Self-balancing monocycle

Abstract

The invention is suitable for the technical field of wheelbarrows, and provides a self-balancing wheelbarrow which comprises a wheel, a frame, a rocker arm mechanism, pedals and a damping assembly. The frame is assembled on the wheels; the rocker mechanism comprises a floating connecting rod, a first connecting rod and a second connecting rod; the first connecting rod is rotationally connected to the frame through a first rotating shaft and rotationally connected to the floating connecting rod through a second rotating shaft; the second connecting rod is rotationally connected to the frame through a third rotating shaft and rotationally connected to the floating connecting rod through a fourth rotating shaft; the first rotating shaft, the second rotating shaft, the third rotating shaft and the fourth rotating shaft are parallel to one another; the pedal is arranged on the floating connecting rod; the damping assembly is used for damping the rocker arm mechanism; the first direction is perpendicular to the first rotating shaft and intersects with an axle of the wheel. Therefore, the shock absorption movement of the rocker arm mechanism is very flexible, and the phenomenon of blockage caused by foreign matters is not easy to occur, so that the self-balancing monocycle has a better shock absorption effect.

Description

Technical Field

[0001] This application belongs to the technical field of unicycles, and more specifically, relates to a self-balancing unicycle. Background Art

[0002] A self-balancing unicycle is a new generation of energy-saving, environmentally friendly, and portable means of transportation. It mainly uses gyroscopes and acceleration sensors inside the vehicle body to detect changes in the vehicle body's posture, thereby adjusting the balance of the vehicle body and achieving driving. When the self-balancing unicycle is traveling on a bumpy road with poor flatness or is impacted by an external force, it may experience unstable driving or even fall. Based on this, the self-balancing unicycle is usually provided with a shock-absorbing mechanism for shock absorption.

[0003] In some cases, the shock-absorbing mechanism adopts the design of a slide rail mechanism. For example, the shock-absorbing mechanism includes a slide rail, a sliding rod, and a shock absorber. The slide rail is arranged on the wheel of the self-balancing unicycle and extends in the vertical direction. The sliding rod slides on the slide rail. When the self-balancing unicycle is traveling on a bumpy road with poor flatness or is impacted by an external force, the sliding rod will slide vertically along the slide rail, and the shock absorber provides a shock-absorbing effect on the sliding rod during the sliding process of the sliding rod.

[0004] However, foreign matters such as dust and sand are likely to enter between the slide rail and the sliding rod, which makes the sliding of the sliding rod in the slide rail prone to jamming, thereby affecting the shock-absorbing effect of the self-balancing unicycle. Summary of the Invention

[0005] In view of the above problems, the embodiments of this application provide a self-balancing unicycle, which can improve the technical problem of poor shock-absorbing effect.

[0006] In a first aspect, the embodiments of this application provide a self-balancing unicycle, including:

[0007] A wheel;

[0008] A frame, assembled on the wheel;

[0009] A rocker arm mechanism, including a floating link, a first link, and a second link; the first link is rotatably connected to the frame through a first rotating shaft and rotatably connected to the floating link through a second rotating shaft; the second link is rotatably connected to the frame through a third rotating shaft and rotatably connected to the floating link through a fourth rotating shaft; the first rotating shaft, the second rotating shaft, the third rotating shaft, and the fourth rotating shaft are parallel to each other, and the first link and the second link are spaced apart along a first direction;

[0010] A pedal, arranged on the floating link;

[0011] A shock-absorbing assembly, used to provide a shock-absorbing effect for the rocker arm mechanism;

[0012] Wherein, the first direction is perpendicular to the first rotating shaft and intersects with the axle of the wheel.

[0013] In some embodiments, the first rotating shaft is perpendicular to the axle of the wheel.

[0014] In some embodiments, the number of the rocker mechanisms is two, and the floating connecting rods of the two rocker mechanisms are respectively located on the opposite sides of the wheel along the second direction, and the second direction is parallel to the axle of the wheel;

[0015] The self-balancing unicycle further includes a synchronization mechanism, which is connected to the two rocker mechanisms and is used to make the floating connecting rods of the two rocker mechanisms move synchronously along the first direction.

[0016] In some embodiments, the synchronization mechanism includes a first gear and a second gear, and the first gear and the second gear are respectively arranged on the first connecting rods of the two rocker mechanisms and are meshed with each other.

[0017] In some embodiments, the synchronization mechanism includes:

[0018] A first moving member, which is used for reciprocating motion along the first direction;

[0019] A third connecting rod, which is movably connected to the first moving member;

[0020] A fourth connecting rod, which is movably connected to the first moving member and is distributed in sequence with the third connecting rod along the second direction;

[0021] One end of the third connecting rod far away from the first moving member and one end of the fourth connecting rod far away from the first moving member are respectively movably connected to the first connecting rods of the two rocker mechanisms.

[0022] In some embodiments, the first moving member is provided with a first guiding groove, and the vehicle frame is provided with a first guiding portion, and the first guiding portion is inserted into the first guiding groove along the first direction and can slide along the first guiding groove;

[0023] And / or, the first moving member includes a moving portion and a second guiding portion arranged on the moving portion, the third connecting rod and the fourth connecting rod are both movably connected to the moving portion, the vehicle frame is provided with a second guiding groove, and the second guiding portion is inserted into the second guiding groove along the first direction and can slide along the second guiding groove.

[0024] In some embodiments, the two rocker mechanisms are respectively a first rocker mechanism and a second rocker mechanism;

[0025] The synchronization mechanism includes:

[0026] A first pressing member and a second pressing member, which are distributed in sequence along the first direction and are respectively arranged on the floating connecting rod of the first rocker mechanism and the floating connecting rod of the second rocker mechanism;

[0027] The first guide wheel is arranged between the first pressing member and the second pressing member along the first direction, for transmitting the pressing force between the first pressing member and the second pressing member, and capable of sliding along the side of the first pressing member facing the second pressing member and / or the side of the second pressing member facing the first pressing member;

[0028] The third pressing member and the fourth pressing member are arranged in sequence along the first direction, and are respectively arranged on the floating connecting rod of the first rocker mechanism and the floating connecting rod of the second rocker mechanism;

[0029] The second guide wheel is arranged between the third pressing member and the fourth pressing member along the first direction, for transmitting the pressing force between the third pressing member and the fourth pressing member, and capable of sliding along the side of the third pressing member facing the fourth pressing member and / or the side of the fourth pressing member facing the third pressing member;

[0030] Wherein, in the first direction, the distribution directions of the first pressing member and the second pressing member are opposite to the distribution directions of the third pressing member and the fourth pressing member.

[0031] In some embodiments, a first sliding groove is provided on the side of the first pressing member facing the second pressing member and / or the side of the second pressing member facing the first pressing member, and the first guide wheel is slidably arranged in the first sliding groove; alternatively, the first guide wheel is rotatably connected to the first pressing member or the second pressing member;

[0032] A second sliding groove is provided on the side of the third pressing member facing the fourth pressing member and / or the side of the fourth pressing member facing the third pressing member, and the second guide wheel is slidably arranged in the second sliding groove; alternatively, the second guide wheel is rotatably connected to the third pressing member or the fourth pressing member.

[0033] In some embodiments, in the cross-section perpendicular to the first rotating shaft, the connection lines of the first rotating shaft, the second rotating shaft, the third rotating shaft and the fourth rotating shaft form a non-parallelogram.

[0034] In some embodiments, the synchronization mechanism includes a first guiding member and a second guiding member, and the first guiding member and the second guiding member are respectively arranged on two rocker mechanisms;

[0035] The first guiding member is provided with a third guiding groove, and at least a part of the second guiding member is inserted into the third guiding groove along the second direction; and / or, the second guiding member is provided with a fourth guiding groove, and at least a part of the first guiding member is inserted into the fourth guiding groove along the second direction.

[0036] In some embodiments, the vehicle frame includes:

[0037] Two groups of frame bodies are respectively arranged on the opposite sides of the wheel along the second direction;

[0038] The connecting member is located on one side of the wheel along the first direction, and connects the two groups of frame bodies;

[0039] One end of the first connecting rod away from the floating connecting rod is rotatably connected to the frame or the connecting member, and one end of the second connecting rod away from the floating connecting rod is rotatably connected to the frame.

[0040] In some embodiments, the shock-absorbing assembly includes a first shock absorber, and opposite ends of the first shock absorber in the second direction are respectively connected to two rocker mechanisms.

[0041] In some embodiments, the shock-absorbing assembly includes a second shock absorber; a second shock absorber is connected between the frame and the floating connecting rod, and / or between the first connecting rod and the floating connecting rod, and / or between the second connecting rod and the floating connecting rod, and / or between the frame and the first connecting rod, and / or between the frame and the second connecting rod.

[0042] In some embodiments, the floating connecting rod and the wheel are distributed in the second direction, and the second direction is parallel to the axle of the wheel;

[0043] The self-balancing unicycle further includes a leg rest plate, and the leg rest plate is arranged on one side of the floating connecting rod away from the wheel in the second direction.

[0044] In some embodiments, the self-balancing unicycle further includes:

[0045] A motor, arranged on the wheel;

[0046] A control device, electrically connected to the motor;

[0047] A battery, arranged on the floating connecting rod and electrically connected to the control device.

[0048] The beneficial effects of the self-balancing unicycle provided by the embodiments of the present application are as follows:

[0049] For the self-balancing unicycle provided by the embodiments of the present application, the rocker mechanism includes a floating connecting rod, a first connecting rod and a second connecting rod. One end of the first connecting rod is rotatably connected to the frame through a first rotating shaft, and the first connecting rod is also rotatably connected to the floating connecting rod through a second rotating shaft. One end of the second connecting rod is rotatably connected to the frame through a third rotating shaft, and the second connecting rod is also rotatably connected to the floating connecting rod through a fourth rotating shaft. The first rotating shaft, the second rotating shaft, the third rotating shaft and the fourth rotating shaft are parallel to each other. When the self-balancing unicycle is traveling on a bumpy road with poor flatness or is impacted by an external force, the rocker mechanism performs a shock-absorbing movement relative to the frame under the action of the shock-absorbing assembly. Specifically, the first connecting rod and the second connecting rod can swing relative to the frame respectively to drive the floating connecting rod to move, and the floating connecting rod can also swing relative to the first connecting rod and the second connecting rod respectively to drive the pedal to move. In this way, the shock-absorbing movement of the rocker mechanism is very flexible and is not easily stuck due to foreign objects, so that the self-balancing unicycle has a better shock-absorbing effect and the shock-absorbing movement is very flexible.

[0050] The above description is only an overview of the technical solution of this application. In order to understand the technical means of this application more clearly, it can be implemented according to the content of the specification. And in order to make the above and other purposes, features and advantages of this application more obvious and understandable, the following specific embodiments of this application are given. Description of the Drawings

[0051] In order to more clearly illustrate the technical solutions in the embodiments of this application, the following will briefly introduce the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings in the following description are only some embodiments of this application. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on these drawings.

[0052] Figure 1 A three-dimensional structure diagram of a self-balancing unicycle provided for some embodiments of this application;

[0053] Figure 2 For Figure 1 A three-dimensional structure diagram of the wheel of the self-balancing unicycle provided;

[0054] Figure 3 For Figure 1 A partial structure diagram of the self-balancing unicycle provided in one state;

[0055] Figure 4 A partial structure diagram of the self-balancing unicycle provided for 1 in another state;

[0056] Figure 5 For Figure 3 The front view of the self-balancing unicycle shown;

[0057] Figure 6 For Figure 4 The front view of the self-balancing unicycle shown;

[0058] Figure 7 For Figure 4 The enlarged view of part A in;

[0059] Figure 8 A partial three-dimensional structure diagram of a self-balancing unicycle provided for some other embodiments of this application;

[0060] Figure 9 For Figure 8 The front view of the self-balancing unicycle shown;

[0061] Figure 10 For Figure 8 The exploded view of the synchronization mechanism, the first guiding part and the first connecting rod of the self-balancing unicycle provided;

[0062] Figure 11Partial three-dimensional structure diagrams of the self-balancing unicycle provided by some embodiments of the present application;

[0063] Figure 12 For Figure 11 The front view of the self-balancing unicycle shown;

[0064] Figure 13 Partial three-dimensional structure diagrams of the self-balancing unicycle provided by some other embodiments of the present application;

[0065] Figure 14 For Figure 13 The front view of the self-balancing unicycle shown;

[0066] Figure 15 For Figure 13 The front view of the self-balancing unicycle shown in another state;

[0067] Figure 16 Partial three-dimensional structure diagrams of the self-balancing unicycle provided by some other embodiments of the present application;

[0068] Figure 17 For Figure 16 The front view of the self-balancing unicycle shown;

[0069] Figure 18 For Figure 16 The exploded view of the synchronization mechanism of the self-balancing unicycle shown;

[0070] Figure 19 The cooperation diagram of the first shock absorber and the first connecting rod of the self-balancing unicycle provided by some embodiments of the present application;

[0071] Figure 20 For Figure 1 The three-dimensional structure diagram of the second shock absorber of the self-balancing unicycle provided.

[0072] Among them, the reference numerals in the figures:

[0073] 1000 - Self - balancing unicycle; 10 - Wheel; 11 - Wheel disc; 12 - Axle; 20 - Frame; 21 - Frame body; 22 - Connecting piece; 221 - First guiding part; 30 - Rocker mechanism; 30a - First rocker mechanism; 30b - Second rocker mechanism; 31 - Floating connecting rod; 32 - First connecting rod; 33 - Second connecting rod; 34 - Second rotating shaft; 35 - Fourth rotating shaft; 40 - Pedal; 50 - Shock - absorbing assembly; 52 - Second shock absorber; 521 - Fourth moving part; 522 - Fifth moving part; 523 - Second elastic part; 51 - First shock absorber; 511 - Second moving part; 512 - Third moving part; 513 - First elastic part; 60 - Synchronization mechanism; 60a - First synchronization mechanism; 61a - First gear; 62a - Second gear; 60b - Second synchronization mechanism; 601b - First guide groove; 61b - First moving part; 62b - Third connecting rod; 63b - Fourth connecting rod; 60c - Third synchronization mechanism; 61c - First pressing part; 62c - Second pressing part; 63c - First guide wheel; 64c - Third pressing part; 65c - Fourth pressing part; 66c - Second guide wheel; 60d - Fourth synchronization mechanism; 601d - Third guide groove; 602d - Fourth guide groove; 61d - First guiding part; 62d - Second guiding part; 70 - First rotating shaft; 100 - Third rotating shaft; 80 - Electric control system; 81 - Battery; 82 - Control device; 90 - Leg rest board; L - First center line; Y - Second direction; Z - First direction; X - Third direction. Detailed implementation manners

[0074] The embodiments of the present application will be described in detail below. Examples of the embodiments are shown in the drawings, where the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the drawings are exemplary and are intended to explain the present application, and should not be construed as limiting the present application.

[0075] In the description of the present application, it should be understood that the orientation or positional relationships indicated by the terms "length", "width", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc. are based on the orientation or positional relationships shown in the drawings, and are only for the convenience of describing the present application and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus should not be construed as limiting the present application.

[0076] In addition, the terms "first" and "second" are only used for descriptive purposes and should not be construed as indicating or implying relative importance or implicitly indicating the quantity of the indicated technical features. Thus, features defined with "first" and "second" may explicitly or implicitly include one or more of such features.

[0077] In the description of the present application, the meaning of "a plurality of" is more than two. Unless otherwise clearly and specifically defined, "more than two" includes two. Correspondingly, the meaning of "multiple groups" is more than two groups, including two groups.

[0078] In the description of the present application, unless otherwise clearly specified and limited, terms such as "installed", "connected", "joined", "fixed", etc. should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or integrated; it can be a mechanical connection or an electrical connection; it can be directly connected or indirectly connected through an intermediate medium, and it can be the communication inside two components or the interaction relationship between two components. For those of ordinary skill in the art, the specific meanings of the above terms in the present application can be understood according to specific circumstances.

[0079] In the description of the present application, the term "and / or" is merely an association relationship describing associated objects, indicating that three relationships can exist. For example, A and / or B can represent: the existence of A, the simultaneous existence of A and B, and the existence of B. In addition, in the present application, the character " / " generally represents an "or" relationship between the associated objects before and after.

[0080] Although the present application has been described with reference to the preferred embodiments, various improvements can be made to it and components therein can be replaced with equivalents without departing from the scope of the present application. In particular, as long as there is no structural conflict, the various technical features mentioned in each embodiment can be combined in any way. The present application is not limited to the specific embodiments disclosed in the text, but includes all technical solutions falling within the scope of the claims.

[0081] Please refer to Figures 1 to 4 , Figure 1 which is a three-dimensional structure diagram of the self-balancing unicycle 1000 provided for some embodiments of the present application, Figure 2 is Figure 1 a three-dimensional structure diagram of the wheel 10 of the self-balancing unicycle 1000 provided for Figure 3 is Figure 1 a partial three-dimensional structure diagram of the self-balancing unicycle 1000 in one of its states provided for Figure 4 is Figure 1Partial three-dimensional structure diagram of the self-balancing unicycle 1000 provided in another state. The self-balancing unicycle 1000 provided in the embodiment of the present application includes a wheel 10, a frame 20, a rocker mechanism 30, a pedal 40, and a shock absorption assembly 50. The frame 20 is assembled to the wheel 10. The rocker mechanism 30 includes a floating link 31, a first link 32, and a second link 33. The first link 32 is rotatably connected to the frame 20 through a first rotating shaft 70, and the first link 32 is also rotatably connected to the floating link 31 through a second rotating shaft 34. The second link 33 is rotatably connected to the frame 20 through a third rotating shaft 100, and the second link 33 is also rotatably connected to the floating link 31 through a fourth rotating shaft 35. The first rotating shaft 70, the second rotating shaft 34, the third rotating shaft 100, and the fourth rotating shaft 35 are parallel to each other. The second link 33 and the first link 32 are spaced apart along a first direction Z. The pedal 40 is provided on the floating link 31. The shock absorption assembly 50 is used to provide a shock absorption effect to the rocker mechanism 30. Wherein, the first direction Z is perpendicular to the first rotating shaft 70, and the first direction Z intersects the axle 12 of the wheel 10.

[0082] As Figure 2 shown, the wheel 10 includes a wheel disc 11 and an axle 12. The axle 12 passes through the wheel disc 11 along a second direction Y, and the wheel disc 11 can rotate around the axle 12. Wherein, the frame 20 is assembled to the wheel 10, and it can be that the frame 20 is assembled to the axle 12 of the wheel 10. Of course, in other embodiments, when the frame 20 is assembled to the wheel 10, it can also be that the frame 20 is assembled to other parts of the wheel 10.

[0083] As Figure 1 and Figure 3 、 Figure 4 shown, the floating link 31 and the wheel 10 are generally spaced apart along the second direction Y, specifically, the floating link 31 and the wheel disc 11 of the wheel 10 are spaced apart along the second direction Y.

[0084] Wherein, the second direction Y is parallel to the axle 12 of the wheel 10, which means that the second direction Y is parallel to the axial direction of the axle 12. Specifically, as Figures 1 to 4 shown, the second direction Y is parallel to the Y axis.

[0085] The first link 32 is rotatably connected to the vehicle frame 20 through a first rotating shaft 70. The first link 32 is also rotatably connected to the floating link 31 through a second rotating shaft 34. The second link 33 is rotatably connected to the vehicle frame 20 through a third rotating shaft 100. The second link 33 is also rotatably connected to the floating link 31 through a fourth rotating shaft 35. Moreover, the first rotating shaft 70, the second rotating shaft 34, the third rotating shaft 100, and the fourth rotating shaft 35 are parallel to each other, such that the vehicle frame 20, the first link 32, the second link 33, and the floating link 31 form a four-bar linkage mechanism, that is, the rocker mechanism 30 and the vehicle frame 20 form a four-bar linkage mechanism. And, considering that the first link 32 and the second link 33 are spaced apart along the first direction Z, when the self-balancing unicycle 1000 passes over a bumpy road surface or is subjected to an external impact force, both the first link 32 and the second link 33 can swing relative to the vehicle frame 20. The floating link 31 moves along with the first link 32 and the second link 33 and swings relative to the first link 32 and the second link 33, such that the movement of the floating link 31 can be approximately decomposed into two component movements, one of which is approximately a movement in the first direction Z.

[0086] The shock-absorbing assembly 50 refers to an assembly that can provide a shock-absorbing effect and is specifically used to provide a shock-absorbing effect to the rocker mechanism 30. Based on this, when the self-balancing unicycle 1000 passes over a bumpy road surface or is subjected to an external impact force, the rocker mechanism 30 will drive the pedal 40 to move relative to the vehicle frame 20. The shock-absorbing assembly 50 provides a shock-absorbing effect to the rocker mechanism 30, specifically by driving the rocker mechanism 30 to perform a reset movement, such that the rocker mechanism 30 can drive the pedal 40 to move smoothly within a predetermined range without excessive movement. In this way, the rocker mechanism 30 performs a shock-absorbing movement under the action of the shock-absorbing assembly 50, and further enables the rocker mechanism 30 and the pedal 40 to be in a relatively stable state, that is, enables the self-balancing unicycle 1000 to have a relatively stable performance, and further enables the user to use the self-balancing unicycle 1000 smoothly.

[0087] Among them, the shock-absorbing assembly 50 is disposed on the rocker mechanism 30 and can specifically be connected to at least one of the first link 32, the second link 33, and the floating link 31, thereby providing a shock-absorbing effect to the rocker mechanism 30. Regarding the specific position of the shock-absorbing assembly 50 on the rocker mechanism 30, reference can be made to the relevant parts below and will not be elaborated here for the time being.

[0088] The first rotating shaft 70 can be fixed to the vehicle frame 20 and rotatably arranged on the first connecting rod 32, so that when the first connecting rod 32 rotates relative to the vehicle frame 20 around the first rotating shaft 70, the first connecting rod 32 rotates relative to the first rotating shaft 70; alternatively, the first rotating shaft 70 can also be fixed to the first connecting rod 32 and rotatably arranged on the vehicle frame 20, so that when the first connecting rod 32 rotates relative to the vehicle frame 20 around the first rotating shaft 70, the first rotating shaft 70 and the first connecting rod 32 rotate together. The second rotating shaft 34 can be fixed to the first connecting rod 32 and rotatably arranged on the floating connecting rod 31, so that when the floating connecting rod 31 rotates relative to the first connecting rod 32 around the second rotating shaft 34, the floating connecting rod 31 rotates relative to the second rotating shaft 34; alternatively, the second rotating shaft 34 can also be fixed to the floating connecting rod 31 and rotatably arranged on the first connecting rod 32, so that when the floating connecting rod 31 rotates relative to the first connecting rod 32 around the second rotating shaft 34, the floating connecting rod 31 and the second rotating shaft 34 rotate together. The third rotating shaft 100 can be fixed to the vehicle frame 20 and rotatably arranged on the second connecting rod 33, so that when the second connecting rod 33 rotates relative to the vehicle frame 20 around the third rotating shaft 100, the second connecting rod 33 rotates relative to the third rotating shaft 100; alternatively, the third rotating shaft 100 can also be fixed to the second connecting rod 33 and rotatably arranged on the vehicle frame 20, so that when the second connecting rod 33 rotates relative to the vehicle frame 20 around the third rotating shaft 100, the third rotating shaft 100 and the second connecting rod 33 rotate together. The fourth rotating shaft 35 can be fixed to the second connecting rod 33 and rotatably arranged on the floating connecting rod 31, so that when the floating connecting rod 31 rotates relative to the second connecting rod 33 around the fourth rotating shaft 35, the floating connecting rod 31 rotates relative to the fourth rotating shaft 35; alternatively, the fourth rotating shaft 35 can also be fixed to the floating connecting rod 31 and rotatably arranged on the second connecting rod 33, so that when the floating connecting rod 31 rotates relative to the second connecting rod 33 around the fourth rotating shaft 35, the floating connecting rod 31 and the fourth rotating shaft 35 rotate together.

[0089] Wherein, the first rotating shaft 70, the second rotating shaft 34, the third rotating shaft 100 and the fourth rotating shaft 35 are parallel to each other, which means that the axial directions of the first rotating shaft 70, the second rotating shaft 34, the third rotating shaft 100 and the fourth rotating shaft 35 are parallel to each other and are all parallel to the third direction X.

[0090] The first direction Z is perpendicular to the first rotating shaft 70, which means that the first direction Z is perpendicular to the axial direction of the first rotating shaft 70, that is, the first direction Z is perpendicular to the third direction X.

[0091] The first direction Z intersects the axle 12 of the wheel 10, which means the first direction Z intersects the second direction Y. The second direction Y intersects the first direction Z, which means the second direction Y and the first direction Z can form an angle greater than 0° and less than 180°, that is, the second direction Y and the first direction Z are not parallel. The second direction Y and the first direction Z can be perpendicular to each other or not perpendicular. The second direction Y and the first direction Z can be directions intersecting on the same plane, or directions on planes that are skew to each other, and the projection of the first direction Z on the plane where the second direction Y is located can intersect the second direction Y. As an example, as Figures 1 to 4 shown, the first direction Z is perpendicular to the second direction Y.

[0092] It should be supplemented here that the third direction X can be parallel to the second direction Y; or, as Figures 1 to 4 shown, the third direction X can also intersect the second direction Y. The meaning of the third direction X intersecting the second direction Y can be the same as the meaning of the first direction Z intersecting the second direction Y, and will not be repeated here.

[0093] As an example, as Figures 1 to 4 shown, the second direction Y is perpendicular to the third direction X. Based on this, when the self-balancing unicycle 1000 passes through a bumpy road surface or is impacted by an external force, the movement of the floating link 31 can be roughly decomposed into two component movements, one of which is a movement roughly in the first direction Z, and the other is a movement roughly in the second direction Y, that is, the floating link 31 can move a certain distance in the first direction Z and can also move a certain distance roughly in the second direction Y. Correspondingly, the pedal 40 can move a certain distance in the first direction Z and the second direction Y respectively along with the floating link 31.

[0094] As another example, the second direction Y is parallel to the third direction X. Based on this, when the self-balancing unicycle 1000 passes through a bumpy road surface or is impacted by an external force, the movement of the floating link 31 can be roughly decomposed into two component movements, one of which is a movement roughly in the first direction Z, and the other is a movement roughly in the third direction X, so that the pedal 40 can move a certain distance in the first direction Z and the third direction X respectively along with the floating link 31.

[0095] In some cases, when the self-balancing unicycle 1000 is in use, the first direction Z can be roughly the vertical direction, as Figure 5 and Figure 6 shown. Among them, Figure 5 is the front view of the self-balancing unicycle 1000 shown in Figure 3 , specifically, it is a schematic diagram of the self-balancing unicycle 1000 in Figure 3 from the perspective of the third direction X. Figure 6 isFigure 4 The front view of the self-balancing unicycle 1000 is shown in FIG. Figure 4 Schematic diagram of the self-balancing unicycle 1000 from the perspective of a third direction X.

[0096] The self-balancing unicycle 1000 provided in the embodiment of the present application includes a floating link 31, a first link 32 and a second link 33 through a rocker mechanism 30. The first link 32 is rotatably connected to the frame 20 through a first rotating shaft 70, and the first link 32 is also rotatably connected to the floating link 31 through a second rotating shaft 34. The second link 33 is rotatably connected to the frame 20 through a third rotating shaft 100, and the second link 33 is also rotatably connected to the floating link 31 through a fourth rotating shaft 35. The first rotating shaft 70, the second rotating shaft 34, the third rotating shaft 100 and the fourth rotating shaft 35 are parallel to each other, so that when the self-balancing unicycle 1000 is traveling, When on a bumpy road with poor flatness or when impacted by external force, the rocker mechanism 30 performs shock-absorbing movement relative to the frame 20 under the action of the shock-absorbing assembly 50. Specifically, the first connecting rod 32 and the second connecting rod 33 can swing respectively relative to the frame 20 to drive the floating connecting rod 31 to move, and the floating connecting rod 31 can also swing respectively relative to the first connecting rod 32 and the second connecting rod 33, thereby driving the pedal 40 to move. In this way, the shock-absorbing movement of the rocker mechanism 30 is very flexible and is not prone to jamming due to foreign objects, so that the self-balancing unicycle has a better shock-absorbing effect and the shock-absorbing movement is very flexible.

[0097] In addition, in the scheme of the design of the traditional shock-absorbing mechanism using the slide rail mechanism, during the shock-absorbing process of the shock-absorbing mechanism, the sliding rod can only perform a single movement in the vertical direction, that is, the shock-absorbing experience can only be the movement trajectory in the vertical direction, which makes the shock-absorbing effect of the shock-absorbing mechanism poor and difficult to cope with complex use environments. The self-balancing unicycle 1000 provided in the embodiment of the present application, when the self-balancing unicycle 1000 is traveling on a bumpy road with poor flatness or is impacted by an external force, the first connecting rod 32 and the second connecting rod 33 can swing relative to the frame 20 respectively to drive the floating connecting rod 31 to move, and the floating connecting rod 31 can also swing relative to the first connecting rod 32 and the second connecting rod 33 respectively, so that the movement of the floating connecting rod 31 is not limited to the movement in the vertical direction, and can be flexibly applied to a variety of complex environments, with better shock-absorbing effect and better shock-absorbing experience.

[0098] In addition, in the design of a traditional shock-absorbing mechanism using a slide rail mechanism, in order to achieve the guiding effect on the sliding rod, the slide rail and the sliding rod are generally of a rigid structure. Such a design will inevitably encounter tolerance problems during mass production, resulting in deformation of the slide rail, and further causing jamming of the sliding rod during the sliding process, thus affecting the shock-absorbing effect. However, for the self-balancing unicycle 1000 provided in the embodiments of the present application, the movements of the first connecting rod 32, the second connecting rod 33, and the floating connecting rod 31 are very flexible, and the shock-absorbing movement is flexible, so that the self-balancing unicycle 1000 has a relatively flexible and reliable shock-absorbing effect.

[0099] In addition, in the design of a traditional shock-absorbing mechanism using a slide rail mechanism, if the shock-absorbing stroke needs to be increased, the sliding stroke of the slide rail needs to be increased, so that the size of the self-balancing unicycle 1000 needs to be increased in the sliding direction of the slide rail, generally by increasing the height of the self-balancing unicycle 1000. In this way, the size of the self-balancing unicycle 1000 is very bulky and the volume is very large. For the self-balancing unicycle 1000 provided in the embodiments of the present application, through the design of the first connecting rod 32, the second connecting rod 33, and the floating connecting rod 31, even if the shock-absorbing stroke needs to be increased, it is not necessary to excessively increase the height of the swing arm mechanism 30. Moreover, when the swing arm mechanism 30 does not perform a large shock-absorbing movement, the first connecting rod 32, the second connecting rod 33, and the floating connecting rod 31 can swing to a smaller height, thereby further reducing the height of the self-balancing unicycle 1000. Therefore, the volume of the self-balancing unicycle 1000 of the present application can be made very small.

[0100] In some embodiments, please refer to Figures 3 to 6 , and in combination with other drawings. The first rotating shaft 70 is perpendicular to the axle 12 of the wheel 10. That is, the third direction X is perpendicular to the second direction Y.

[0101] With such a setting, when the self-balancing unicycle 1000 passes through a bumpy road surface or is impacted by an external force, the movement of the floating connecting rod 31 can be roughly decomposed into two component movements. One is a movement roughly in the first direction Z, and the other is a movement roughly in the second direction Y. That is, the floating connecting rod 31 can move a certain distance in the first direction Z and can also move a certain distance in the second direction Y. Correspondingly, the pedal 40 can move a certain distance in the first direction Z and the second direction Y respectively along with the floating connecting rod 31.

[0102] In some embodiments, please refer to Figures 3 to 6, and in combination with other attached drawings. The number of the rocker arm mechanisms 30 is two, and the floating connecting rods 31 of the two rocker arm mechanisms 30 are respectively located on the opposite sides of the wheel 10 along the second direction Y, and the second direction Y is parallel to the axle 12 of the wheel 10. The self-balancing unicycle 1000 further includes a synchronization mechanism 60, and the synchronization mechanism 60 is connected to the two rocker arm mechanisms 30 and is used to make the floating connecting rods 31 of the two rocker arm mechanisms 30 move synchronously along the first direction Z.

[0103] Understandably, as Figures 3 to 6 shown, among the two rocker arm mechanisms 30, the floating connecting rod 31 of one of the rocker arm mechanisms 30 is arranged on one side of the wheel 10 along the second direction Y, and the floating connecting rod 31 of the other rocker arm mechanism 30 is arranged on the other side of the wheel 10 along the second direction Y.

[0104] As Figures 3 to 6 shown, pedals 40 are arranged on the floating connecting rods 31 of the two rocker arm mechanisms 30. Based on this, the user's feet can step on the pedals 40 of the two rocker arm mechanisms 30 respectively, which is convenient for the user to use the self-balancing unicycle 1000.

[0105] The synchronization mechanism 60 refers to a component used to make the floating connecting rods 31 of the two rocker arm mechanisms 30 move synchronously along the first direction Z. Understandably, when the self-balancing unicycle 1000 passes through a bumpy road surface or is impacted by an external force, both of the two rocker arm mechanisms 30 will move relative to the vehicle frame 20, so that the floating connecting rods 31 of the two rocker arm mechanisms 30 will move a certain distance in the first direction Z. Under the action of the synchronization mechanism 60, the movements of the floating connecting rods 31 of the two rocker arm mechanisms 30 in the first direction Z are synchronous, so that the movement distances of the floating connecting rods 31 of the two rocker arm mechanisms 30 in the first direction Z are the same. In this way, the height difference between the pedals 40 on the two rocker arm mechanisms 30 in the first direction Z can always be within a stable range, or even always be the same value. Among them, the height difference between the pedals 40 on the above two rocker arm mechanisms 30 in the first direction Z can be 0, or can be greater than 0. As an example, as Figure 5 and Figure 6 shown, this height difference is approximately 0.

[0106] The synchronization mechanism 60 is connected to the two rocker arm mechanisms 30. Specifically, in some possible designs, the synchronization mechanism 60 can be only connected to the first connecting rod 32; or, in some other possible designs, the synchronization mechanism 60 can be only connected to the floating connecting rod 31; or, in still some other possible designs, the synchronization mechanism 60 can be connected to the first connecting rod 32 and the floating connecting rod 31.

[0107] For the convenience of description, in the following embodiments, the two rocker arm mechanisms 30 can be defined as a first rocker arm mechanism 30a and a second rocker arm mechanism 30b respectively.

[0108] In some possible designs, such as Figures 3 to 6 shown, the synchronization mechanism 60 is only connected to the first link 32. Specifically, the synchronization mechanism 60 is connected to the first link 32 of the first rocker mechanism 30a and the first link 32 of the second rocker mechanism 30b. During the shock absorption movement of the rocker mechanism 30 relative to the vehicle frame 20, the first link 32 of the first rocker mechanism 30a and the first link 32 of the second rocker mechanism 30b swing under the action of the synchronization mechanism 60, so that the floating link 31 of the first rocker mechanism 30a and the floating link 31 of the second rocker mechanism 30b can move synchronously along the first direction Z under the drive of the first link 32.

[0109] In some other possible designs, the synchronization mechanism 60 is only connected to the floating link 31. Specifically, the synchronization mechanism 60 is connected to the floating link 31 of the first rocker mechanism 30a and the floating link 31 of the second rocker mechanism 30b. During the shock absorption movement of the rocker mechanism 30 relative to the vehicle frame 20, the floating link 31 of the first rocker mechanism 30a and the floating link 31 of the second rocker mechanism 30b can move synchronously along the first direction Z under the action of the synchronization mechanism 60.

[0110] In still some other possible designs, the synchronization mechanism 60 is connected to the first link 32 and the floating link 31. Specifically, the synchronization mechanism 60 can be connected to the first link 32 and the floating link 31 of the first rocker mechanism 30a, and is connected to the first link 32 and the floating link 31 of the second rocker mechanism 30b; it can also be that the synchronization mechanism 60 is connected to the first link 32 of the first rocker mechanism 30a and the floating link 31 of the second rocker mechanism 30b; it can also be that the synchronization mechanism 60 is connected to the floating link 31 of the first rocker mechanism 30a and the first link 32 of the second rocker mechanism 30b... and so on, which will not be listed one by one here. Taking the synchronization mechanism 60 being connected to the first link 32 and the floating link 31 of the first rocker mechanism 30a, and being connected to the first link 32 and the floating link 31 of the second rocker mechanism 30b as an example, during the shock absorption movement of the rocker mechanism 30 relative to the vehicle frame 20, the floating link 31 of the first rocker mechanism 30a and the floating link 31 of the second rocker mechanism 30b can move synchronously along the first direction Z under the action of the synchronization mechanism 60.

[0111] The shock absorption assembly 50 is mainly used to provide shock absorption for the two rocker mechanisms 30. In some possible designs, such as Figures 3 to 6As shown, the shock absorbing assembly 50 can be arranged on two rocker arm mechanisms 30. Alternatively, in some other possible designs, the shock absorbing assembly 50 can also be arranged on only one of the rocker arm mechanisms 30. When the shock absorbing assembly 50 is arranged on only one of the rocker arm mechanisms 30, since the synchronization mechanism 60 can make the floating links 31 of the two shock absorbing assemblies 50 move synchronously in the first direction Z, the floating links 31 of the two rocker arm mechanisms 30 can obtain the same shock absorbing effect, that is, the shock absorbing assembly 50 provides shock absorbing effect to the two rocker arm mechanisms 30.

[0112] The self-balancing unicycle 1000 provided in the embodiment of the present application is connected to the two rocker mechanisms 30 through the synchronization mechanism 60, and is used to make the floating links 31 of the two rocker mechanisms 30 move synchronously along the first direction Z. In this way, when the self-balancing unicycle 1000 is traveling on a bumpy road with poor flatness or is impacted by an external force, so that the two rocker mechanisms 30 perform shock-absorbing movement relative to the frame 20, even if the user's pedaling force on the pedals 40 on the two rocker mechanisms 30 is different, under the action of the synchronization mechanism 60, the movement of the floating links 31 of the two rocker mechanisms 30 in the first direction Z can still be synchronized, so that the movement stroke of the floating links 31 of the two rocker mechanisms 30 in the first direction Z is the same. It can be understood that at this time, the two rocker mechanisms 30 can perform synchronous shock-absorbing movement, that is, the shock-absorbing effect provided by the shock-absorbing assembly 50 to the two rocker mechanisms 30 is the same and balanced, that is, the shock-absorbing effect obtained by the two rocker mechanisms 30 is the same and balanced. In this way, the self-balancing unicycle 1000 has better balancing performance, thereby providing a very stable support to the user.

[0113] It can be understood that when the self-balancing unicycle 1000 is in use, the two rocker mechanisms 30 can move up and down synchronously in the first direction Z through the setting of the synchronization mechanism 60, thereby improving the balance performance and user experience of the self-balancing unicycle 1000, and also improving the safety performance.

[0114] like Figures 3 to 6 As shown in the figure, and in combination with other figures, the synchronization mechanism 60 is disposed on one side of the wheel 10 along the first direction Z. When the first direction Z is a vertical direction, the synchronization mechanism 60 may be located above the wheel 10 .

[0115] In some embodiments, please refer to Figures 1 to 6 The wheel 10 has a first center line L. The first center line L is perpendicular to the second direction Y and substantially parallel to the first direction Z. The first center line L intersects the axle 12 of the wheel 10 , such that the first center line L passes through the midpoint of the wheel 10 .

[0116] The two rocker arm mechanisms 30 are symmetrically arranged with respect to the first center line L. Specifically, the first link 32 of the first rocker arm mechanism 30a and the first link 32 of the second rocker arm mechanism 30b are symmetrically arranged with respect to the first center line L, the second link 33 of the first rocker arm mechanism 30a and the second link 33 of the second rocker arm mechanism 30b are symmetrically arranged with respect to the first center line L, and the floating link 31 of the first rocker arm mechanism 30a and the floating link 31 of the second rocker arm mechanism 30b are symmetrically arranged with respect to the first center line L.

[0117] Based on this, during the shock absorption movement of the rocker arm mechanism 30 relative to the vehicle frame 20, under the action of the synchronization mechanism 60, the floating links 31 of the first rocker arm mechanism 30a and the second rocker arm mechanism 30b can move synchronously along the first direction Z. Moreover, the movement trajectories of the floating link 31 of the first rocker arm mechanism 30a and the floating link 31 of the second rocker arm mechanism 30b are axisymmetric with respect to the first center line L. Specifically, the floating link 31 of the first rocker arm mechanism 30a and the floating link 31 of the second rocker arm mechanism 30b can move synchronously towards each other or move synchronously away from each other along the second direction Y. Also, the movement trajectories of the first link 32 of the first rocker arm mechanism 30a and the first link 32 of the second rocker arm mechanism 30b are also axisymmetric with respect to the first center line L. Specifically, the first link 32 of the first rocker arm mechanism 30a and the first link 32 of the second rocker arm mechanism 30b can rotate synchronously towards each other or rotate synchronously away from each other. Also, the movement trajectories of the second link 33 of the first rocker arm mechanism 30a and the second link 33 of the second rocker arm mechanism 30b are also axisymmetric with respect to the first center line L. Specifically, the second link 33 of the first rocker arm mechanism 30a and the second link 33 of the second rocker arm mechanism 30b can rotate synchronously towards each other or rotate synchronously away from each other.

[0118] As an example, in Figure 5 and Figure 6 view, the first direction Z is approximately the vertical direction, and the synchronization mechanism 60 is located above the wheel 10 along the first direction Z. In Figure 5In the view of, during the shock absorption movement of the swing arm mechanism 30 relative to the vehicle frame 20, when the first link 32 of the first swing arm mechanism 30a swings clockwise, the floating link 31 of the first swing arm mechanism 30a can move upward in the first direction Z. Under the action of the synchronization mechanism 60, the first link 32 of the second swing arm mechanism 30b swings counterclockwise, so that the floating link 31 of the second swing arm mechanism 30b also moves upward in the first direction Z. On the contrary, when the first link 32 of the first swing arm mechanism 30a swings counterclockwise, the floating link 31 of the first swing arm mechanism 30a can move downward in the first direction Z. Under the action of the synchronization mechanism 60, the first link 32 of the second swing arm mechanism 30b swings clockwise, so that the floating link 31 of the second swing arm mechanism 30b also moves downward in the first direction Z. Moreover, the swinging trajectory of the first link 32 of the first swing arm mechanism 30a and the swinging trajectory of the first link 32 of the second swing arm mechanism 30b are axisymmetric with respect to the first center line L. In this way, the overall movement trajectories of the two swing arm mechanisms 30 are axisymmetric with respect to the first center line L, and the movements of the floating links 31 of the two swing arm mechanisms 30 in the first direction Z are synchronized.

[0119] In some embodiments, please refer to Figures 3 to 6 together and in combination with other drawings. The vehicle frame 20 includes a connecting member 22 and two sets of frame bodies 21, and the two sets of frame bodies 21 are respectively arranged on opposite sides of the wheel 10 along the second direction Y. The connecting member 22 is located on one side of the wheel 10 along the first direction Z and connects the two sets of frame bodies 21.

[0120] The frame body 21 is assembled to the wheel 10.

[0121] Among them, in some possible designs, as Figures 3 to 6 shown, the end of the first link 32 away from the floating link 31 is rotatably connected to the connecting member 22 through a first rotating shaft 70. Or, in some other possible designs, please refer to Figures 11 to 17 together, the end of the first link 32 away from the floating link 31 is rotatably connected to the frame body 21 through a first rotating shaft 70.

[0122] The end of the second link 33 away from the floating link 31 is rotatably connected to the frame body 21 through a third rotating shaft 100.

[0123] Among them, one set of frame bodies 21 may include one frame body 21 or multiple frame bodies 21. Among them, when one set of frame bodies 21 includes multiple frame bodies 21, the multiple frame bodies 21 of one set are spaced apart along the third direction X.

[0124] As an example, when the self-balancing unicycle 1000 is in use, the first direction Z is substantially the vertical direction, and the connecting member 22 is located above the wheel 10 along the first direction Z.

[0125] By setting two sets of frame bodies 21 and connecting members 22, the two sets of frame bodies 21 are connected by the connecting members 22, so that the vehicle frame 20 is roughly in an inverted U shape. With such a setting, the structural stability of the vehicle frame 20 can be improved, and then the assembly stability of the swing arm mechanism 30 on the vehicle frame 20 can be improved, and further the balance performance of the self-balancing unicycle 1000 can be improved.

[0126] In some embodiments, please refer to Figures 3 to 7 together and in combination with other drawings. Among them, Figure 7 is Figure 4 an enlarged view of the A position in the self-balancing unicycle 1000 shown. The synchronization mechanism 60 can be a first synchronization mechanism 60a. The first synchronization mechanism 60a includes a first gear 61a and a second gear 62a. The first gear 61a and the second gear 62a are respectively arranged on the first connecting rods 32 of the two swing arm mechanisms 30 and are meshed with each other.

[0127] The first gear 61a is arranged at one end of the first connecting rod 32 of the first swing arm mechanism 30a away from the floating connecting rod 31, so that the first gear 61a can rotate around the first rotating shaft 70 along with the first connecting rod 32 of the first swing arm mechanism 30a. The second gear 62a is arranged at one end of the first connecting rod 32 of the second swing arm mechanism 30b away from the floating connecting rod 31, so that the second gear 62a can rotate around the first rotating shaft 70 along with the first connecting rod 32 of the second swing arm mechanism 30b.

[0128] By adopting the above technical solution, in the views of Figure 5 and Figure 6 , during the shock absorption movement of the swing arm mechanism 30 relative to the vehicle frame 20, the first connecting rod 32 of the first swing arm mechanism 30a and the first gear 61a thereon can swing clockwise. At this time, the first gear 61a and the second gear 62a are engaged in motion, so that the second gear 62a and the first connecting rod 32 on the second swing arm mechanism 30b swing counterclockwise, so that the swings of the first connecting rods 32 of the two swing arm mechanisms 30 are symmetrical with respect to the first center line L axis, and further the movements of the floating connecting rods 31 of the two swing arm mechanisms 30 in the first direction Z are synchronized. In this way, the synchronous shock absorption movement of the two swing arm mechanisms 30 is realized, the shock absorption effect is balanced, and the height difference between the pedals 40 on the two swing arm mechanisms 30 in the first direction Z can always be within a stable range, or even always be the same value. Thus, the self-balancing unicycle 1000 has better balance performance, and thus can provide a very stable supporting effect for the user.

[0129] Among them, in Figure 5 and Figure 6In the view, when the first gear 61a swings clockwise, the second gear 62a swings counterclockwise. At this time, the floating connecting rods 31 of the two rocker mechanisms 30 can move upward along the first direction Z. When the first gear 61a swings counterclockwise, the second gear 62a swings clockwise. At this time, the floating connecting rods 31 of the two rocker mechanisms 30 can move downward substantially along the first direction Z.

[0130] In some embodiments, please refer to Figure 8 and Figure 9 together, and in combination with other drawings. Among them, Figure 8 FIG. is a partial three-dimensional structure diagram of the self-balancing unicycle 1000 provided in some other embodiments of the present application. Figure 9 is Figure 8 a front view of the self-balancing unicycle 1000 shown, specifically, a schematic diagram of the self-balancing unicycle 1000 from the perspective of the third direction X. The synchronization mechanism 60 can be the second synchronization mechanism 60b. The second synchronization mechanism 60b includes a first moving member 61b, a third connecting rod 62b, and a fourth connecting rod 63b. The first moving member 61b is used for reciprocating movement along the first direction Z. The third connecting rod 62b is movably connected to the first moving member 61b, and the fourth connecting rod 63b is movably connected to the first moving member 61b. The fourth connecting rod 63b and the third connecting rod 62b are sequentially distributed along the second direction Y. One end of the third connecting rod 62b away from the first moving member 61b and one end of the fourth connecting rod 63b away from the first moving member 61b are respectively movably connected to the first connecting rods 32 of the two rocker mechanisms 30.

[0131] Specifically, as shown in Figure 8 and Figure 9 , the opposite ends of the third connecting rod 62b are respectively movably connected to the first moving member 61b and the first connecting rod 32 of the first rocker mechanism 30a, and the opposite ends of the fourth connecting rod 63b are respectively movably connected to the first moving member 61b and the first connecting rod 32 of the second rocker mechanism 30b.

[0132] Based on the above structure, in Figure 9In the view of [description], during the shock absorption movement of the rocker arm mechanism 30 relative to the vehicle frame 20, when the first link 32 of the first rocker arm mechanism 30a swings clockwise, the first link 32 of the first rocker arm mechanism 30a pushes the third link 62b upward, so that the first moving part 61b moves upward along the first direction Z under the drive of the third link 62b. The fourth link 63b moves upward under the drive of the first moving part 61b, so that the first link 32 of the second rocker arm mechanism 30b swings counterclockwise under the drive of the fourth link 63b. In this way, the floating links 31 of the two rocker arm mechanisms 30 move upward substantially along the first direction Z. On the contrary, when the first link 32 of the first rocker arm mechanism 30a swings counterclockwise, the first link 32 of the first rocker arm mechanism 30a pulls the third link 62b downward, so that the first moving part 61b moves downward along the first direction Z under the drive of the third link 62b. The fourth link 63b moves downward under the drive of the first moving part 61b, so that the first link 32 of the second rocker arm mechanism 30b swings clockwise under the drive of the fourth link 63b. In this way, the floating links 31 of the two rocker arm mechanisms 30 move downward substantially along the first direction Z.

[0133] With such a setting, the swing of the first links 32 of the two rocker arm mechanisms 30 is symmetrical with respect to the first center line L, and further, the movement of the floating links 31 of the two rocker arm mechanisms 30 in the first direction Z is synchronized. In this way, the synchronous shock absorption movement of the two rocker arm mechanisms 30 can be realized, the shock absorption effect is balanced, and the height difference of the pedals 40 on the two rocker arm mechanisms 30 in the first direction Z can always be within a stable range, or even always be the same value. Thus, the self-balancing unicycle 1000 has better balance performance, and thus can provide a very stable supporting effect for the user.

[0134] It should be noted here that the length of the third link 62b is the same as the length of the fourth link 63b, so that the third link 62b and the fourth link 63b are symmetrical with respect to the first center line L. Based on this, the movement trajectories of the third link 62b and the fourth link 63b are also symmetrical with respect to the first center line L.

[0135] It should be noted here that, as Figure 8 and Figure 9As shown, the opposite ends of the third link 62b are respectively rotatably connected to the first moving member 61b and the first link 32 of one of the rocker mechanisms 30, and the opposite ends of the fourth link 63b are respectively rotatably connected to the first moving member 61b and the first link 32 of the other rocker mechanism 30. Moreover, the rotation axes between the third link 62b and the first moving member 61b, between the third link 62b and the first link 32, between the fourth link 63b and the first moving member 61b, and between the fourth link 63b and the first link 32 are parallel to each other and parallel to the third direction X. With such a setting, it is convenient to make the movement trajectories of the third link 62b and the fourth link 63b symmetric with respect to the first center line L, and further convenient to make the swings of the first links 32 of the two rocker mechanisms 30 symmetric with respect to the first center line L, thereby realizing the synchronous shock absorption movement of the two rocker mechanisms 30.

[0136] In some embodiments, please refer to Figures 8 to 10 together and in combination with other drawings. Figure 10 is Figure 8 an exploded view of the synchronous mechanism 60 and the first guiding portion 221 of the self-balancing unicycle 1000 provided. The first moving member 61b is provided with a first guiding groove 601b, and the first guiding groove 601b extends along the first direction Z. The frame 20 is provided with a first guiding portion 221, and the first guiding portion 221 is inserted into the first guiding groove 601b along the first direction Z and can slide along the first guiding groove 601b.

[0137] Wherein, the first guiding portion 221 can be arranged on the connecting member 22 of the frame 20.

[0138] It can be understood that when the first link 32 of one of the rocker mechanisms 30 swings, the first moving member 61b will move along the first direction Z under the drive of the third link 62b. At this time, the first guiding portion 221 moves along the first guiding groove 601b in the first direction Z, so that the fourth link 63b can drive the first link 32 of the other rocker mechanism 30 to swing, thereby realizing the synchronous movement of the floating links 31 of the two rocker mechanisms 30 in the first direction Z and realizing the synchronous shock absorption movement of the two rocker mechanisms 30.

[0139] By adopting the above technical solution, the first moving member 61b can move along the first direction Z in a guiding manner, thereby facilitating the realization of the synchronous shock absorption movement of the two rocker mechanisms 30.

[0140] In some embodiments, the first moving member 61b includes a moving portion (not shown in the figures) and a second guiding portion (not shown in the figures) provided on the moving portion. Both the third link 62b and the fourth link 63b are movably connected to the moving portion. The vehicle frame 20 is provided with a second guiding groove (not shown in the figures), and the second guiding groove extends along the first direction Z. The second guiding portion is inserted into the second guiding groove along the first direction Z and can slide along the second guiding groove.

[0141] It can be understood that when the first link 32 of one of the rocker mechanisms 30 swings, the first moving member 61b will move along the first direction Z under the drive of the third link 62b. At this time, the second guiding portion moves along the second guiding groove in the first direction Z, so that the fourth link 63b can drive the first link 32 of the other rocker mechanism 30 to swing, thereby realizing the synchronous movement of the floating links 31 of the two rocker mechanisms 30 in the first direction Z and realizing the synchronous shock absorption movement of the two rocker mechanisms 30.

[0142] By adopting the above technical solution, the first moving member 61b can move along the first direction Z in a guiding manner, thus facilitating the realization of the synchronous shock absorption movement of the two rocker mechanisms 30.

[0143] It should be supplemented here that in the above solution of the first moving member 61b moving along the first direction Z in a guiding manner, at least one of them can be selected and set in the embodiments of the present application.

[0144] In some embodiments, please refer to Figures 11 to 15 together with other drawings. Figure 11 FIG. is a partial perspective view of the self-balancing unicycle 1000 provided by some other embodiments of the present application. Figure 12 is Figure 11 the front view of the self-balancing unicycle 1000 shown in Figure 11 specifically, it is a schematic view of the self-balancing unicycle 1000 shown in Figure 13 FIG. is a partial perspective view of the self-balancing unicycle 1000 in one state provided by some other embodiments of the present application. Figure 14 is Figure 13 the front view of the self-balancing unicycle 1000 shown in Figure 13 specifically, it is a schematic view of the self-balancing unicycle 1000 shown in Figure 15The front view of the self-balancing unicycle 1000 provided in some other embodiments of the present application, specifically, it is a schematic diagram of the self-balancing unicycle 1000 viewed from the third direction X. The two rocker mechanisms 30 are respectively a first rocker mechanism 30a and a second rocker mechanism 30b. The synchronization mechanism 60 can be a third synchronization mechanism 60c, and the third synchronization mechanism 60c includes a first pressing member 61c, a second pressing member 62c, a first guide wheel 63c, a third pressing member 64c, a fourth pressing member 65c, and a second guide wheel 66c.

[0145] The first pressing member 61c and the second pressing member 62c are sequentially distributed along the first direction Z, and the first pressing member 61c is arranged on the floating link 31 of the first rocker mechanism 30a, and the second pressing member 62c is arranged on the floating link 31 of the second rocker mechanism 30b.

[0146] The first guide wheel 63c is arranged between the first pressing member 61c and the second pressing member 62c along the first direction Z for transmitting the pressing force between the first pressing member 61c and the second pressing member 62c. Specifically, the first guide wheel 63c can transmit the pressing force of the first pressing member 61c to the second pressing member 62c, or transmit the pressing force of the second pressing member 62c to the first pressing member 61c. Among them, the first guide wheel 63c can press against the first pressing member 61c along the first direction Z; or, the first guide wheel 63c can press against the second pressing member 62c along the first direction Z; or, the first guide wheel 63c can press against both the first pressing member 61c and the second pressing member 62c along the first direction Z.

[0147] The first guide wheel 63c can slide along the side of the first pressing member 61c facing the second pressing member 62c; or, the first guide wheel 63c can slide along the side of the second pressing member 62c facing the first pressing member 61c; or, the first guide wheel 63c can slide along the side of the first pressing member 61c facing the second pressing member 62c and the side of the second pressing member 62c facing the first pressing member 61c.

[0148] The third pressing member 64c and the fourth pressing member 65c are sequentially distributed along the first direction Z, and the third pressing member 64c is arranged on the floating link 31 of the first rocker mechanism 30a, and the fourth pressing member 65c is arranged on the floating link 31 of the second rocker mechanism 30b.

[0149] The second guide wheel 66c is disposed between the third pressing member 64c and the fourth pressing member 65c along the first direction Z for transmitting the pressing force between the third pressing member 64c and the fourth pressing member 65c. Specifically, the second guide wheel 66c can transmit the pressing force of the third pressing member 64c to the fourth pressing member 65c, or transmit the pressing force of the fourth pressing member 65c to the third pressing member 64c. Among them, the second guide wheel 66c presses against the third pressing member 64c along the first direction Z; or, the second guide wheel 66c presses against the fourth pressing member 65c along the first direction Z; or, the second guide wheel 66c presses against both the third pressing member 64c and the fourth pressing member 65c along the first direction Z.

[0150] The second guide wheel 66c can slide along the side of the third pressing member 64c facing the fourth pressing member 65c, or the second guide wheel 66c can slide along the side of the fourth pressing member 65c facing the third pressing member 64c, or the second guide wheel 66c can slide along both the side of the third pressing member 64c facing the fourth pressing member 65c and the side of the fourth pressing member 65c facing the third pressing member 64c.

[0151] Among them, in the first direction Z, the distribution directions of the first pressing member 61c and the second pressing member 62c are opposite to the distribution directions of the third pressing member 64c and the fourth pressing member 65c.

[0152] Among them, the first pressing member 61c and the third pressing member 64c are spaced apart along the third direction X, and the second pressing member 62c and the fourth pressing member 65c are spaced apart along the third direction X.

[0153] As an example, taking Figures 11 to 15 as an example, the first direction Z is the vertical direction. In the first direction Z, the first pressing member 61c is above the second pressing member 62c, and the third pressing member 64c is below the fourth pressing member 65c.

[0154] Based on the above structure, in Figure 14In the view of, during the shock absorption movement of the rocker arm mechanism 30 relative to the vehicle frame 20, when the first link 32 of the first rocker arm mechanism 30a swings clockwise, the floating link 31 of the first rocker arm mechanism 30a can move upward approximately along the first direction Z under the drive of the first link 32. The first pressing member 61c and the third pressing member 64c can swing clockwise under the drive of the floating link 31 of the first rocker arm mechanism 30a. At this time, the first guide wheel 63c can transmit the pressing force of the first pressing member 61c to the second pressing member 62c, so that under the force transmission among the first pressing member 61c, the second pressing member 62c and the first guide wheel 63c, the second pressing member 62c swings counterclockwise, so that the floating link of the second rocker arm mechanism 30b can also move upward along the first direction Z, so that the floating links 31 of the first rocker arm mechanism 30a and the second rocker arm mechanism 30b move upward synchronously along the first direction Z. Conversely, in Figure 15 In the view of, when the first link 32 of the first rocker arm mechanism 30a swings counterclockwise and the floating link 31 of the first rocker arm mechanism 30a can move downward approximately along the first direction Z under the drive of the first link 32, the first pressing member 61c and the third pressing member 64c can swing counterclockwise under the drive of the floating link 31 of the first rocker arm mechanism 30a. At this time, the second guide wheel 66c can transmit the pressing force of the third pressing member 64c to the fourth pressing member 65c, so that under the force transmission among the third pressing member 64c, the fourth pressing member 65c and the second guide wheel 66c, the fourth pressing member 65c swings clockwise, so that the floating link 31 of the second rocker arm mechanism 30b can also move downward along the first direction Z, so that the floating links 31 of the first rocker arm mechanism 30a and the second rocker arm mechanism 30b move downward synchronously along the first direction Z. Among them, during the process that the synchronization mechanism 60 makes the two rocker arm mechanisms 30 perform synchronous shock absorption movement, the first guide wheel 63c slides along at least one of the side of the first pressing member 61c facing the second pressing member 62c and the side of the second pressing member 62c facing the first pressing member 61c, and the second guide wheel 66c slides along at least one of the side of the third pressing member 64c facing the fourth pressing member 65c and the side of the fourth pressing member 65c facing the third pressing member 64c, so that the force transmission between the first pressing member 61c and the second pressing member 62c and between the third pressing member 64c and the fourth pressing member 65c is very flexible.

[0155] In this way, the synchronous movement of the floating links 31 of the two rocker arm mechanisms 30 in the first direction Z can be realized, that is, the synchronous shock absorption movement of the two rocker arm mechanisms 30 in the first direction Z can be realized, and then the height difference of the pedals 40 on the two rocker arm mechanisms 30 in the first direction Z can always be within a stable range, or even always be the same value. Thus, the self-balancing unicycle 1000 has better balance performance, and thus can provide a very stable supporting effect for the user.

[0156] In some embodiments, please refer to Figure 11 and Figure 12 , and in combination with other drawings. A first sliding groove (not shown in the figure) is provided on one side of the first pressing member 61c facing the second pressing member 62c; alternatively, a first sliding groove (not shown in the figure) is provided on one side of the second pressing member 62c facing the first pressing member 61c; alternatively, first sliding grooves (not shown in the figure) are provided on both the side of the first pressing member 61c facing the second pressing member 62c and the side of the second pressing member 62c facing the first pressing member 61c. And, the first guide wheel 63c is slidably disposed in the first sliding groove.

[0157] It can be understood that during the process of the synchronization mechanism 60 synchronously damping the movement of the two rocker mechanisms 30, the first guide wheel 63c slides along the first sliding groove.

[0158] Wherein, the first guide wheel 63c can be limited in the first sliding groove along the third direction X, so as to prevent the first guide wheel 63c from coming out.

[0159] In other embodiments, please refer to Figures 13 to 15 , and in combination with other drawings. The first guide wheel 63c is rotatably connected to the first pressing member 61c, and can slide and rotate along the side of the second pressing member 62c facing the first pressing member 61c. Alternatively, the first guide wheel 63c is rotatably connected to the second pressing member 62c, and can slide and rotate along the side of the first pressing member 61c facing the second pressing member 62c.

[0160] With such a setting, the force transmission between the first pressing member 61c and the second pressing member 62c is very flexible. Thus, it is convenient for the two rocker mechanisms 30 to perform synchronous damping movement in the first direction Z. Furthermore, it is convenient for the height difference between the pedals 40 on the two rocker mechanisms 30 to always be within a stable range in the first direction Z, or even always be the same value. Thus, the self-balancing unicycle 1000 has better balance performance, and thus can provide a very stable supporting effect for the user.

[0161] In some embodiments, please refer to Figure 11 and Figure 12 , and in combination with other drawings. A second sliding groove (not shown in the figure) is provided on one side of the third pressing member 64c facing the fourth pressing member 65c; alternatively, a second sliding groove (not shown in the figure) is provided on one side of the fourth pressing member 65c facing the third pressing member 64c; alternatively, second sliding grooves (not shown in the figure) are provided on both the side of the third pressing member 64c facing the fourth pressing member 65c and the side of the fourth pressing member 65c facing the third pressing member 64c. And, the second guide wheel 66c is slidably disposed in the second sliding groove.

[0162] Understandably, during the process of the synchronization mechanism 60 synchronously damping the movement of the two rocker mechanisms 30, the second guide wheel 66c slides along the second chute.

[0163] Among them, the second guide wheel 66c can be limited in the second chute along the third direction X, so as to prevent the second guide wheel 66c from coming out.

[0164] In some other embodiments, please refer to Figures 13 to 15 together with other drawings. The second guide wheel 66c is rotatably connected to the third pressing member 64c, and can slide and rotate along one side of the fourth pressing member 65c facing the third pressing member 64c. Alternatively, the second guide wheel 66c is rotatably connected to the fourth pressing member 65c, and can slide and rotate along one side of the third pressing member 64c facing the fourth pressing member 65c.

[0165] With such a setting, the force transmission between the third pressing member 64c and the fourth pressing member 65c is very flexible. In this way, it is convenient for the two rocker mechanisms 30 to perform synchronous damping movement in the first direction Z. Furthermore, it is convenient for the height difference between the pedals 40 on the two rocker mechanisms 30 in the first direction Z to always be within a stable range, or even always be the same value. Thus, the self-balancing unicycle 1000 has better balance performance, and thus can provide a very stable supporting effect for the user.

[0166] Among them, the first guide wheel 63c can be a pulley. The first guide wheel 63c can also be a gear, and then one side of the first pressing member 61c facing the second pressing member 62c and / or one side of the second pressing member 62c facing the first pressing member 61c can have a rack that cooperates with the first guide wheel 63c.

[0167] The second guide wheel 66c can be a pulley. The second guide wheel 66c can also be a gear, and then one side of the third pressing member 64c facing the fourth pressing member 65c and / or one side of the fourth pressing member 65c facing the third pressing member 64c can have a rack that cooperates with the second guide wheel 66c.

[0168] In some embodiments, please refer to Figure 11 and Figure 12 together with other drawings. In the cross-section perpendicular to the first rotating shaft 70 of the self-balancing unicycle 1000, the midpoint connection lines of the first rotating shaft 70, the second rotating shaft 34, the third rotating shaft 100, and the fourth rotating shaft 35 can form a parallelogram.

[0169] Based on this, in the cross-section perpendicular to the first rotating shaft 70 of the self-balancing unicycle 1000: on the basis that the first guide wheel 63c is not rotatably connected to the first pressing member 61c or the second pressing member 62c, the first chute is basically linearly extended along the second direction Y, as shown in Figure 11 and Figure 12As shown; on the basis that the first guide wheel 63c is rotatably connected to the first pressing member 61c or the second pressing member 62c, one of the first pressing member 61c and the second pressing member 62c that is not rotatably connected to the first guide wheel 63c extends linearly toward the other side.

[0170] Moreover, in a cross-section perpendicular to the first rotating shaft 70 of the self-balancing unicycle 1000: on the basis that the second guide wheel 66c is not rotatably connected to the third pressing member 64c or the fourth pressing member 65c, the second sliding groove extends linearly substantially along the second direction Y; on the basis that the second guide wheel 66c is rotatably connected to the third pressing member 64c or the fourth pressing member 65c, one of the third pressing member 64c and the fourth pressing member 65c that is not rotatably connected to the second guide wheel 66c extends linearly toward the other side.

[0171] In some embodiments, please refer to Figures 13 to 15 together and in combination with other drawings. In a cross-section perpendicular to the first rotating shaft 70 of the self-balancing unicycle 1000, the midpoint connection lines of the first rotating shaft 70, the second rotating shaft 34, the third rotating shaft 100, and the fourth rotating shaft 35 can form a non-parallelogram.

[0172] Based on this, in a cross-section perpendicular to the first rotating shaft 70 of the self-balancing unicycle 1000: on the basis that the first guide wheel 63c is not rotatably connected to the first pressing member 61c or the second pressing member 62c, the first sliding groove is arc-shaped; on the basis that the first guide wheel 63c is rotatably connected to the first pressing member 61c or the second pressing member 62c, one of the first pressing member 61c and the second pressing member 62c that is not rotatably connected to the first guide wheel 63c has an arc-shaped side facing the other side, as shown in Figure 14 and Figure 15 shown.

[0173] Moreover, in a cross-section perpendicular to the first rotating shaft 70 of the self-balancing unicycle 1000: on the basis that the second guide wheel 66c is not rotatably connected to the third pressing member 64c or the fourth pressing member 65c, the second sliding groove is arc-shaped; on the basis that the second guide wheel 66c is rotatably connected to the third pressing member 64c or the fourth pressing member 65c, one of the third pressing member 64c and the fourth pressing member 65c that is not rotatably connected to the second guide wheel 66c has an arc-shaped side facing the other side, as shown in Figure 14 and Figure 15 shown.

[0174] With such a setting, the movement of the floating connecting rod 31 is more flexible and can be better applied to complex usage environments.

[0175] It should be supplemented here that both a square and a rectangle belong to special parallelograms.

[0176] In some embodiments, please refer to Figures 16 to 18 together with other drawings. Among them, Figure 16 This is a partial three-dimensional structure diagram of the self-balancing unicycle 1000 provided by some other embodiments of the present application. Figure 17 is Figure 16 The front view of the self-balancing unicycle 1000 shown, specifically Figure 16 The schematic diagram of the self-balancing unicycle 1000 shown in the perspective view in the third direction X. Figure 18 is Figure 16 The exploded schematic diagram of the synchronization mechanism 60 of the self-balancing unicycle 1000 shown. The synchronization mechanism 60 can be the fourth synchronization mechanism 60d. The fourth synchronization mechanism 60d includes a first guide member 61d and a second guide member 62d. The first guide member 61d and the second guide member 62d are respectively arranged on the floating connecting rods 31 of the two rocker arm mechanisms 30. Specifically, the first guide member 61d is arranged on the floating connecting rod 31 of the first rocker arm mechanism 30a, and the second guide member 62d is arranged on the floating connecting rod 31 of the second rocker arm mechanism 30b.

[0177] In some possible designs, as Figure 18 shown, the first guide member 61d is provided with a third guide groove 601d. The third guide groove 601d extends along the second direction Y. At least part of the second guide member 62d is inserted into the third guide groove 601d along the second direction Y and can slide along the third guide groove 601d.

[0178] In some possible designs, as Figure 18 shown, the second guide member 62d is provided with a fourth guide groove 602d. The fourth guide groove 602d extends along the second direction Y. At least part of the first guide member 61d is inserted into the fourth guide groove 602d along the second direction Y and can slide along the fourth guide groove 602d.

[0179] It should be supplemented and explained here that the above-mentioned scheme in which the synchronization mechanism 60 has the third guide groove 601d and the scheme in which the synchronization mechanism 60 has the fourth guide groove 602d can be set at least alternatively. As an example, as Figure 19 shown, the synchronization mechanism 60 simultaneously sets the scheme with the third guide groove 601d and the scheme with the fourth guide groove 602d. Specifically, the fourth synchronization mechanism 60d is set to be multiple. The first guide member 61d of one of the fourth synchronization mechanisms 60d is provided with the third guide groove 601d, and at least part of the second guide member 62d is inserted into the third guide groove 601d along the second direction Y. The second guide member 62d of another fourth synchronization mechanism 60d is provided with the fourth guide groove 602d, and at least part of the first guide member 61d is inserted into the fourth guide groove 602d along the second direction Y.

[0180] Based on the above structure, in Figure 17In the view of, during the shock absorption movement of the swing arm mechanism 30 relative to the vehicle frame 20, when the first link 32 of the first swing arm mechanism 30a swings clockwise, the floating link 31 of the first swing arm mechanism 30a can move upward along the first direction Z under the drive of the first link 32. The first guide member 61d can swing clockwise under the drive of the floating link 31 of the first swing arm mechanism 30a. Under the drive of the first guide member 61d, the second guide member 62d drives the first link 32 of the second swing arm mechanism 30b to swing counterclockwise, so that the floating link 31 of the second swing arm mechanism 30b can also move upward along the first direction Z, so that the floating link 31 of the first swing arm mechanism 30a and the floating link 31 of the second swing arm mechanism 30b move upward synchronously along the first direction Z. Conversely, when the first link 32 of the first swing arm mechanism 30a swings counterclockwise and the floating link 31 of the first swing arm mechanism 30a can move downward along the first direction Z under the drive of the first link 32, the first guide member 61d can swing counterclockwise under the drive of the floating link 31 of the first swing arm mechanism 30a. Under the drive of the first guide member 61d, the second guide member 62d drives the first link 32 of the second swing arm mechanism 30b to swing clockwise, so that the floating link 31 of the second swing arm mechanism 30b can also move downward along the first direction Z, so that the floating link 31 of the first swing arm mechanism 30a and the floating link 31 of the second swing arm mechanism 30b move downward synchronously along the first direction Z.

[0181] Wherein, during the process that the synchronization mechanism 60 makes the two swing arm mechanisms 30 perform synchronous shock absorption movement, the second guide member 62d can slide along the third guide groove 601d. In addition, the first guide member 61d can also slide along the fourth guide groove 602d. In this way, the work of the synchronization mechanism 60 can be very flexible.

[0182] With such a setting, the synchronous movement of the two swing arm mechanisms 30 in the first direction Z can be realized, that is, the synchronous shock absorption movement of the two swing arm mechanisms 30 in the first direction Z can be realized. Then, the height difference of the pedals 40 on the two swing arm mechanisms 30 in the first direction Z can always be within a stable range, or even always be the same value. Thus, the self-balancing unicycle 1000 has better balance performance, and thus can provide a very stable supporting effect for the user.

[0183] Wherein, when multiple fourth synchronization mechanisms 60d are provided, the multiple fourth synchronization mechanisms 60d are sequentially distributed along the third direction X.

[0184] In some embodiments, please refer to Figure 11 , Figure 12 , Figure 16 , Figure 17 and Figure 19 , and in combination with other drawings. Wherein, Figure 19Stereoscopic structure diagram of the first shock absorber 51 of the self-balancing unicycle 1000 provided by some embodiments of the present application. The shock absorption assembly 50 includes a first shock absorber 51, and opposite ends of the first shock absorber 51 in the second direction Y are respectively connected to two rocker mechanisms 30.

[0185] With such a setting, during the shock absorption movement of the rocker mechanism 30, the first shock absorber 51 can provide a shock absorption effect for the two rocker mechanisms 30, thereby realizing the shock absorption movement of the two rocker mechanisms 30, enabling the two rocker mechanisms 30 to have a relatively balanced shock absorption effect, and further facilitating the synchronous shock absorption movement of the two rocker mechanisms 30. Thus, it is beneficial for the height difference between the pedals 40 on the two rocker mechanisms 30 in the first direction Z to always be within a stable range, or even always be the same value. Therefore, the self-balancing unicycle 1000 has better balance performance, and thus can provide a very stable supporting effect for the user.

[0186] As an example, as Figure 11 , Figure 12 , Figure 16 and Figure 17 shown, opposite ends of the first shock absorber 51 are respectively connected to the first link 32 of the two rocker mechanisms 30.

[0187] In some embodiments, opposite ends of the first shock absorber 51 are rotatably connected to the two rocker mechanisms 30. Specifically, opposite ends of the first shock absorber 51 are rotatably connected to the first link 32 of the two rocker mechanisms 30. With such a setting, the first shock absorber 51 can flexibly provide balanced shock absorption for the two rocker mechanisms 30.

[0188] In some embodiments, please refer to Figure 19 , and in combination with other drawings. The first shock absorber 51 includes a second moving member 511, a third moving member 512, and a first elastic member 513. The second moving member 511 and the third moving member 512 can move towards or away from each other, and the first elastic member 513 elastically abuts against the second moving member 511 and the third moving member 512. Among them, the first elastic member 513 can be an elastic structure such as a spring or a spring sheet.

[0189] As an example, as Figure 11 , Figure 12 , Figure 16 , Figure 17 and Figure 19 shown, the second moving member 511 is connected to the first link 32 of the first rocker mechanism 30a, and the third moving member 512 is connected to the first link 32 of the second rocker mechanism 30b. Specifically, the second moving member 511 is rotatably connected to the first link 32 of the first rocker mechanism 30a, and the third moving member 512 is rotatably connected to the first link 32 of the second rocker mechanism 30b.

[0190] In some embodiments, please refer to Figures 3 to 6 , Figure 8 and Figure 9 and Figure 20 , and in combination with other attached drawings. Among them, Figure 20 is a three-dimensional structural diagram of the second shock absorber 52 of the self-balancing unicycle 1000 provided by some embodiments of the present application. The shock absorption assembly 50 includes the second shock absorber 52.

[0191] Among them, there are various ways for the rocker arm mechanism 30 to set the position of the second shock absorber 52:

[0192] In some possible designs, as Figures 3 to 6 shown, the above-mentioned second shock absorber 52 is connected between the frame 20 and the floating link 31. Specifically, the opposite ends of the second shock absorber 52 are respectively connected to the frame 20 and the floating link 31.

[0193] With such a setting, the second shock absorber 52 can directly provide a shock absorption effect to the floating link 31, and thus can indirectly provide a shock absorption effect to the first link 32 and the second link 33, so as to realize the shock absorption movement of the entire rocker arm mechanism 30.

[0194] In some other possible designs, as Figure 8 and Figure 9 shown, the above-mentioned second shock absorber 52 is connected between the first link 32 and the floating link 31. Specifically, the opposite ends of the second shock absorber 52 are respectively connected to the first link 32 and the floating link 31.

[0195] With such a setting, during the shock absorption movement of the rocker arm mechanism 30, the second shock absorber 52 can provide a shock absorption effect to the first link 32 and the floating link 31, and further provide a shock absorption effect to the second link 33, so as to realize the shock absorption movement of the entire rocker arm mechanism 30.

[0196] In still some other possible designs, the above-mentioned second shock absorber 52 is connected between the second link 33 and the floating link 31. Specifically, the opposite ends of the second shock absorber 52 are respectively connected to the second link 33 and the floating link 31.

[0197] With such a setting, during the shock absorption movement of the rocker arm mechanism 30, the second shock absorber 52 can provide a shock absorption effect to the second link 33 and the floating link 31, and further provide a shock absorption effect to the first link 32, so as to realize the shock absorption movement of the entire rocker arm mechanism 30.

[0198] In yet some other possible designs, the above-mentioned second shock absorber 52 is connected between the frame 20 and the first link 32. Specifically, the opposite ends of the second shock absorber 52 are respectively connected to the frame 20 and the first link 32.

[0199] With such a setting, during the shock-absorbing movement of the rocker arm mechanism 30, the second shock absorber 52 can provide shock absorption for the vehicle frame 20 and the first connecting rod 32, and further provide shock absorption for the second connecting rod 33, thereby realizing the shock-absorbing movement of the entire rocker arm mechanism 30.

[0200] In some other possible designs, a second shock absorber 52 is connected between the vehicle frame 20 and the second connecting rod 33. Specifically, the opposite ends of the second shock absorber 52 are respectively connected to the vehicle frame 20 and the second connecting rod 33.

[0201] With such a setting, during the shock-absorbing movement of the rocker arm mechanism 30, the second shock absorber 52 can provide shock absorption for the vehicle frame 20 and the second connecting rod 33, and further provide shock absorption for the first connecting rod 32, thereby realizing the shock-absorbing movement of the entire rocker arm mechanism 30.

[0202] Among them, the second shock absorber 52 refers to a component or assembly that can provide shock absorption. Specifically, the second shock absorber 52 can have a buffering effect, thereby providing shock absorption for the rocker arm mechanism 30 through the buffering effect.

[0203] In some embodiments, please refer to Figure 20 and in combination with other drawings. Among them, the second shock absorber 52 can be a spring pin. Specifically, the second shock absorber 52 includes a fourth moving part 521, a fifth moving part 522, and a second elastic part 523. The fourth moving part 521 and the fifth moving part 522 can move towards or away from each other, and the second elastic part 523 elastically abuts against the fourth moving part 521 and the fifth moving part 522. Among them, the second elastic part 523 can be a spring, a spring sheet or other elastic structures.

[0204] As an example, as Figures 3 to 6 shown, the fourth moving part 521 is connected to the vehicle frame 20, and the fifth moving part 522 is connected to the floating connecting rod 31. Specifically, the fourth moving part 521 is rotatably connected to the vehicle frame 20, and the fifth moving part 522 is rotatably connected to the floating connecting rod 31. With such a setting, the second shock absorber 52 can flexibly provide shock absorption for the rocker arm mechanism 30.

[0205] As another example, as Figure 8 and Figure 9 shown, the fourth moving part 521 is connected to the first connecting rod 32, and the fifth moving part 522 is connected to the floating connecting rod 31. Specifically, the fourth moving part 521 is rotatably connected to the first connecting rod 32, and the fifth moving part 522 is rotatably connected to the floating connecting rod 31. With such a setting, the second shock absorber 52 can flexibly provide shock absorption for the rocker arm mechanism 30.

[0206] It should be further noted here that among the multiple positions of the swing arm mechanism 30 for setting the second shock absorber 52, at least one position can be set with the second shock absorber 52, which can be specifically set according to the actual situation.

[0207] It should also be further noted here that among the two swing arm mechanisms 30, only one of the swing arm mechanisms 30 can be set with the second shock absorber 52, or both swing arm mechanisms 30 can be set with the second shock absorber 52.

[0208] As an example, as Figures 3 to 6 、 Figure 8 and Figure 9 shown, both swing arm mechanisms 30 are set with the second shock absorber 52, and the second shock absorbers 52 of the two swing arm mechanisms 30 are symmetrically arranged with respect to the first center line L. In this way, the shock absorption effects on the relative two sides of the self-balancing unicycle 1000 along the second direction Y can be further balanced, and thus the balance performance and use stability of the self-balancing unicycle 1000 can be improved.

[0209] In some embodiments, please refer to Figure 1 and in combination with other drawings. The floating link 31 and the wheel 10 are arranged along the second direction Y, and the second direction Y is parallel to the axle 12 of the wheel 10.

[0210] The self-balancing unicycle 1000 further includes a leg rest plate 90, and the leg rest plate 90 is arranged on the side of the floating link 31 away from the wheel 10 along the second direction Y.

[0211] With such an arrangement, when the user steps on the pedal 40, the user's leg can lean against the leg rest plate 90, which can improve the use convenience of the self-balancing unicycle 1000.

[0212] In some embodiments, as Figure 1 shown and in combination with other drawings, the self-balancing unicycle 1000 may further include an electric control system 80. The electric control system 80 includes a battery 81, a control device 82 and a motor. The motor is arranged on the wheel 10. The control device 82 is electrically connected to the motor. The battery 81 is arranged on the floating link 31 and is electrically connected to the control device 82.

[0213] By the control device 82 being electrically connected to the motor and the battery 81 respectively, the control device 82 can control the battery 81 to supply power to the motor and can also control the motor to work to realize the driving of the self-balancing unicycle 1000. By arranging the battery 81 on the floating link 31 of the swing arm mechanism 30, the unsprung mass can be reduced, and the shock absorption efficiency can be improved.

[0214] In addition, the control device 82 is also used to sense the overall attitude of the self-balancing unicycle 1000, including the pitch and roll directions of the self-balancing unicycle 1000, etc. The control device 82 is equipped with sensors such as gyroscopes and accelerometers for sensing the attitude.

[0215] Among them, the control device 82 can be arranged on the frame 20, specifically on the top of the frame 20. Of course, the control device 82 can also be arranged on the synchronization mechanism 60 or other structures. The control device 82 can include but is not limited to a control circuit board.

[0216] Among them, the motor can be built into the wheel 10.

[0217] The above are only the preferred embodiments of the present application, and are not intended to limit the present application. Any modifications, equivalent replacements, and improvements made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. A self-balancing unicycle, characterized in that, Comprising: Wheels; A frame, assembled to the wheels; A rocker mechanism, including a floating link, a first link and a second link; the first link is rotatably connected to the frame through a first rotating shaft and rotatably connected to the floating link through a second rotating shaft; the second link is rotatably connected to the frame through a third rotating shaft and rotatably connected to the floating link through a fourth rotating shaft; the first rotating shaft, the second rotating shaft, the third rotating shaft and the fourth rotating shaft are parallel to each other, and the first link and the second link are spaced apart along a first direction; A pedal, disposed on the floating link; A shock-absorbing assembly, for providing a shock-absorbing effect to the rocker mechanism; Wherein, the first direction is perpendicular to the first rotating shaft and intersects with the axle of the wheel.

2. The self-balancing unicycle according to claim 1, characterized in that, The first rotating shaft is perpendicular to the axle of the wheel.

3. The self-balancing unicycle according to claim 1, characterized in that, The number of the rocker mechanisms is two, and the floating links of the two rocker mechanisms are respectively located on opposite sides of the wheel along a second direction, and the second direction is parallel to the axle of the wheel; The self-balancing unicycle further includes a synchronization mechanism, the synchronization mechanism is connected to the two rocker mechanisms and is used to make the floating links of the two rocker mechanisms move synchronously along the first direction.

4. The self-balancing unicycle according to claim 3, characterized in that, The synchronization mechanism includes a first gear and a second gear, the first gear and the second gear are respectively disposed on the first links of the two rocker mechanisms and are meshed with each other.

5. The self-balancing unicycle according to claim 3, wherein, The synchronization mechanism includes: A first moving member, for reciprocating along the first direction; A third link, movably connected to the first moving member; A fourth link, movably connected to the first moving member and arranged in sequence with the third link along the second direction; One end of the third link away from the first moving member and one end of the fourth link away from the first moving member are respectively movably connected to the first links of the two rocker mechanisms.

6. The self-balancing unicycle according to claim 5, characterized in that, The first moving member is provided with a first guide groove, and the frame is provided with a first guiding portion, and the first guiding portion is inserted into the first guide groove along the first direction and can slide along the first guide groove; And / or, the first moving member includes a moving portion and a second guiding portion disposed on the moving portion, the third link and the fourth link are both movably connected to the moving portion, the frame is provided with a second guide groove, and the second guiding portion is inserted into the second guide groove along the first direction and can slide along the second guide groove.

7. The self-balancing unicycle according to claim 3, wherein The two rocker mechanisms are respectively a first rocker mechanism and a second rocker mechanism; The synchronization mechanism includes: A first pressing member and a second pressing member, arranged in sequence along the first direction and respectively disposed on the floating links of the first rocker mechanism and the floating links of the second rocker mechanism; A first guide wheel, arranged between the first pressing member and the second pressing member along the first direction for transmitting the pressing force between the first pressing member and the second pressing member and capable of sliding along one side of the first pressing member facing the second pressing member and / or one side of the second pressing member facing the first pressing member; The third pressing member and the fourth pressing member are sequentially distributed along the first direction, and are respectively disposed on the floating link of the first rocker mechanism and the floating link of the second rocker mechanism; The second guide wheel is disposed between the third pressing member and the fourth pressing member along the first direction, for transmitting the pressing force between the third pressing member and the fourth pressing member, and capable of sliding along one side of the third pressing member facing the fourth pressing member and / or one side of the fourth pressing member facing the third pressing member; Wherein, in the first direction, the distribution direction of the first pressing member and the second pressing member is opposite to the distribution direction of the third pressing member and the fourth pressing member.

8. The self-balancing unicycle according to claim 7, wherein A first chute is provided on one side of the first pressing member facing the second pressing member and / or one side of the second pressing member facing the first pressing member, and the first guide wheel is slidably disposed in the first chute; alternatively, the first guide wheel is rotatably connected to the first pressing member or the second pressing member; A second chute is provided on one side of the third pressing member facing the fourth pressing member and / or one side of the fourth pressing member facing the third pressing member, and the second guide wheel is slidably disposed in the second chute; alternatively, the second guide wheel is rotatably connected to the third pressing member or the fourth pressing member.

9. The self-balancing unicycle according to claim 7, characterized in that, In a cross-section perpendicular to the first rotating shaft, the connection lines of the first rotating shaft, the second rotating shaft, the third rotating shaft and the fourth rotating shaft form a non-parallelogram.

10. The self-balancing unicycle according to claim 3, characterized in that, The synchronization mechanism includes a first guiding member and a second guiding member, and the first guiding member and the second guiding member are respectively disposed on the floating links of the two rocker mechanisms; The first guiding member is provided with a third guiding groove, and at least a part of the second guiding member is inserted into the third guiding groove along the second direction; and / or, the second guiding member is provided with a fourth guiding groove, and at least a part of the first guiding member is inserted into the fourth guiding groove along the second direction.

11. The self-balancing unicycle according to claim 3, characterized in that, The vehicle frame includes: Two sets of frame bodies, respectively disposed on opposite sides of the wheel along the second direction; A connecting member, located on one side of the wheel along the first direction, and connecting the two sets of frame bodies; Wherein, one end of the first connecting rod away from the floating link is rotatably connected to the frame body or the connecting member, and one end of the second connecting rod away from the floating link is rotatably connected to the frame body.

12. The self-balancing unicycle according to claim 3, characterized in that, The shock absorption assembly includes a first shock absorber, and opposite ends of the first shock absorber along the second direction are respectively connected to the two rocker mechanisms.

13. The self-balancing unicycle according to any one of claims 1 to 12, characterized in that, The shock absorption assembly includes a second shock absorber; a second shock absorber is connected between the vehicle frame and the floating link, and / or between the first connecting rod and the floating link, and / or between the second connecting rod and the floating link, and / or between the vehicle frame and the first connecting rod, and / or between the vehicle frame and the second connecting rod.

14. The self-balancing unicycle according to any one of claims 1-12, characterized in that, The floating link and the wheel are distributed along the second direction, and the second direction is parallel to the wheel axle; The self-balancing unicycle further includes a leg rest plate, and the leg rest plate is disposed on one side of the floating link away from the wheel along the second direction.

15. The self-balancing unicycle according to any one of claims 1-12, characterized in that, The self-balancing unicycle further includes: A motor, disposed on the wheel; A control device, electrically connected to the motor; A battery, disposed on the floating link and electrically connected to the control device.

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