Self-balancing vehicle

Abstract

The invention discloses a self-balancing vehicle, which relates to the technical field of vehicles and comprises a chassis and a balancing structure. A gradienter is fixedly mounted on the chassis; the balance structure is fixedly mounted in the chassis, and the balance structure is adjusted through the inclination angle of the gradienter. A traditional mechanical gyroscope is not adopted to keep balance, potential personal threats and energy consumption caused by the mechanical gyroscope are avoided, the motor is adopted to drive the front wheels or the rear wheels to move left and right to keep balance when the vehicle moves, safety is high, and meanwhile energy consumption is reduced. The gradienter is installed on the vehicle and can test the inclination angle of the vehicle during movement in real time and send signals to the control motor, so that the moving wheels are linked with the inclination state of the vehicle, and the vehicle is kept balanced. When the vehicle is static or moves at a low speed, the auxiliary structure is used for keeping balance, and stable balance of the vehicle in a full-time and full-state mode is achieved.

Description

Technical Field

[0001] The present invention relates to the technical field of vehicles, and more particularly, to a self-balancing vehicle. Background Art

[0002] In the Chinese market, the annual production and sales of automobiles exceed 30 million, and the global annual production and sales of automobiles are nearly 100 million, with a large number of vehicles being four-wheel vehicles; with the increase in the number of four-wheel vehicles, it poses challenges to urban municipal construction. However, in the city, vehicles are often used as means of transportation, resulting in a large amount of resource waste.

[0003] After a large number of investigations, it is found that as a means of transportation, two-wheel vehicles have a large number of advantages compared with four-wheel vehicles: The center of gravity of two-wheel vehicles is on a straight line, while the center of gravity of four-wheel vehicles is on a plane. Two-wheel vehicles are inherently more stable than traditional four-wheel vehicles. All two-wheel vehicles have slight left-right swings during driving, and this dynamic adjustment generates centripetal force to offset the center-of-gravity shift. Experiments show that even when driving in a straight line, the handlebars still achieve dynamic balance through high-frequency jitter. When the vehicle body tilts, the front wheel will naturally deflect in the direction of the tilt, and the center of gravity is returned to the support surface by adjusting the traveling trajectory, while four-wheel vehicles do not have the above advantages.

[0004] At the same time, compared with traditional four-wheel vehicle bodies, the fully enclosed body of two-wheel vehicles has a significantly improved body rigidity during collisions or rollovers. Since the force-bearing surface is halved, the vehicle body is not easily deformed, and the occupants are safer.

[0005] In addition, during driving, the driver has a wider field of vision, especially the right-side field of vision.

[0006] Electric two-wheel vehicles can be driven by in-wheel motors. If electric four-wheel vehicles use in-wheel motors to drive, they will encounter technical problems in four-wheel coordination. In-wheel motors can eliminate the transmission part, making the system simpler but more efficient. And the operation is more flexible, the response is more sensitive, and it is more fun to drive.

[0007] Secondly, it occupies less space. Compared with the body of traditional four-wheel vehicles, the fully enclosed body of two-wheel vehicles reduces the floor area by about 50%. The same road can accommodate more vehicles, which is of great significance for solving traffic congestion. At the same time, the same parking space can accommodate more vehicles, which is of great significance for solving the problem of parking difficulty.

[0008] Four-wheeled vehicles suffer from a serious and widespread problem of space waste: In the average daily use of five-seater vehicles, the proportion of single-person trips exceeds 50%, and the vehicle's space utilization rate is less than 20%. Even fully loaded vehicles only account for less than 15% of annual trips. This leads to an inverted energy efficiency problem for four-wheeled vehicles: when driven alone, a five-seater vehicle consumes 1.2 tons of metal frame capacity per 100 kilometers, and its energy conversion efficiency is 42% lower than when fully loaded.

[0009] Two-wheeled vehicles also alleviate the imbalance in urban infrastructure: single-person travel reduces the average daily parking time to 1.5 hours, but each standard parking space still occupies 10 square meters of urban land. During peak hours, the carrying capacity of bicycle roads is only 20% of the designed load.

[0010] Therefore, given the numerous advantages, two-wheeled vehicles are in urgent need of development. However, China's two-wheeled vehicles are currently limited to electric bicycles and motorcycles, which brings with them safety issues. Since the body of the user of an electric bicycle or motorcycle is placed on top of the vehicle, when the vehicle falls, the user's body will be in danger. Therefore, research on how to keep two-wheeled vehicles balanced is urgent. Ford developed two-wheeled vehicles in the 1960s. In 2012, Lit Motors in California, USA developed a fully enclosed two-wheeled "tumbler" electric vehicle code-named C-1. In China, only Beijing Lingyun Intelligent Technology Co., Ltd. released a two-wheeled concept car from 2016 to 2019.

[0011] However, the two-wheeled concept vehicles proposed by many of these companies are enclosed structures. Drivers cannot sense the vehicle's balance, unlike bicycles, by rotating the handlebars. Instead, they typically rely on mechanical gyroscopes to maintain balance. However, these gyroscopes have fatal flaws, including the high-speed rotors, which pose a significant safety hazard to passengers. The gyroscopes' rotating speed (up to tens of thousands of revolutions per minute) can easily cause internal structural failures, sending metal fragments flying and resulting in serious consequences. Furthermore, the gyroscopes consume a significant amount of energy during operation. To maintain the vehicle's movement, the gyroscopes rely on large mechanical gyroscopes to maintain balance. To maintain the high-speed rotation of the gyroscopes, they require a high-powered engine, resulting in significant drawbacks for two-wheeled vehicles.

[0012] In summary, there is an urgent need for a self-balancing vehicle that does not use a mechanical gyroscope to solve the above problems. Summary of the Invention

[0013] In view of the deficiencies of the prior art, the present invention provides a self-balancing vehicle, which solves the technical problems that two-wheeled vehicles cannot sense the balance state of the vehicle, are difficult to control the balance, and take into account the use safety.

[0014] The present invention proposes a self-balancing vehicle, including a chassis and a balance structure; a level is fixedly installed on the chassis; the balance structure is fixedly installed inside the chassis, and the balance structure is adjusted by the inclination angle of the level.

[0015] A front wheel and a rear wheel are installed below the chassis; the balance structure can control the front wheel or the rear wheel to move along the width direction of the chassis.

[0016] As a preferred embodiment of the present invention, a first mounting seat is installed on the chassis; the first mounting seat is installed at a position corresponding to the front wheel on the chassis; the first mounting seat and the second mounting seat are respectively provided with two; a first through groove is provided between the two first mounting seats; the first mounting seat is a hollow structure; The balance structure includes a driving structure and a connecting rod. The driving structure includes a first lead screw. The two sides of the first lead screw are respectively rotatably inserted into the two first mounting seats; one end of the first lead screw is installed with a first motor; the operation of the first motor drives the first lead screw to rotate; a first mounting block is movably installed on the first lead screw.

[0017] A connecting rod is movably installed on the first mounting block. A first connecting arm is fixedly installed below the connecting rod. A front wheel is installed below the first connecting arm. A steering wheel is fixedly installed at one end of the connecting rod away from the front wheel. The rotation of the steering wheel drives the front wheel to rotate. A second connecting arm is fixedly installed below the chassis. A rear wheel is installed below the second connecting arm.

[0018] As a preferred embodiment of the present invention, when the moving wheel is the front wheel, the connecting rod adopts a torque transmission hose. The torque transmission hose (Torque Transmission Hose) is a special hose for transmitting rotational power, which replaces the rigid shaft in the mechanical system to achieve flexible torque transmission, especially suitable for complex working conditions that require bending, torsion or vibration) or a steer-by-wire EPS system; the steering wheel rotates synchronously with the torque transmission hose to realize the rotation control of the front wheel. At the same time, the torque transmission hose does not affect the movement of the first motor to control the first mounting block; when the level detects that the vehicle tilts to one side, according to the tilting angle, the first motor drives the front wheel to move in the tilting direction, thereby adjusting the vehicle to restore balance.

[0019] As a preferred embodiment of the present invention, when the moving wheel is the front wheel, a steer-by-wire EPS system is provided between the steering wheel and the front wheel; the steering wheel controls the rotation of the front wheel through the steer-by-wire EPS system, and at the same time, the steer-by-wire EPS does not affect the movement of the first motor to control the first mounting block; when the level detects that the vehicle is tilting to one side, according to the tilting angle, the first motor drives the front wheel to move in the tilting direction, thereby adjusting the vehicle to restore balance.

[0020] As a preferred embodiment of the present invention, a second mounting seat is installed on the chassis; the second mounting seat is installed at a position corresponding to the rear wheel on the chassis; the first mounting seat and the second mounting seat are respectively provided with two; a second through groove is provided between the two second mounting seats; the second mounting seat is a hollow structure; The balance structure includes a driving structure, and the driving structure includes a second lead screw. The two sides of the second lead screw are respectively rotatably inserted into the two second mounting seats; one end of the second lead screw is installed with a second motor; the operation of the second motor drives the second lead screw to rotate; a second mounting block is movably installed on the second lead screw.

[0021] A connecting rod is movably installed on the chassis. A first connecting arm is fixedly installed below the connecting rod, and a front wheel is installed below the first connecting arm; a steering wheel is fixedly installed at one end of the connecting rod away from the front wheel, and the rotation of the steering wheel drives the front wheel to rotate.

[0022] A second connecting arm is fixedly installed below the second mounting block, and a rear wheel is installed below the second connecting arm.

[0023] As a preferred embodiment of the present invention, a seat is fixedly installed at the center of the top of the chassis, and the seat is arranged above the rear wheel.

[0024] As a preferred embodiment of the present invention, when the level is in a horizontal state, the front wheel and the rear wheel are arranged on the axisymmetric plane of the vehicle.

[0025] As a preferred embodiment of the present invention, when the moving wheel is the rear wheel, the steering wheel controls the steering angle; when the level detects that the vehicle is tilting to one side, according to the tilting angle, the second motor drives the rear wheel to move in the tilting direction, thereby adjusting the vehicle to restore balance.

[0026] As a preferred embodiment of the present invention, an auxiliary structure is installed at the bottom of the vehicle; the auxiliary structure includes a fixed block and a support wheel, and the support wheel can be retracted and lowered.

[0027] As a preferred embodiment of the present invention, the folding and lowering action of the support wheel is circular; the fixed block is fixedly installed at the bottom of the chassis, and a third motor is installed at one end of the fixed block, and the output end of the third motor is fixedly connected to a control rod, and the control rod is inserted into the fixed block along the axial direction of the fixed block, and two support legs are fixedly installed on the control rod; the two support legs are symmetrically arranged along the axial symmetry plane of the vehicle; the support leg rotates under the action of the third motor, and the end of the support leg away from the control rod is fixedly connected to the support wheel.

[0028] As a preferred embodiment of the present invention, the folding and lowering action of the support wheel is vertical telescopic; the fixed block is fixedly installed at the bottom of the chassis, and a telescopic rod symmetrically distributed along the axial symmetry plane of the vehicle is fixedly installed below the fixed block, and the support wheel is installed below the telescopic rod.

[0029] As a preferred embodiment of the present invention, the control mode of the support wheels is: when the vehicle speed is lower than the dumping speed or is stationary, the support wheels are lowered; when the vehicle is driving normally, the support wheels are retracted.

[0030] As a preferred embodiment of the present invention, the vehicle body is fully enclosed, and the vehicle body is installed above the chassis.

[0031] Compared with the existing technology, the technical solution of this application has the following beneficial effects: The self-balancing vehicle presented in this invention does not utilize traditional mechanical gyroscopes for balance control, thus avoiding the potential personal injury and energy consumption associated with these devices. Instead, a motor drives the front or rear wheels to move left and right to maintain balance while the vehicle is in motion, enhancing safety while reducing energy consumption. A level meter installed on the vehicle measures the vehicle's tilt angle in real time, providing a signal to the control motor to align the moving wheels with the vehicle's tilt state, maintaining balance. When stationary or in low-speed motion, auxiliary structures are used to maintain balance, ensuring stable balance at all times and in all conditions.

[0032] At the same time, the present invention provides two self-balancing vehicles, each with a different balance adjustment method: when the left and right movable wheels are front wheels, the steering wheel and the front wheels are softly connected to transmit torque, which can transmit rotation without affecting left and right movement; when the left and right movable wheels are rear wheels, the front wheels are responsible for steering, and the steering wheel and the wheels do not need to be softly connected. Two modes are set to meet different usage environments and applicable people, and have strong adaptability. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] Figure 1 This is a schematic diagram of the three-dimensional structure of a self-balancing vehicle according to a first embodiment of the present invention; Figure 21 is a front view structural schematic diagram of a first embodiment of a self-balancing vehicle of the present invention; Figure 3 This is a bottom-up structural schematic diagram of a first embodiment of a self-balancing vehicle of the present invention; Figure 4 This is a schematic diagram of the three-dimensional structure of a second embodiment of a self-balancing vehicle of the present invention; Figure 5 This is a front view structural diagram of a second embodiment of a self-balancing vehicle of the present invention; Figure 6 This is a front view structural diagram of a third embodiment of a self-balancing vehicle of the present invention; Figure 7 This is a bottom-up structural schematic diagram of a third embodiment of a self-balancing vehicle of the present invention.

[0034] In the figure: 1. Vehicle body; 2. Chassis; 3. Level; 4. First lead screw; 5. First mounting block; 6. Connecting rod; 7. Steering wheel; 8. Seat; 9. Front wheel; 10. First connecting arm; 11. First motor; 12. First through slot; 13. First mounting seat; 14. Second mounting block; 15. Rear wheel; 16. Second connecting arm; 17. Second through slot; 18. Second motor; 19. Second mounting seat; 20. Second lead screw; 21. Third motor; 22. Fixing block; 23. Control rod; 24. Connecting leg; 25. Support wheel; 26. Telescopic rod. DETAILED DESCRIPTION

[0035] First of all, it should be noted that in the various embodiments described, identical components are provided with identical reference numerals or identical component names, wherein the disclosure contained throughout the entire description can be transferred to the same components having the same reference numerals or identical component names. Positional designations selected in the description, such as top, bottom, lateral, etc., also refer to the directly described and illustrated figures and are transferred to the new position in the event of a change in position. Example 1

[0036] A self-balancing vehicle includes a chassis 2 and a balancing structure; it does not use a traditional mechanical gyroscope to maintain balance, avoiding the potential personal threat and energy consumption brought by the mechanical gyroscope. The present application uses a first motor 11 to drive the front wheel 9 to move left and right to maintain the balance of the vehicle during movement, thereby improving safety while reducing energy consumption.

[0037] like Figure 3 As shown, a spirit level 3 is fixedly mounted on the chassis 2; the balancing structure is fixedly mounted inside the chassis 2, and the balancing structure is adjusted by the inclination angle of the spirit level 3; the vehicle is installed with the spirit level 3, which can test the inclination angle of the vehicle in real time when it is moving, and give a signal to the control motor to link the moving wheel with the inclination state of the vehicle to keep the vehicle balanced.

[0038] As shown Figure 3 in the figure, front wheels 9 and rear wheels 15 are installed below the chassis 2; the balance structure can control the front wheels 9 to move along the width direction of the chassis 2.

[0039] As shown Figure 3 in the figure, a first mounting seat 13 is installed on the chassis 2; the first mounting seat 13 is installed at the position of the chassis 2 corresponding to the front wheels 9; the first mounting seat 13 and the second mounting seat 19 are respectively provided with two; a first through groove 12 is provided between the two first mounting seats 13; the first mounting seat 13 is a hollow structure; As shown Figure 3 in the figure, the balance structure includes a driving structure and a connecting rod 6, the driving structure includes a first lead screw 4, and both sides of the first lead screw 4 are rotatably inserted into the two first mounting seats 13 respectively; one end of the first lead screw 4 is installed with a first motor 11; the operation of the first motor 11 drives the first lead screw 4 to rotate; a first mounting block 5 is movably installed on the first lead screw 4.

[0040] As shown Figure 2 in the figure, a connecting rod 6 is movably installed on the first mounting block 5, a first connecting arm 10 is fixedly installed below the connecting rod 6, and a front wheel 9 is installed below the first connecting arm 10; one end of the connecting rod 6 away from the front wheel 9 is fixedly installed with a steering wheel 7, the rotation of the steering wheel 7 drives the front wheel 9 to rotate, and a second connecting arm 16 is fixedly installed below the chassis 2, and a rear wheel 15 is installed below the second connecting arm 16.

[0041] Preferably, the vehicle can be set to have a left and right tilt angle of plus or minus 15 degrees, and the movable wheels can move left and right by plus or minus 15 cm in real time in proportion.

[0042] Preferably, during use, the moving wheels of the self-balancing vehicle are the front wheels 9, the connecting rod 6 adopts a torque transmission hose, and the steering wheel 7 and the front wheels 9 are soft-connected. The principle is the same as that of a gas pipe connection, which can transmit rotation and does not affect left and right movement; the steering wheel 7 and the torque transmission hose rotate synchronously to realize the rotation control of the front wheels 9; when the level 3 detects that the vehicle tilts 15 degrees to the left, the first motor 11 drives the front wheels 9 to move 15 cm to the left; when the level 3 detects that the vehicle tilts 15 degrees to the right, the first motor 11 drives the front wheels 9 to move 15 cm to the right; if the vehicle resumes balance, the first motor 11 drives the front wheels 9 to the middle position.

[0043] It is worth mentioning that the Torque Transmission Hose is a special hose used to transmit rotational power. It replaces the rigid shaft in the mechanical system to achieve flexible torque transmission, especially suitable for complex working conditions that require bending, twisting or vibration. It is an existing technology and will not be elaborated here one by one. Preferably, the moving wheel of the self-balancing vehicle is the front wheel 9, and a steer-by-wire EPS system is provided between the steering wheel 7 and the front wheel 9. The steering wheel 7 controls the rotation of the front wheel 9 through the steer-by-wire EPS system. When the level 3 detects that the vehicle tilts 15 degrees to the left, the first motor 11 drives the front wheel 9 to move 15 cm to the left; when the level 3 detects that the vehicle tilts 15 degrees to the right, the first motor 11 drives the front wheel 9 to move 15 cm to the right; if the vehicle returns to balance, the first motor 11 drives the front wheel 9 to the middle position.

[0044] It is worth mentioning that the steer-by-wire EPS system, also known as the electric power steering system, is a power steering system that directly relies on the motor to provide auxiliary torque. EPS mainly consists of a torque sensor, a vehicle speed sensor, a motor, a reduction mechanism, and an electronic control unit (ECU), etc. It is an existing technology and will not be elaborated here one by one. As Figure 2 shown, a seat 8 is fixedly installed at the center of the top of the chassis 2, and the seat 8 is arranged above the rear wheel 15.

[0045] As Figure 3 shown, when the level 3 is in a horizontal state, the front wheel 9 and the rear wheel 15 are arranged on the vehicle axis symmetry plane.

[0046] As Figure 2 shown, an auxiliary structure is installed at the bottom of the vehicle; when the vehicle is stationary or moving at a low speed, the auxiliary structure is used to maintain balance, achieving stable balance of the vehicle in all states at all times.

[0047] The auxiliary structure includes a fixed block 22 and a support wheel 25, and the support wheel 25 can be retracted and lowered.

[0048] As Figure 3 shown, the retraction and lowering movement of the support wheel 25 is vertical telescoping; the fixed block 22 is fixedly installed at the bottom of the chassis 2, and telescopic rods 26 symmetrically distributed along the vehicle axis symmetry plane are fixedly installed below the fixed block 22, and the support wheel 25 is installed below the telescopic rods 26.

[0049] When the vehicle is stationary or moving at a low speed, an auxiliary structure is used to maintain balance, achieving stable balance of the vehicle in all states at all times. When the auxiliary structure is in use, the supporting wheel 25 can be retracted and lowered according to the vehicle speed and state: when the vehicle speed is lower than the tipping speed or the vehicle is stationary, the supporting wheel 25 is lowered, and when the vehicle is traveling normally, the supporting wheel 25 is retracted.

[0050] As Figure 2 shown, a vehicle body 1 is installed above the chassis 2. Preferably, the vehicle body 1 is fully enclosed.

[0051] At the same time, the self-balancing vehicle achieves low-carbon energy conservation: the energy of traditional cars is mainly consumed on the rolling friction of the wheels. The number of wheels of the car is reduced from 4 to 2, and the two-wheeled car can be extremely lightweight, reducing the energy consumption of the car by about 60%. Embodiment 2

[0052] A self-balancing vehicle includes a chassis 2 and a balancing structure; different from Embodiment 1, a second motor 18 is used to drive the rear wheel 15 to move left and right to maintain the balance of the vehicle during movement, and a traditional mechanical gyroscope is not used to maintain the balance, avoiding the potential personal threat and energy consumption brought by the mechanical gyroscope, and having high safety while reducing energy consumption.

[0053] As Figure 4 shown, a second mounting seat 19 is installed on the chassis 2; the second mounting seat 19 is installed at a position corresponding to the rear wheel 15 on the chassis 2; the first mounting seat 13 and the second mounting seat 19 are respectively provided as two; a second through groove 17 is provided between the two second mounting seats 19; the second mounting seat 19 is a hollow structure; As Figure 4 shown, the balancing structure includes a driving structure, and the driving structure includes a second lead screw 20. The two sides of the second lead screw 20 are respectively rotatably inserted into the two second mounting seats 19; one end of the second lead screw 20 is installed with a second motor 18; the operation of the second motor 18 drives the second lead screw 20 to rotate; a second mounting block 14 is movably installed on the second lead screw 20.

[0054] As Figure 5 shown, a connecting rod 6 is movably installed on the chassis 2. A first connecting arm 10 is fixedly installed below the connecting rod 6, and a front wheel 9 is installed below the first connecting arm 10; one end of the connecting rod 6 away from the front wheel 9 is fixedly installed with a steering wheel 7, and the rotation of the steering wheel 7 drives the front wheel 9 to rotate.

[0055] As Figure 5 shown, a second connecting arm 16 is fixedly installed below the second mounting block 14, and a rear wheel 15 is installed below the second connecting arm 16.

[0056] If the left - right moving wheel is the rear wheel 15, then the front wheel 9 is responsible for steering, and there is no need for a flexible connection between the steering wheel 7 and the wheels; the connecting rod 6 is made of stainless steel pipe; when the level 3 detects that the vehicle tilts 10 degrees to the left, the second motor 18 drives the rear wheel 15 to move 10 cm to the left; when the level 3 detects that the vehicle tilts 10 degrees to the right, the second motor 18 drives the rear wheel 15 to move 10 cm to the right; if the vehicle resumes balance, the first motor 11 drives the front wheel 9 to the middle position. Embodiment Three

[0057] A self - balancing vehicle, which is different from Embodiment One in that, as Figures 6 - 7 shown, the retracting and lowering actions of the support wheel 25 are circular; the fixing block 22 is fixedly installed at the bottom of the chassis 2, one end of the fixing block 22 is equipped with a third motor 21, the output end of the third motor 21 is fixedly connected with a control rod 23, the control rod 23 is inserted into the fixing block 22 along the axial direction of the fixing block 22, and two support legs are fixedly installed on the control rod 23; the two support legs are symmetrically arranged along the vehicle's axis of symmetry; the support legs rotate under the action of the third motor 21, and the end of the support leg far from the control rod 23 is fixedly connected with a support wheel 25.

[0058] It should be noted that the control mode of the present invention is automatically controlled by a controller. The control circuit of the controller can be realized by simple programming of those skilled in the art. The power supply and the driving methods of the front wheel 9 and the rear wheel 15 also belong to the common knowledge in the art. And the present invention mainly aims to protect mechanical devices, so the control mode and circuit connection of the present invention will not be further explained in detail.

[0059] It should be noted that in this article, relational terms such as first and second are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship or order between these entities or operations. Moreover, the term "comprising", "including" or any other variant thereof is intended to cover non - exclusive inclusion, so that a process, method, article or device including a series of elements not only includes those elements, but also includes other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. Without further limitation, an element defined by the statement "including one..." does not exclude the existence of additional identical elements in the process, method, article or device including the said element.

[0060] Although embodiments of the present invention have been shown and described, those of ordinary skill in the art will appreciate that various changes, modifications, substitutions and variations can be made to these embodiments without departing from the principles and spirit of the present invention. The scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A self-balancing vehicle, characterized in that, It includes a chassis (2) and a balance structure; a level (3) is fixedly installed on the chassis (2); the balance structure is fixedly installed inside the chassis (2), and the balance structure is adjusted according to the inclination angle of the level (3); a front wheel (9) and a rear wheel (15) are installed below the chassis (2); the balance structure can control the moving wheels to move along the width direction of the chassis (2).

2. The self-balancing vehicle according to claim 1, wherein: The moving wheel is the front wheel (9), and the balance structure includes a driving structure and a connecting rod (6); the front wheel (9) is installed below the connecting rod (6); one end of the connecting rod (6) away from the front wheel (9) is fixedly installed with a steering wheel (7), and the steering wheel (7) is soft-connected to the front wheel (9), and the connecting rod (6) can transmit rotation without affecting left and right movement.

3. The self-balancing vehicle according to claim 2, wherein: The connecting rod (6) adopts a torque transmission hose, and the steering wheel (7) is soft-connected to the front wheel (9) and can transmit rotation without affecting left and right movement; the steering wheel (7) rotates synchronously with the torque transmission hose to realize the rotation control of the front wheel (9).

4. The self-balancing vehicle according to claim 2, wherein: A wire-controlled EPS system is arranged between the steering wheel (7) and the front wheel (9); the steering wheel (7) controls the direction of the vehicle through the wire-controlled EPS system.

5. The self-balancing vehicle according to claim 2, wherein: A second connecting arm (16) is fixedly installed below the chassis (2), and a rear wheel (15) is installed below the second connecting arm (16).

6. The self-balancing vehicle according to claim 1, wherein: The moving wheel is the rear wheel (15), and the front wheel (9) is responsible for steering.

7. The self-balancing vehicle according to claim 6, characterized in that: A connecting rod (6) is movably installed on the chassis (2), a first connecting arm (10) is fixedly installed below the connecting rod (6), and a front wheel (9) is installed below the first connecting arm (10); one end of the connecting rod (6) away from the front wheel (9) is fixedly installed with a steering wheel (7), and the rotation of the steering wheel (7) drives the front wheel (9) to rotate.

8. The self-balancing vehicle according to claim 6, wherein: A second mounting seat (19) is installed on the chassis (2); the second mounting seat (19) is installed at a position on the chassis (2) corresponding to the rear wheel (15); the first mounting seat (13) and the second mounting seat (19) are respectively provided with two; a second through groove (17) is arranged between the two second mounting seats (19); the second mounting seat (19) is a hollow structure; The balance structure includes a driving structure, and the driving structure includes a second lead screw (20), and both sides of the second lead screw (20) are rotatably inserted inside the two second mounting seats (19); one end of the second lead screw (20) is installed with a second motor (18); the operation of the second motor (18) drives the second lead screw (20) to rotate; a second mounting block (14) is movably installed on the second lead screw (20).

9. The self-balancing vehicle according to claim 8, wherein: A second connecting arm (16) is fixedly installed below the second mounting block (14), and a rear wheel (15) is installed below the second connecting arm (16).

10. The self-balancing vehicle according to any one of claims 1-9, characterized in that: An auxiliary structure is installed at the bottom of the vehicle.

Images