession of the gyro assembly 1 can generate gyro moment, the rotation of the inner frame body 11 is controlled through the precession driving part 2, namely the precession motion of the gyro assembly 1 is controlled, controlled gyro moment can be generated, the controlled gyro moment acts on the vehicle body 200, balance of a vehicle can be controlled, and the precession balance principle of the gyro assembly 1 is realized.

The precession brake part 3 is connected with the inner frame 11, the precession brake part 3 is used for locking or releasing the inner frame 11, when the precession brake part 3 locks the inner frame 11, the inner frame 11 is fixed relative to the vehicle body 200, when the precession brake part 3 releases the inner frame 11, the inner frame 11 is rotatable relative to the vehicle body 200. Thus, the self-balancing device 100 can be switched between two operating states by the action of the precession brake 3: one working state is that the inner frame body 11 is locked by the precession brake component 3, at this time, the inner frame body 11 is fixed relative to the vehicle body 200 and can not rotate, the 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 the interference on the running vehicle can not be caused, and especially the required tilt movement of the vehicle during quick turning or lane changing can not be influenced; the other working state is that the precession brake part 3 loosens the inner frame 11, at this time, the inner frame 11 can rotate relative to the vehicle body 200, the precession movement 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 part 2 controls the rotation of the inner frame 11, the self-balancing device 100 provides a controlled gyro moment, and 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 the precession balancing state only when the vehicle is stopped and runs at a low speed, the self-balancing requirement when the vehicle is stopped and runs at a low speed is met, the self-balancing device 100 is in the non-precession state when the vehicle runs at a normal high speed, the interference on the running vehicle is avoided, particularly the interference on the inclined motion of the vehicle during quick turning or lane changing is avoided, and the safety during the high-speed running, quick turning or lane changing of the vehicle is ensured. Meanwhile, since the self-balancing device 100 only needs to output the gyroscopic moment of precession movement to control the balance of the vehicle when the vehicle is stopped and running at a low speed, an overlarge angular momentum and balancing capability are not needed, and therefore the self-balancing device 100 can be realized by adopting a small gyro, so that the self-balancing device 100 of the embodiment has the advantages of small gyro size, light weight, low power consumption, less battery occupation space, low noise and low cost. Therefore, the self-balancing device 100 of the embodiment can minimize the influence on the vehicle endurance, and simultaneously can meet the self-balancing requirement when the vehicle is stopped and runs at a low speed, and does not influence the required tilting motion when the vehicle turns quickly or changes lanes, thereby having better practicability and practicability.

In this embodiment, the power unit 13, the precession driving unit 2 and the precession braking unit 3 of the gyro assembly 1 are preferably connected to a control system. Preferably, the power element 13, the precession driving element 2 and the precession braking element 3 are all electrically connected to the control system, and the control system controls the power element 13, the precession driving element 2 and the precession braking element 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 the control system may be a control module provided in the vehicle itself, or may be a control unit additionally provided. The control system comprises a controller which can be a PLC (programmable logic controller) or a single chip microcomputer and is used for controlling the power part 13, the precession driving part 2 and the precession braking part 3 to act.

In this embodiment, referring to fig. 4, preferably, the power member 13 is disposed inside the inner frame 11, the power member 13 is fixedly mounted on the inner frame 11, and the power member 13 is connected to 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 precession shaft 14 is provided outside the inner frame 11, the precession shaft 14 is fixedly connected to the inner frame 11, the precession shaft 14 is rotatably connected to the vehicle body 200, that is, the inner frame 11 is rotatably mounted on the vehicle body 200 by the precession shaft 14, and the precession shaft 14 is preferably rotatably mounted on the vehicle body 200 by the first bearing 15. The axis of rotation of the inner frame 11 is the axis of the propeller shaft 14. The inside of the precession shaft 14 is axially penetrated, so that the electric wire of the power piece 13 passes through the precession shaft 14, and the electric wire of the power piece 13 can pass through the precession shaft and then is connected with the control system. The hollow precession shaft 14 is provided for the electric wire of the power element 13 to pass through, so that the movement range of the electric wire of the power element 13 rotating along with the inner frame 11 in the precession movement process of the gyro assembly 1 can be limited and reduced, and the abrasion caused by repeated scraping of the electric wire and other parts can be reduced.

In this embodiment, the precession brake unit 3 is preferably an electrically controlled brake unit for electric control.

Preferably, referring to fig. 4 to 6 and 7 to 10, the precession brake part 3 includes an electromagnetic brake 31, the electromagnetic brake 31 includes 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 is connected and fixed with the vehicle body 200, and the rotor 311 is connected with the inner frame 11. The armature 313 is fixedly fitted to the rotor 311 in the circumferential direction, and the armature 313 is movable in the axial direction between the rotor 311 and the electromagnetic coil 312. The electromagnetic brake 31 may adopt an electrified braking mode, 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 and the rotor 311 are fixed in the circumferential direction, so that the rotor 311 is locked to prevent the inner frame 11 from rotating, and the inner frame 11 is locked by the precession brake member 3. In addition, the electromagnetic brake 31 may be a power-off brake. The following description will be given by taking an energization braking method 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 connected and fixed to the inner frame 11. Specifically, the electromagnetic brake 31 is sleeved on the precession shaft 14, the rotor 311 is fixedly connected with the precession shaft 14 and is thereby connected and fixed 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, both 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 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 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 and the rotor 311 are fixed in the circumferential direction, so that the rotor 311 is locked 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 the 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 through a transmission mechanism. Specifically, the electromagnetic brake 31 is sleeved on a connecting shaft 35, the connecting shaft 35 is arranged in parallel with the precession 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 both rotatably matched with the connecting shaft 35, the electromagnetic coil 312 is fixed with the vehicle body 200, and the connecting shaft 35 is in transmission connection with the precession 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 in transmission operation between the connecting shaft 35 and the precession shaft 14, the inner frame 11 can rotate, and at the moment, the precession brake component 3 loosens the inner frame 11. When the electromagnetic brake 31 is energized, the electromagnetic coil 312 attracts the armature 313 to fix the armature 313, the armature 313 and the rotor 311 are fixed in the circumferential direction, the rotor 311 is locked to prevent the connecting shaft 35 from rotating, the transmission mechanism is fixed to prevent the inner frame 11 from rotating, and the inner frame 11 is locked by the precession brake member 3.

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

In the present embodiment, the electromagnetic brake 31 used for the precession brake member 3 is preferably a dog type electromagnetic brake, and the armature 313 of the dog type electromagnetic brake is fitted to the rotor 311 to form a fitting pair. Of course, the electromagnetic brake 31 is not limited to the jaw-type electromagnetic brake, and other types of electromagnetic brakes may be used. The electromagnetic brake 31 of the precession brake unit 3 is connected to the control system.

In this embodiment, the precession drive unit 2 is preferably an electrically controlled drive unit for electric control.

Preferably, referring to fig. 4 to 5 and fig. 7 to 9, the precession driving unit 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 the inner frame 11 to rotate.

In a preferred embodiment, referring to fig. 4 and 5, the driving motor 21 is directly connected to the inner frame 11, i.e. the rotation output end of the driving motor 21 is connected to the inner frame 11 and fixed. 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 precession shaft 14. Preferably, the rotation output end of the driving motor 21 and the precession shaft 14 are respectively connected to the inner frame 11 at the left and right sides of the inner frame 11, so that one side (for example, the left side) of the inner frame 11 is supported on the rotation output end of the driving motor 21 and is rotatably supported on the vehicle body 200 by the fixed connection of the driving motor 21 and the vehicle body 200, and the other side (for example, the right side) of the inner frame 11 is rotatably supported on the vehicle body 200 by the precession shaft 14, thereby rotatably mounting the inner frame 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 inner frame 11 to rotate. Specifically, the inner frame 11 is provided with a transmission shaft 16, the transmission shaft 16 is fixedly connected with the inner frame 11, the transmission 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 transmission shaft 16, and the transmission shaft 16 is preferably rotatably mounted on the vehicle body 200 through a third bearing 17, so that the rotation axis of the inner frame 11 is also the axis of the transmission shaft 16, and the axis of the transmission shaft 16 coincides with the axis of the precession shaft 14. Preferably, the transmission shaft 16 and the precession shaft 14 are connected to the inner frame 11 at left and right sides of the inner frame 11, respectively, and the left and right sides of the inner frame 11 are rotatably supported on the vehicle body 200 by the transmission shaft 16 and the precession shaft 14, respectively, thereby realizing rotatable mounting of the inner frame 11 on the vehicle body 200. The transmission mechanism is connected with the rotation output end of the driving motor 21 and the transmission shaft 16, and transmits the rotation power of the rotation output end of the driving motor 21 to the transmission shaft 16, so that the precession driving part 2 controls the inner frame 11 to rotate.

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

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

In this embodiment, preferably, the precession driving part 2 and the precession braking part 3 are both connected and fixed with the vehicle body 200 through the connecting part 4, and the inner frame 11 is rotatably supported on the connecting part 4, so that the inner frame 11 is rotatably mounted on the vehicle body 200.

In a preferred embodiment, referring to fig. 2 to 6 and 12 to 14, the connecting member 4 includes two separate members 41 respectively connected to the precession drive part 2 and the precession brake part 3, and the separate members 41 are used to be fixed to the vehicle body 200, i.e. the self-balancing device 100 is integrally connected to the vehicle body 200 through the two separate members 41. In this embodiment, it is preferable that the precession brake member 3 is formed by directly coupling the electromagnetic brake 31 to the inner frame 11, and the precession drive member 2 is formed by directly coupling the drive motor 21 to the inner frame 11. The propeller shaft 14 of the inner frame 11 is rotatably attached to one separate member 41 by the first bearing 15, the solenoid coil 312 of the electromagnetic brake 31 is fixedly connected to the separate member 41, and the rotatable attachment of the propeller shaft 14 to the vehicle body 200 and the connection and fixation of the solenoid coil 312 to the vehicle body 200 are achieved by the fixed connection of the separate member 41 to the vehicle body. The fixed part of the driving motor 21 (the stator of the driving motor 21) is fixedly arranged on the other separated piece 41, and the driving motor 21 is fixedly connected with the vehicle body 200 through the fixed connection of the other separated piece 41 and the vehicle body.

In another preferred embodiment, referring to fig. 7 to 10 and fig. 11, the connecting member 4 is an outer frame 42 connected to the precession driving unit 2 and the precession braking unit 3 at the same time, the gyro assembly 1, the precession driving unit 2 and the precession braking unit 3 are all disposed inside the outer frame 42, and the outer frame 42 is used for being connected and fixed to the body 200, that is, the self-balancing device 100 is integrally connected to the body 200 through the outer frame 42. In this embodiment, the precession brake member 3 may be formed by directly connecting the electromagnetic brake 31 to the inner frame 11, or may be formed by combining the electromagnetic brake 31 and the transmission mechanism; the precession drive unit 2 may be formed by directly connecting the drive motor 21 to the inner frame 11, or may be formed by combining the drive motor 21 and a transmission mechanism.

When the precession brake unit 3 is a combination of the electromagnetic brake 31 and the transmission mechanism, referring to 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 to the outer frame 42, the connecting shaft 35 of the precession brake unit 3 is rotatably mounted on the first support 421 through the second bearing 36, the electromagnetic coil 312 of the electromagnetic brake 31 is fixedly connected to the first support 421, the precession shaft 14 of the inner frame 11 is rotatably mounted on the outer frame 42 through the first bearing 15, the precession shaft 14 is rotatably mounted on the vehicle body 200 through the fixed connection between the outer frame 42 and the vehicle body 200, the electromagnetic coil 312 is fixedly connected to the vehicle body 200, and the first pulley 32 (or the driving gear or the driving sprocket) fixedly connected to the connecting shaft 35 is rotatably mounted on the vehicle body 200.

When the precession drive unit 2 adopts a combination mode of the drive motor 21 and the transmission mechanism, referring to fig. 7 to fig. 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 drive motor 21 in the precession drive 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 a third bearing 17, and the fixed connection between the outer frame 42 and the vehicle body 200 realizes the rotatable connection between the transmission shaft 16 and the vehicle body 200 and the connection and fixation between the drive motor 21 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, a horizontal platform which does not interfere with the movement of the gyro assembly 1 may preferably extend 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 also be used for integrally mounting other components of the self-balancing apparatus 100 or other components on the vehicle.

When the brake component 3 is in a 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 drive unit 2 adopts a mode that the drive motor 21 is directly connected with the inner frame 11, referring to fig. 11, a fixed part of the drive motor 21 (a stator of the drive motor 21) is fixedly mounted on another outer frame 42, and the drive motor 21 is connected and fixed with the vehicle body 200 through the fixed connection between the outer frame 42 and the vehicle body.

In this embodiment, preferably, the self-balancing apparatus 100 further includes a limiting structure, and the limiting structure is used to limit the rotation angle range of the inner frame 11, so as to limit the precession movement amplitude of the gyro assembly 1.

The limiting structure can be arranged between the connecting piece 4 and the inner frame body 11. Referring to fig. 2, 7, 11 and 12, preferably, the limiting structure includes a baffle 43 disposed on the connecting member 4 and two limiting members 18 disposed on the inner frame 11, the two limiting members 18 are spaced apart from each other along the rotating direction of the inner frame 11, specifically, the two limiting members 18 are spaced apart from each other up and down on the inner frame 11, and one end of the baffle 43 away from the connecting member 4 is located on the rotating track of the two limiting members 18 and between the two limiting members 18. When the inner frame body 11 rotates to a position where one of the two limiting parts 18 contacts the baffle 43, the inner frame body 11 cannot continue to rotate under the blocking of the baffle 43, so that the rotatable angle range of the inner frame body 11 is limited by the interval between the two limiting parts 18, that is, the precession motion 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 motion 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 gyro assembly 1 may be an integral piece 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 gyro assembly 1 is an integrated annular frame 111, one side or two sides of the annular frame 111 are connected with an outer cover 19, the outer cover 19 and the annular frame 111 form an accommodating space, and the rotor 12 of the gyro assembly 1 is accommodated in the accommodating space to perform a safety protection function. The power element 13 may be accommodated in the accommodating space and disposed inside the inner frame 11, or the power element 13 may be disposed outside the inner frame 11. Specifically, the annular frame 111 is an internal hollow structure with an inner portion passing through in the axial direction, an inner axis of the annular frame 111 extends in the front-rear direction, the rotor 12 and the power element 13 are both installed inside the annular frame 111, the front side and the rear side of the annular frame 111 are respectively connected with one outer cover 19, and the portion of the rotor 12 and the portion of the power element 13 exposed out of the annular frame 111 are covered, that is, the two outer covers 19 and the annular frame 111 jointly enclose an accommodating space for accommodating the rotor 12 and the power element 13.

In another preferred embodiment, referring to fig. 12 to 14, the inner frame 11 includes two connected shells 112, the two shells 112 are butted to form an accommodating space, and the rotor 12 is accommodated in the accommodating space to perform a safety protection function. The power element 13 may be accommodated in the accommodating space and disposed inside the inner frame 11, and the power element 13 may be disposed outside the inner frame 11. Specifically, the two housings 112 are disposed opposite to each other and connected to each other.

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

In this embodiment, the rotating body 12 of the gyro 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 member 13 is connected to the wheel shaft 121 and drives the wheel shaft 121 to rotate, so as to drive the wheel body 122 to rotate. The axis of the wheel shaft 121 extends in the up-down direction, the wheel body 122 is fixedly sleeved on the wheel shaft 121, the axis of the wheel shaft 121 is the rotation axis of the rotor 12, and the rotor 12 rotates horizontally around the axis of the wheel shaft 121. When the inner frame 11 is 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 shaft 121 are rotatably mounted in the bearing holes of the annular frame 111 through bearings, respectively. When the inner frame 11 adopts a split structure in which the two housings 112 are butted, bearing holes are respectively formed in the two housings 112, and the upper and lower ends of the wheel shaft 121 are rotatably mounted in the bearing holes of the two housings 112 through bearings, respectively. Thereby, the rotor 12 is rotatably provided inside the inner frame 11.

In this embodiment, fig. 2, fig. 7, fig. 11, and fig. 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 form of a mode that the electromagnetic brake 31 is directly connected with the inner frame body 11, a mode that the precession driving component 2 adopts a mode that the driving motor 21 is directly connected with the inner frame body 11, a mode that the connecting piece 4 adopts two separated pieces 41, and a mode that the inner frame body 11 adopts an integrated annular frame 111 and is configured with the outer cover 19.

The second embodiment shown in fig. 7 is: the precession brake member 3 is a combination of the electromagnetic brake 31 and the transmission mechanism, the precession drive member 2 is a combination of the drive motor 21 and the transmission mechanism, the coupling 4 is an outer frame 42, and the inner frame 11 is a combination of the integrated annular frame 111 and the outer cover 19.

The third embodiment shown in fig. 11 is: the precession brake unit 3 is a combination of a system in which the electromagnetic brake 31 is directly connected to the inner frame 11, a system in which the precession drive unit 2 is directly connected to the inner frame 11, a system in which the connector 4 is the outer frame 42, and a system in which the inner frame 11 is the integrated annular frame 111 and the cover 19 is disposed.

The fourth embodiment shown in fig. 12 is: the precession brake component 3 adopts a combination form of a mode that the electromagnetic brake 31 is directly connected with the inner frame body 11, the precession drive component 2 adopts a mode that the drive motor 21 is directly connected with the inner frame body 11, the connecting piece 4 adopts two split pieces 41, and the inner frame body 11 adopts a mode that the split shells 112 are butted.

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

When the self-balancing apparatus 100 is provided with only one gyro assembly 1, in a non-precession state in which the inner frame 11 of the gyro assembly 1 is locked, when the vehicle enters an uphill slope or a downhill slope, a slight roll moment is applied to the vehicle by a spatial angle change of the gyro assembly 1, but driving is not affected. In order to eliminate the roll moment, in a first preferred embodiment, referring to fig. 15, the self-balancing device 100 of this embodiment may be provided with two gyro assemblies 1, the rotation axes of the inner frames 11 of the two gyro assemblies 1 are parallel to each other, and the two inner frames 11 are in transmission connection through a transmission structure, and the two inner frames 11 may be located at the precession center position simultaneously and perform reverse synchronous motions around the respective rotation axes under the constraint of the transmission structure; the rotation directions of the rotation bodies 12 of the two gyro assemblies 1 are opposite when the two inner frames 11 are at the precession center position, and are kept unchanged with respect to the inner frames 11 during the rotation of the respective corresponding inner frames 11 to the non-precession center position. The precession center position is a rotational position of the inner frame 11 when the rotational axis of the inner frame 11 extends in the left-right direction and the rotational axis of the rotor 12 extends in the up-down direction, or a rotational position of the inner frame 11 when the rotational axis of the inner frame 11 extends in the up-down direction and the rotational axis of the rotor 12 extends in the left-right direction. The non-precession center position is a rotational position where the inner frame 11 is not located at the precession center position when the gyro unit 1 moves. Therefore, the precession angles of the two gyro assemblies 1 can be symmetrically opposite to each other at any time, and the roll moment of the single gyro assembly 1 can be completely eliminated. The transmission structure is preferably two transmission gears 5 which are meshed with each other, 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 11 of one gyro assembly 1 of the two gyro assemblies 1, namely, the precession driving part and the precession braking part can simultaneously act on the inner frames 11 of the two gyro assemblies 1 through the transmission connection of the transmission structure. In the second embodiment, two self-balancing apparatuses 100 provided with one gyro assembly 1 may be disposed on the vehicle body 200, the rotation axes of the inner frames 11 of the gyro assemblies 1 of the two self-balancing apparatuses 100 are parallel to each other, the two inner frames 11 may be simultaneously located at the precession center position and perform reverse synchronous motions around the respective rotation axes, the rotation directions of the rotation bodies 12 of the gyro assemblies 1 of the two self-balancing apparatuses 100 are opposite when the two inner frames 11 are located at the precession center position, and the rotation bodies may be kept unchanged with respect to the inner frames 11 during the rotation of the respective inner frames 11 to the non-precession center position, thereby completely eliminating the roll moment of a single gyro assembly 1.

Based on the self-balancing device 100, the embodiment further provides an embodiment of the front and rear two-wheeled vehicle. The front and rear two-wheeled vehicle of the present embodiment includes the self-balancing device 100 of the present embodiment, the self-balancing device 100 is mounted on the vehicle body 200 of the front and rear two-wheeled vehicle, and the self-balancing device 100 is connected and fixed to the vehicle body 200 by the connecting member 4 (two separate pieces 41 or the outer frame 42). Preferably, the front and rear two-wheeled vehicles are electric bicycles or electric scooters or electric motorcycles, and the self-balancing device 100 can be fixed on two longitudinal beams under pedals of the front and rear two-wheeled vehicles.

Preferably, the front and rear two-wheeled vehicle of the present embodiment switches the operating state of the self-balancing device 100 according to the vehicle speed, the operating state of the self-balancing device 100 including a precession free state in which the inner frame 11 of the gyro assembly 1 is locked and a precession balanced state in which the inner frame 11 of the gyro assembly 1 is released and controlled by the precession drive unit 2. In a non-precession state, the precession brake component 3 locks the inner frame 11, so that the precession motion of the gyro assembly 1 is prevented, the self-balancing device 100 does not output gyro moment, and therefore, the self-balancing device does not cause interference to a running vehicle, is used for normal high-speed running processes (including straight running, quick turning and lane changing) of front and rear two-wheeled vehicles, and particularly does not influence the required tilting motion of the vehicle during quick turning or lane changing. In a precession balance state, the precession brake part 3 loosens the inner frame body 11, the inner frame body 11 can rotate relative to the vehicle body 200, the precession movement of the gyro assembly 1 is not affected, the precession drive part 2 controls the 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 realized, and the self-balancing 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 embodiment further comprises a control system and a vehicle speed sensor for detecting the vehicle speed, and the power member 13, the precession driving part 2, the precession braking part 3 and the vehicle speed sensor are all connected with the control system. Specifically, the electromagnetic brake 31 of the precession brake unit 3 is connected to the control system, and the drive motor 21 of the precession drive unit 2 is connected to the control system. The vehicle speed sensor transmits detected vehicle speed information to the control system, the control system receives the vehicle speed information, judges the working conditions of the front and rear two-wheeled vehicles according to the received vehicle speed information, controls the power part 13, the precession driving part 2 and the precession braking part 3 according to the working conditions of the front and rear two-wheeled vehicles, controls the working state and the switching of the working state of the self-balancing device 100, realizes that the automatic control self-balancing device 100 is in the precession balancing state only when the front and rear two-wheeled vehicles are stopped and run at low speed, meets the self-balancing requirement when the vehicles are stopped and run at low speed, and is in the precession-free state when the front and rear two-wheeled vehicles run at normal high speed without causing interference to the running vehicles. The form of the control system is not limited, and the control system can be a control module of the front and rear two-wheeled vehicles or a control unit additionally arranged. The control system comprises a controller which can be a PLC (programmable logic controller) or a single chip microcomputer and is used for controlling the power part 13, the precession driving part 2 and the precession braking part 3 to act.

Further, the front and rear two-wheeled vehicles of this embodiment can also include a vehicle body attitude sensor for detecting the vehicle body attitude and/or a handlebar corner sensor for detecting the handlebar corner, both the vehicle body attitude sensor and the handlebar corner sensor are connected with the control system, and the detected vehicle body attitude information and the detected handlebar corner information are transmitted to the control system, the control system receives the vehicle body attitude information and the handlebar corner information, and the vehicle speed information detected by the vehicle speed sensor is combined to comprehensively judge the working condition of the front and rear two-wheeled vehicles, so that the judgment result is more accurate.

Preferably, the front and rear two-wheeled vehicle of the present embodiment is provided with any one or combination of plural kinds of switch parts, display parts, and alarm parts. Wherein, the switch component is used for starting or closing the self-balancing device 100, and the switch component can be a button or an electric door lock. The display part 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, and the like. The warning means is used for giving a warning when the self-balancing device 100 has stopped working or is about to stop working (the battery power of the front and rear two-wheeled vehicles is lower than a set low power value) or a fault occurs, and the warning may be in the form of buzzing or flashing lights and the like.

Based on the front and rear two-wheeled vehicle, the embodiment also provides an embodiment of a control method of the front and rear two-wheeled vehicle. The method of controlling the front and rear two-wheeled vehicle according to the present embodiment is such that the operating state of the self-balancing device 100 includes a non-precession state in which the inner frame 11 of the gyro assembly 1 is locked and a precession balance state in which the inner frame 11 of the gyro assembly 1 is released and is controlled by the precession drive unit 2. In a non-precession state, the precession brake component 3 locks the inner frame 11, so that the precession motion of the gyro assembly 1 is prevented, the self-balancing device 100 does not output gyro moment, and therefore, the self-balancing device does not cause interference to a running vehicle, is used for normal high-speed running processes (including straight running, quick turning and lane changing) of front and rear two-wheeled vehicles, and particularly does not influence the required tilting motion of the vehicle during quick turning or lane changing. In a precession balance state, the inner frame body 11 is loosened by the precession brake component 3, the inner frame body 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 provides controlled gyro moment, self-balancing adjustment of front and rear two-wheeled vehicles can be realized, and the device is suitable for parking and low-speed running processes of the front and rear two-wheeled vehicles. 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: when the vehicle speed is increased to a set high speed value, the state is switched to a no-precession state, when the vehicle speed is reduced to a set low speed value, the state 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 for a two-wheeled vehicle, 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 control method for the front and rear two-wheeled vehicle of the embodiment, the control system adjusts the power of the self-balancing device 100, specifically, the power of the power element 13 of the gyro assembly 1, in real time according to the power required by the front and rear two-wheeled vehicle to run, so that the total power of the entire vehicle is kept within the set limit value. The battery systems of the front and rear two-wheeled vehicles have certain limits on output current (power), if the total current exceeds an allowable value, the service life of the battery is rapidly reduced, and in order to protect the battery, the total current (total power) of the vehicle and the gyro assembly 1 needs to be limited within the allowable value. The acceleration process of the vehicle and the acceleration process of the power unit 13 of the gyro assembly 1 both require large current, and if the two accelerate at the same time, the total power may exceed the allowable value of the battery. Therefore, when the vehicle runs (mainly when the vehicle accelerates), the control system preferably ensures the current (power) required by the vehicle acceleration, and the power value distributed to the power part 13 of the gyro assembly 1 is smaller than the difference between the total power and the real-time power of the vehicle. Based on this, if the power part 13 of the gyro assembly 1 drives the rotating body 12 to operate at the highest rotating speed, since the rotating body 12 does not accelerate when operating at the highest rotating speed, the power of the power part 13 is very small and can generally satisfy the difference value smaller than the total power and the real-time power of the vehicle, the power of the power part 13 of the gyro assembly 1 is not adjusted when the vehicle accelerates in this case, and the high-speed rotation of the rotating body 12 of the gyro assembly 1 is not affected; if the power part 13 of the gyro assembly 1 is accelerating to drive the rotation 12, the power of the power part 13 is relatively large, so that the power of the power part 13 of the gyro assembly 1 needs to be limited when the vehicle is accelerating, the power of the power part 13 of the gyro assembly 1 is reduced, the gyro assembly 1 is slowed down to accelerate to ensure the power required by the acceleration of the vehicle, and after the acceleration of the vehicle is finished (the constant vehicle speed is reached or the vehicle starts to decelerate), the power of the power part 13 of the gyro assembly 1 is increased to ensure the full-power acceleration of the gyro assembly 1. Therefore, the battery pack can be beneficial to the endurance of the whole vehicle and does not influence the service life of the battery.

Furthermore, the control system controls the power part 13 to convert the kinetic energy of the rotor 12 into electric energy to be recharged to the power supplies of the front and rear two-wheeled vehicles when the speed is reduced, so that the energy storage effect is achieved, and the cruising ability of the whole vehicle can be further improved.

In summary, the self-balancing apparatus 100, the front and rear two-wheeled vehicles including the self-balancing apparatus, and the control method of the front and rear two-wheeled vehicles of the present embodiment are designed to meet the self-balancing requirements when the vehicle is stopped and running at a low speed, and the self-balancing apparatus 100 is designed to be in a precession balance state only when the vehicle is stopped and running at a low speed through the precession brake component 3 so as to meet the self-balancing requirements when the vehicle is stopped and running at a low speed, and is in a non-precession state when the vehicle is running at a normal high speed without causing interference to the running vehicle, especially when the vehicle is turning quickly or changing lanes. Adopt this self-balancing device 100 can fall to minimum to the influence of the whole car continuation of the journey of two-wheeled vehicle around to, can satisfy the self-balancing demand when the most practical vehicle of two-wheeled vehicle parks and low-speed traveling around simultaneously, can not influence required tilt motion when the vehicle fast turns or changes the lane again to possess better feasibility and practicality.

The above description is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, many modifications and substitutions can be made without departing from the technical principle of the present invention, and these modifications and substitutions should also be regarded as the protection scope of the present invention.

Claims

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 interior framework (11) on automobile body (200), rotationally locate interior framework (11) inside rotor (12) and drive rotor (12) pivoted power spare (13), the axis of rotation of interior framework (11) with the axis of rotation quadrature of rotor (12), precession drive unit (2) with precession brake unit (3) all with interior framework (11) is connected, precession drive unit (2) are used for control interior framework (11) rotate, precession brake unit (3) are used for locking or loosen interior framework (11), make interior framework (11) are relative fixed or can rotate of automobile body (200).

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

3. The self-balancing device of claim 1, wherein the power member (13) is disposed on the inner frame (11), a precession shaft (14) is disposed outside the inner frame (11), and the precession shaft (14) is rotatably connected to the vehicle body (200); the inside of the precession shaft (14) is penetrated along the axial direction, and an electric wire of the power piece (13) passes through the precession shaft.

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

5. Self-balancing device according to claim 4, wherein the precession brake block (3) comprises an electromagnetic brake (31), the electromagnetic brake (31) comprises a rotor (311), an electromagnetic coil (312) and an armature (313) between the rotor (311) and the electromagnetic coil (312), the electromagnetic coil (312) is fixedly connected to the vehicle body (200), the rotor (311) is fixedly connected to the inner frame (11) or is connected to the inner frame (11) through a transmission mechanism.

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

7. The self-balancing device of claim 1, wherein the precession driving unit (2) comprises 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 fixedly connected to the inner frame (11) or is connected to the inner frame (11) through a transmission mechanism.

8. Self-balancing device according to 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, wherein the drive motor (21) is a servomotor with an angle sensor or a servomotor with an angle sensor and a drive plate.

10. A self-balancing device according to claim 1, wherein the precession drive unit (2) and the precession brake unit (3) are fixed to the vehicle body (200) by a connection unit (4), and the inner frame (11) is rotatably supported by the connection unit (4); connecting piece (4) include two respectively with precession driver part (2) with components of a whole that can function independently (41) that precession brake part (3) is connected, perhaps connecting piece (4) for simultaneously with precession driver part (2) with outer frame (42) that precession brake part (3) is connected, top subassembly (1) precession driver part (2) with precession brake part (3) equipartition is arranged in inside outer frame (42).

11. The self-balancing device according to claim 1, further comprising a limiting structure for limiting a range of rotation angle of the inner frame (11).

12. The self-balancing device of claim 1, wherein the inner frame (11) is an integrated annular frame (111), one side or two sides of the annular frame (111) are connected with outer covers (19), the outer covers (19) and the annular frame (111) form an accommodating space, or the inner frame (11) comprises two connected shells (112), and the two shells (112) are butted to form an accommodating space; the rotating body (12) is accommodated in the accommodating space.

13. Self-balancing device according to claim 12, wherein the precession drive unit (2) comprises a drive motor (21), the drive motor (21) is fixedly connected to the body (200), the rotation output end of the drive motor (21) is integrated with the annular frame (111) into one piece; the precession brake part (3) comprises an electromagnetic brake (31), the electromagnetic brake (31) comprises 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 with the vehicle body (200), and the rotor (311) and the annular frame (111) are integrated into a part.

14. The self-balancing device of claim 1, wherein the number of the top assemblies (1) is two, the rotation axes of the inner frames (11) of the two top assemblies (1) are parallel to each other, the two inner frames (11) are in transmission connection through a transmission structure, and the two inner frames (11) can be simultaneously located at a precession center position under the constraint of the transmission structure and respectively perform reverse synchronous movement around the respective rotation axes; the rotating directions of the rotating bodies (12) of the two gyro assemblies (1) are opposite when the two inner frames (11) are in the precession center position, and the inner frames (11) are kept unchanged in the process that the corresponding inner frames (11) rotate to the non-precession center position.

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

16. A front and 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 drive element (2), the precession brake element (3) and the vehicle speed sensor are connected to the control system.

17. Two-wheeled vehicle according to claim 15, characterised in that it switches the operating conditions of the self-balancing means according to the speed of the vehicle, including a state of no precession in which the inner frame (11) of the gyroscopic assembly (1) is locked and a state of precession equilibrium in which the inner frame (11) of the gyroscopic assembly (1) is released and controlled by the precession drive unit (2).

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

19. Two-wheeled vehicle according to claim 15, characterised in that it is an electric bicycle or an electric moped or an electric motorcycle.

20. A control method for a two-wheeled vehicle, in front and rear, according to any one of claims 16 to 19, characterized in that the operating states of the self-balancing device include a non-precession state in which the inner frame (11) of the gyro assembly (1) is locked and a precession balance state in which the inner frame (11) of the gyro assembly (1) is released and controlled by the precession drive unit (2), and the control system switches the operating states of the self-balancing device 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 state is switched to the precession-free state, and when the vehicle speed is reduced to a set low speed value, the state is switched to the precession balance state, wherein the set high speed value is greater than or equal to the set low speed value.

21. The method of claim 20, wherein the control system adjusts the power of the self-balancing device in real time according to the power required by the front and rear two-wheeled vehicles to keep the total power of the entire vehicle within a set limit.

22. A control method for two-wheeled vehicle front and rear according to claim 20, wherein said control system controls said power unit (13) to convert kinetic energy of said rotor (12) into electric energy to be recharged to the power source of said two-wheeled vehicle front and rear when decelerating.