Balancing system and two-wheeled vehicle having the same

Abstract

The present invention provides a balancing system and a two-wheeled vehicle having the same, wherein the balancing system is used to control the swing of a moment gyro to maintain the balance of the two-wheeled vehicle, and the balancing system comprises: a fixed frame; a moment gyro, the moment gyro is pivotally arranged on the fixed frame; a driving device, the driving device is connected to the moment gyro, and the driving device comprises: a power output part, the power output part is arranged on the fixed frame; a screw rod, the screw rod is drivingly connected to the power output part; a connecting structure, the connecting structure is connected to the moment gyro, and the connecting structure is threadedly connected to the screw rod, so as to reciprocate along the screw rod under the drive of the screw rod to drive the moment gyro to swing. The present invention solves the problem that the mechanism of driving the moment gyro to swing of the two-wheeled vehicle in the prior art is simple and cannot provide sufficient torque for the moment gyro, so that when the flywheel speed of the moment gyro is too high, the moment gyro cannot be reliably guaranteed to swing, thereby causing the two-wheeled vehicle to lose balance.

Description

Technical Field

[0001] The present invention relates to the technical field of vehicles, and in particular to an improvement in the driving mode of a torque gyro of a balancing system of a two-wheeled vehicle. Background Art

[0002] Two-wheeled vehicles, as a new type of motor vehicle, are becoming increasingly popular among consumers for their compact structure, easy driving, easy parking and low energy consumption.

[0003] Two-wheeled vehicles are heavy. In order to facilitate the use of the driver and to achieve balance of the two-wheeled vehicle when parked without consuming too much manpower, the two-wheeled vehicle is usually provided with a balancing system, which includes a torque gyroscope that continuously swings to maintain the balance of the vehicle body.

[0004] The existing balancing system has a simple mechanism for driving the torque gyro to swing, and usually only uses a motor to directly drive the torque gyro to swing or transmits torque to drive the torque gyro to swing by rotating a belt driven by the motor. The above mechanism cannot output a large torque, and the greater the speed of the flywheel of the torque gyro, the greater the force required for the torque gyro to swing. At this time, the above mechanism cannot reliably ensure the normal swing of the torque gyro, which causes the two-wheeled vehicle to lose balance, causing inconvenience to the driver. Summary of the invention

[0005] The main purpose of the present invention is to provide a balancing system and a two-wheeled vehicle having the same, so as to solve the problem that the mechanism of the driving torque gyroscope of the two-wheeled vehicle in the prior art is simple and cannot provide sufficient torque for the torque gyroscope, so that when the flywheel speed of the torque gyroscope is too high, the torque gyroscope cannot be reliably guaranteed to swing, thereby causing the two-wheeled vehicle to lose balance.

[0006] In order to achieve the above-mentioned purpose, according to one aspect of the present invention, a balancing system is provided for controlling the swing of a moment gyroscope to maintain the balance of a two-wheeled vehicle, comprising: a fixed frame; a moment gyroscope, which is pivotally arranged on the fixed frame; a driving device, which is connected to the moment gyroscope to drive the moment gyroscope to rotate, and the driving device comprises: a power output part, which is arranged on the fixed frame; a screw rod, which is drivingly connected to the power output part; a connecting structure, which is connected to the moment gyroscope and is threadedly connected to the screw rod, so that the moment gyroscope moves back and forth along the screw rod under the drive of the screw rod to drive the moment gyroscope to swing.

[0007] Furthermore, the connection structure includes: a connection component, the connection component has a connection end connected to the moment gyroscope; a nut mounting seat, the nut mounting seat is pivotally connected to the connection component through a rotating shaft; and a nut, the nut is arranged on the nut mounting seat and is threadedly connected to the screw rod.

[0008] Furthermore, the connecting assembly includes: a clamping block, the clamping block having a connecting end that is clamped with the moment gyro, and the clamping block having an avoidance notch, the avoidance notch extending from the end surface of the clamping block on a side opposite to the connecting end toward the connecting end; a sliding portion, the sliding portion being slidably disposed on the clamping block, and the sliding direction of the sliding portion being the same as the extension direction of the avoidance notch, wherein a nut mounting seat is disposed at the avoidance notch and is pivotally connected to the clamping block.

[0009] Furthermore, a long sliding hole is provided on the clamping block, and the balancing system further comprises an optical axis, the optical axis is arranged in the long sliding hole, and the sliding part is slidably connected to the optical axis.

[0010] Furthermore, the long sliding hole passes through the clamping block along the axial direction of the rotating shaft. There are two long sliding holes, which are arranged opposite to each other. There are two optical axes, which are arranged in the two long sliding holes one by one. The sliding part is a bearing mounting seat, and the bearing mounting seat includes a seat body and a protrusion that are connected to each other. The seat body cover is arranged on the outer side of the nut mounting seat. There are two protrusions, which are slidably connected to the two optical axes one by one.

[0011] Furthermore, the balancing system also includes a linear bearing, the optical axis is sleeved with the linear bearing, and the linear bearing is connected to the protrusion.

[0012] Furthermore, an assembly hole is provided on the protrusion, one end of the rotating shaft is connected to the nut mounting seat, and the other end of the rotating shaft is inserted into the assembly hole.

[0013] Furthermore, the fixed frame includes: a mounting frame, a driving device is on the mounting frame, and a support plate is provided on the mounting frame, and one end of the screw rod away from the power output part is pivotally connected to the support plate; a fixed beam, the fixed beam is connected to the mounting frame and extends in a horizontal direction, there are two fixed beams, the two fixed beams are arranged at intervals, and the moment gyro is pivotally connected to the fixed beam and is located between the two fixed beams.

[0014] Furthermore, the power output unit is a driving motor.

[0015] According to another aspect of the present invention, a two-wheeled vehicle is provided, comprising a frame, a front wheel and a rear wheel arranged on the frame, the two-wheeled vehicle further comprising a balancing system arranged on the frame, the balancing system being the above-mentioned balancing system.

[0016] By applying the technical solution of the present invention, the present application provides a balancing system, in which a driving device of the balancing system is used to control the swing of the torque gyroscope to maintain the balance of the two-wheeled vehicle. Since the driving device drives the torque gyroscope to swing by means of a threaded connection between a screw rod and a connecting structure, the driving device can not only provide a large swinging torque to the torque gyroscope to ensure that the torque gyroscope swings reliably and is convenient for precise control of the swing angle of the torque gyroscope, but also the driving device composed of a power output part, a screw rod and a connecting structure has a simple structure and low cost, which is conducive to reducing the overall cost of the balancing system, thereby improving the economy of the two-wheeled vehicle and enhancing the market competitiveness of the two-wheeled vehicle. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] The drawings constituting a part of the present application are used to provide a further understanding of the present invention. The exemplary embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation of the present invention. In the drawings:

[0018] Figure 1 A schematic structural diagram of a balancing system according to an optional embodiment of the present invention is shown;

[0019] Figure 2 Shows Figure 1 A schematic diagram of the main view of the balancing system in FIG.

[0020] Figure 3 Shows Figure 1 A schematic diagram of a state in which the moment gyro of the balancing system in the embodiment rotates a certain angle along a first direction;

[0021] Figure 4 Shows Figure 3 A schematic diagram of the main view of the balancing system in FIG.

[0022] Figure 5 Shows Figure 1 A schematic diagram of a state in which the moment gyro of the balancing system in the embodiment rotates a certain angle along the second direction;

[0023] Figure 6 Shows Figure 5 A schematic diagram of the main view of the balancing system in FIG.

[0024] Figure 7 Shows Figure 1 A partial schematic diagram of the connection structure of the balancing system and the connection of the moment gyro.

[0025] The above drawings include the following reference numerals:

[0026] 100, fixed frame; 101, mounting frame; 102, fixed beam; 200, torque gyro; 300, driving device; 10, power output unit; 20, screw rod; 30, connecting structure; 31, connecting assembly; 311, connecting end; 312, clamping block; 313, sliding portion; 3131, seat body; 3132, protrusion; 3133, assembly hole; 314, avoidance gap; 315, sliding long hole; 32, nut mounting seat; 33, nut; 400, rotating shaft; 500, optical axis; 600, linear bearing; 700, support plate. DETAILED DESCRIPTION

[0027] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all the embodiments. The following description of at least one exemplary embodiment is actually only illustrative and is by no means intended to limit the present invention and its application or use. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0028] In order to solve the problem that the mechanism form of the driving torque gyro swing of the two-wheeled vehicle in the prior art is simple and cannot provide enough torque for the torque gyro, so that when the flywheel speed of the torque gyro is too high, the torque gyro cannot be reliably guaranteed to swing, which leads to the problem that the two-wheeled vehicle loses balance, the present invention provides a balancing system and a two-wheeled vehicle, wherein the two-wheeled vehicle includes a frame, a front wheel and a rear wheel arranged on the frame, and a balancing system, the balancing system is arranged on the frame, and the balancing system is the above-mentioned and following balancing systems. It should be noted that the two-wheeled vehicle referred to in this application is preferably a two-wheeled car, but is not limited to this, and also includes other motor vehicles or non-motor vehicles with two wheels. The whole vehicle length of the two-wheeled vehicle is smaller, the wheelbase is shorter, and the maneuverability is better, which meets the requirements of people's short-distance travel.

[0029] like Figures 1 to 6 As shown, a balancing system for controlling the swing of a moment gyroscope 200 to maintain the balance of a two-wheeled vehicle comprises a fixed frame 100, a moment gyroscope 200 and a driving device 300. The moment gyroscope 200 is pivotally arranged on the fixed frame 100. The driving device 300 is connected to the moment gyroscope 200 to drive the moment gyroscope 200 to rotate. The driving device 300 comprises a power output part 10, a screw rod 20 and a connecting structure 30. The power output part 10 is arranged on the fixed frame 100. The screw rod 20 is drivingly connected to the power output part 10. The connecting structure 30 is connected to the moment gyroscope 200, and the connecting structure 30 is threadedly connected to the screw rod 20 so as to reciprocate along the screw rod 20 under the drive of the screw rod 20 to drive the moment gyroscope 200 to swing.

[0030] The driving device 300 of the balancing system provided in the present application is used to control the swing of the torque gyroscope 200 to maintain the balance of the two-wheeled vehicle. Since the driving device 300 drives the torque gyroscope 200 to swing by threaded connection between the screw rod 20 and the connecting structure 30, the driving device 300 can not only provide a large swing torque to the torque gyroscope 200 to ensure that the torque gyroscope 200 swings reliably and facilitates precise control of the swing angle of the torque gyroscope 200, but also the driving device 300 composed of the power output part 10, the screw rod 20 and the connecting structure 30 has a simple structure and low cost, which is conducive to reducing the overall cost of the balancing system, thereby improving the economy of the two-wheeled vehicle and improving the market competitiveness of the two-wheeled vehicle.

[0031] It should be noted that if Figure 2 , Figure 4 and Figure 6 As shown, the oscillation of the moment gyro 200 is a reciprocating motion between the positions in the three views, wherein: Figure 2 The figure shows the initial position of the moment gyro 200. When the moment gyro 200 rotates a certain angle around the first direction (counterclockwise) to reach Figure 4 The first end position in the middle, and then rotate around the second direction (clockwise) to return to Figure 2 The initial position in the middle, and then continue to rotate a certain angle around the second direction (clockwise) to reach Figure 6 The second end position, and finally reverse around the first direction (counterclockwise) to return to Figure 2 to the initial position in order to complete one swing.

[0032] Specifically, Figure 7 As shown, the connection structure 30 includes a connection assembly 31, a nut mounting seat 32 and a nut 33. The connection assembly 31 has a connection end 311 connected to the moment gyro 200. The nut mounting seat 32 is pivotally connected to the connection assembly 31 through a rotating shaft 400. The nut 33 is arranged on the nut mounting seat 32 and is threadedly connected to the screw rod 20. In this way, the rotation of the screw rod 20 will drive the nut 33 to move up and down on the screw rod 20, so that the nut 33 can drive the nut mounting seat 32 to move, and finally achieve the effect of rotating the connection assembly 31 to drive the moment gyro 200 to swing through its connection end 311.

[0033] like Figure 7As shown, the connecting assembly 31 includes a clamping block 312 and a sliding portion 313, the clamping block 312 has a connecting end 311 that is clamped with the moment gyroscope 200, and the clamping block 312 has an avoidance gap 314, the avoidance gap 314 extends from the end surface of the clamping block 312 on the side opposite to the connecting end 311 to the connecting end 311, the sliding portion 313 is slidably arranged on the clamping block 312, and the sliding direction of the sliding portion 313 is the same as the extension direction of the avoidance gap 314, wherein the nut mounting seat 32 is arranged at the avoidance gap 314 and is pivotally connected to the clamping block 312.

[0034] The clamping block 312 is clamped and connected with the moment gyro 200 through the connecting end 311, ensuring the connection stability between the two, so that the moment gyro 200 moves with the clamping block 312, and the clamping position of the connecting end 311 and the moment gyro 200 is adjustable, which is more conducive to improving the balance of the vehicle. The nut mounting seat 32 is arranged at the avoidance gap 314, which is conducive to the full use of space, realizes the structural miniaturization design of the connection structure 30, facilitates the installation of the connection structure 30, and reduces the overall volume of the vehicle. The sliding part 313 is slidably arranged on the clamping block 312, and the nut mounting seat 32 is pivotally connected to the clamping block 312, so that the clamping block 312 has both the rotational freedom and the movement freedom relative to the sliding part 313, so that the connecting component 31 avoids position interference with the swing trajectory of the moment gyro 200, which is more conducive to the movement of the two.

[0035] Specifically, Figure 7 As shown, as an implementation method for stably realizing the sliding movement of the sliding part 313 on the clamping block 312, a long sliding hole 315 is opened on the clamping block 312, and the balancing system also includes an optical axis 500, the optical axis 500 is arranged in the long sliding hole 315, and the sliding part 313 is slidably connected to the optical axis 500.

[0036] like Figure 7 As shown, in order to ensure stable transmission of power to the clamping block 312 through the sliding portion 313 and improve the connection stability between the two, the sliding long hole 315 passes through the clamping block 312 along the axial direction of the rotating shaft 400, there are two sliding long holes 315, the two sliding long holes 315 are arranged opposite to each other, there are two optical axes 500, the two optical axes 500 are arranged in the two sliding long holes 315 one by one, the sliding portion 313 is a bearing mounting seat, the bearing mounting seat includes a seat body 3131 and a protrusion 3132 connected to each other, the seat body 3131 is covered on the outer side of the nut mounting seat 32, there are two protrusions 3132, the two protrusions 3132 are slidingly connected to the two optical axes 500 one by one.

[0037] like Figure 7As shown, in order to improve the sliding stability of the bump 3132 on the optical axis 500 and effectively reduce the sliding friction between the two, the balancing system also includes a linear bearing 600, which is mounted on the optical axis 500 and connected to the bump 3132.

[0038] like Figure 7 As shown, the convex block 3132 is provided with an assembly hole 3133, one end of the rotating shaft 400 is connected to the screw nut mounting seat 32, and the other end of the rotating shaft 400 is passed through the assembly hole 3133. In this way, the screw nut mounting seat 32 can rotate stably relative to the sliding portion 313.

[0039] like Figures 1 to 6 As shown, the fixing frame 100 includes a mounting frame 101 and a fixing beam 102, the driving device 300 is on the mounting frame 101, and a support plate 700 is arranged on the mounting frame 101, one end of the screw rod 20 away from the power output unit 10 is pivotally connected to the support plate 700, the fixing beam 102 is connected to the mounting frame 101 and extends in the horizontal direction, there are two fixing beams 102, the two fixing beams 102 are arranged at intervals, and the moment gyro 200 is pivotally connected to the fixing beam 102 and is located between the two fixing beams 102. In this way, it is effectively ensured that the fixing frame 100 can stably support each structural element, so that the overall structure of the balancing system is stable.

[0040] Optionally, the power output unit 10 is a driving motor.

[0041] The specific working process of the balancing system of the present application is described below in conjunction with the accompanying drawings of the specification:

[0042] Figure 1 and Figure 2 The moment gyro 200 of the balancing system is shown in an initial position, Figure 3 and Figure 4 The torque gyroscope 200 of the balancing system shown in the figure reaches a first end position after rotating a certain angle around a first direction (i.e., counterclockwise in the figure). During this movement of the torque gyroscope 200, the power output unit 10 drives the screw 20 to rotate, thereby causing the nut mounting seat 32 to move upward along the screw 20. The nut mounting seat 32 will pull the bearing mounting seat and the clamping block 312 to move upward synchronously, and there is rotational freedom between the nut mounting seat 32 and the bearing mounting seat. During this process, the protrusion 3132 of the bearing mounting seat will slide in the sliding long hole 315 along the optical axis 500 in the direction away from the torque gyroscope 200. At the same time, the clamping block 312 will clamp one end of the torque gyroscope 200, driving the torque gyroscope 200 to rotate. It should also be noted that the torque gyroscope 200 is composed of Figure 3 and Figure 4 The first end position shown in Figure 1 and Figure 2 The initial position movement process shown in is the reverse movement process of the above-mentioned components, which will not be repeated again.

[0043] Likewise, Figure 1 and Figure 2 The moment gyro 200 of the balancing system is shown in an initial position, Figure 5 and Figure 6 The moment gyroscope 200 of the balancing system shown in the figure reaches the second terminal position after rotating a certain angle around the second direction (i.e., the clockwise direction in the figure). During this movement of the moment gyroscope 200, the power output unit 10 drives the screw 20 to rotate, so that the nut mounting seat 32 moves downward along the screw 20. The nut mounting seat 32 will pull the bearing mounting seat and the clamping block 312 to move downward synchronously, and there is rotational freedom between the nut mounting seat 32 and the bearing mounting seat. During this process, the protrusion 3132 of the bearing mounting seat will slide in the sliding long hole 315 along the optical axis 500 in the direction close to the moment gyroscope 200. At the same time, the clamping block 312 will clamp one end of the moment gyroscope 200, driving the moment gyroscope 200 to rotate. It should also be noted that the moment gyroscope 200 is composed of Figure 5 and Figure 6 The second end position shown in Figure 1 and Figure 2 The initial position movement process shown in is the reverse movement process of the above-mentioned components, which will not be repeated again.

[0044] It should be noted that the terms used herein are only for describing specific embodiments and are not intended to limit the exemplary embodiments according to the present application. As used herein, unless the context clearly indicates otherwise, the singular form is also intended to include the plural form. In addition, it should be understood that when the terms "comprise" and / or "include" are used in this specification, it indicates the presence of features, steps, operations, devices, components and / or combinations thereof.

[0045] Unless otherwise specifically stated, the relative arrangement of the parts and steps described in these embodiments, numerical expressions and numerical values ​​do not limit the scope of the present invention. At the same time, it should be understood that, for ease of description, the sizes of the various parts shown in the accompanying drawings are not drawn according to the actual proportional relationship. The technology, method and equipment known to ordinary technicians in the relevant field may not be discussed in detail, but in appropriate cases, the technology, method and equipment should be regarded as a part of the authorization specification. In all examples shown and discussed here, any specific value should be interpreted as being merely exemplary, rather than as a limitation. Therefore, other examples of exemplary embodiments may have different values. It should be noted that similar reference numerals and letters represent similar items in the following drawings, so once a certain item is defined in an accompanying drawing, it does not need to be further discussed in subsequent drawings.

[0046] In the description of the present invention, it is necessary to understand that the directions or positional relationships indicated by directional words such as "front, back, up, down, left, right", "lateral, vertical, perpendicular, horizontal" and "top, bottom" are usually based on the directions or positional relationships shown in the drawings. They are only for the convenience of describing the present invention and simplifying the description. Unless otherwise specified, these directional words do not indicate or imply that the devices or elements referred to must have a specific direction or be constructed and operated in a specific direction. Therefore, they cannot be understood as limiting the scope of protection of the present invention. The directional words "inside and outside" refer to the inside and outside relative to the contours of each component itself.

[0047] For ease of description, spatially relative terms such as "above", "above", "on the upper surface of", "above", etc. may be used here to describe the spatial positional relationship between a device or feature and other devices or features as shown in the figure. It should be understood that spatially relative terms are intended to include different orientations of the device in use or operation in addition to the orientation described in the figure. For example, if the device in the accompanying drawings is inverted, the device described as "above other devices or structures" or "above other devices or structures" will be positioned as "below other devices or structures" or "below other devices or structures". Thus, the exemplary term "above" can include both "above" and "below". The device can also be positioned in other different ways (rotated 90 degrees or in other orientations), and the spatially relative descriptions used here are interpreted accordingly.

[0048] It should be noted that the terms used herein are only for describing specific embodiments and are not intended to limit the exemplary embodiments according to the present application. As used herein, unless the context clearly indicates otherwise, the singular form is also intended to include the plural form. In addition, it should be understood that when the terms "comprise" and / or "include" are used in this specification, it indicates the presence of features, steps, operations, devices, components and / or combinations thereof.

[0049] It should be noted that the terms "first", "second", etc. in the specification and claims of the present application and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the numbers used in this way can be interchanged where appropriate, so that the embodiments of the present application described herein can be implemented in an order other than those illustrated or described herein.

[0050] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A balancing system for controlling the swing of a moment gyro (200) to maintain the balance of a two-wheeled vehicle, characterized in that: include: Fixed frame (100); A moment gyroscope (200), wherein the moment gyroscope (200) is pivotally arranged on the fixing frame (100); A driving device (300), the driving device (300) being connected to the moment gyroscope (200) to drive the moment gyroscope (200) to rotate, the driving device (300) comprising: A power output unit (10), wherein the power output unit (10) is arranged on the fixing frame (100); A screw rod (20), the screw rod (20) being drivingly connected to the power output part (10); a connecting structure (30), the connecting structure (30) being connected to the moment gyroscope (200), and the connecting structure (30) being threadedly connected to the screw rod (20), so as to reciprocate along the screw rod (20) under the drive of the screw rod (20) to drive the moment gyroscope (200) to swing; The connection structure (30) comprises: a connection component (31), the connection component (31) having a connection end (311) connected to the moment gyro (200); a nut mounting seat (32), the nut mounting seat (32) being pivotally connected to the connection component (31) via a rotating shaft (400); and a nut (33), the nut (33) being arranged on the nut mounting seat (32) and being threadedly connected to the screw rod (20); The connecting assembly (31) comprises: a clamping block (312), the clamping block (312) having the connecting end (311) clamped with the moment gyroscope (200), and the clamping block (312) having an avoidance notch (314), the avoidance notch (314) extending from an end surface of the clamping block (312) on a side opposite to the connecting end (311) toward the connecting end (311); and a sliding portion (313), the sliding portion (313) being slidably disposed on the clamping block (312), and the sliding direction of the sliding portion (313) being the same as the extending direction of the avoidance notch (314), wherein the nut mounting seat (32) is disposed at the avoidance notch (314) and is pivotally connected to the clamping block (312).

2. The balancing system according to claim 1, characterized in that: The clamping block (312) is provided with a long sliding hole (315), and the balancing system further comprises an optical axis (500). The optical axis (500) is arranged in the long sliding hole (315), and the sliding portion (313) is slidably connected to the optical axis (500).

3. The balancing system according to claim 2, characterized in that: The sliding long hole (315) passes through the clamping block (312) along the axial direction of the rotating shaft (400). There are two sliding long holes (315), and the two sliding long holes (315) are arranged opposite to each other. There are two optical axes (500), and the two optical axes (500) are arranged in the two sliding long holes (315) in a one-to-one correspondence. The sliding part (313) is a bearing mounting seat, and the bearing mounting seat includes a seat body (3131) and a protrusion (3132) connected to each other. The seat body (3131) is covered on the outer side of the nut mounting seat (32). There are two protrusions (3132), and the two protrusions (3132) are slidably connected to the two optical axes (500) in a one-to-one correspondence.

4. The balancing system according to claim 3, characterized in that: The balancing system further comprises a linear bearing (600), the linear bearing (600) is sleeved and mounted on the optical axis (500), and the linear bearing (600) is connected to the convex block (3132).

5. The balancing system according to claim 3, characterized in that: The protrusion (3132) is provided with an assembly hole (3133), one end of the rotating shaft (400) is connected to the nut mounting seat (32), and the other end of the rotating shaft (400) is inserted into the assembly hole (3133).

6. The balancing system according to claim 1, characterized in that: The fixing frame (100) comprises: A mounting frame (101), the driving device (300) being on the mounting frame (101), and a support plate (700) being arranged on the mounting frame (101), and an end of the screw rod (20) away from the power output unit (10) being pivotally connected to the support plate (700); A fixed beam (102), the fixed beam (102) is connected to the mounting frame (101) and extends in a horizontal direction, there are two fixed beams (102), the two fixed beams (102) are arranged at an interval, and the moment gyroscope (200) is pivotally connected to the fixed beams (102) and is located between the two fixed beams (102).

7. The balancing system according to claim 1, characterized in that: The power output part (10) is a driving motor.

8. A two-wheeled vehicle comprising a frame, a front wheel and a rear wheel arranged on the frame, characterized in that: The two-wheeled vehicle further comprises a balancing system, wherein the balancing system is arranged on the frame, and the balancing system is the balancing system according to any one of claims 1 to 7.

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