Balance wheel, application device and control method

Abstract

The invention aims at providing a balance wheel, an application device and a control method. The balance wheel, the application device and the control method are used for solving the balance problem of wheels and a vehicle in the prior art.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of wheel balancing and vehicle balancing, in particular to a balanced wheel, an application device and a control method. BACKGROUND

[0002] There are two-wheeled bicycles, two-wheeled motorcycles, and unicycles in existing vehicles, and the two-wheeled bicycles and two-wheeled motorcycles have two wheels in front and back along the direction of travel. When a person uses and drives such a pedal tool, the person needs to turn the front wheel with an inclination angle to achieve balance in the left-right transverse direction, and generally needs to maintain balance in the left-right transverse direction while traveling. It is difficult to maintain balance at low speed and at a stop. Therefore, in the prior art, a mechanical gyroscope and related control device have been provided in the vehicle body of the two-wheeled bicycle and two-wheeled motorcycle for a long time. The mechanical gyroscope in the vacuum box is rotated at a high speed to achieve balance in the left-right direction. The disadvantages of such technology are that the related high-speed rotating gyroscope device requires high technology, the mechanical gyroscope must have a large weight, the high-speed rotating gyroscope needs to consume power consistently, and there is a risk after being damaged by collision, etc. Therefore, it is difficult to produce and popularize. In recent years, a type of balancing technology has appeared. Taking a motorcycle as an example, the rear wheel of the motorcycle is connected to the vehicle body through an L-shaped curved frame. The L-shaped frame and the vehicle body are connected through a bearing. When the vehicle body needs to be balanced in the left-right direction, the L-shaped frame rotates relative to the vehicle body, and the rear wheel moves horizontally relative to the vehicle body to achieve horizontal balance of the motorcycle. The disadvantage is that the frame for supporting the vehicle body and the wheel is subjected to a large impact during the travel of the wheel, and needs to be provided with shock-absorbing springs, etc. The setting of the movable structure and the L-shaped structure deviating from the straight line seriously affects the stress performance. The unicycle also has many similar problems as the two-wheeled bicycle and two-wheeled motorcycle. The unicycle achieves balance in the front-back direction by moving forward and backward, but the mechanical gyroscope for balance in the left-right direction does not work well. There is an invention named vehicle body sliding system and vehicle (publication number CN 208868142 U). The technology is that the vehicle body moves horizontally relative to the front wheel and the rear wheel, so as to change the center of gravity and help balance. However, the structure is complex, and the steering and braking systems need complex conversion structures to achieve the horizontal movement of the vehicle body. Therefore, the balancing technology of the above two-wheeled bicycle, two-wheeled motorcycle, and unicycle needs to be improved. SUMMARY

[0003] The purpose of the present application is to provide a balanced wheel, an application device and a control method, which can help to solve the above-mentioned problems of existing wheels and vehicles. The balanced wheel adjusts the center of gravity of the vehicle to achieve balance of the vehicle.

[0004] A balancing wheel includes a hub 9 and an axle 4 located at the center of the hub 9. The hub 9 and axle 4 are coaxially aligned. A balancing platform 7 is provided between the hub 9 and the axle 4. Both ends of the axle 4 are fixed to a frame 2 by axle fastening nuts 3 and axle steps 5. The inner surface of the axle 4 on the frame 2 is smooth. The balancing platform 7 is located on the outer side of the smooth part of the axle 4 and has a central circular hole inside to allow it to slide axially along the axle 4. The hub 9 is connected to the outer side of the balancing platform 7 by a hub bearing 6. The hub 9, balancing platform 7, and axle 4 are coaxially aligned. The balancing platform 7 and the frame 2 are connected... A screw 8 is installed between the wheel axle 4 and the balance platform 7. One end of the screw 8 is connected to the screw motor 1 installed on the frame 2, and the other end of the screw 8 passes through a threaded hole inside the balance platform 7 that is compatible with the screw 8. It is connected to the inner ring of the screw bearing 84 in the screw fixing bracket 81 of the opposite frame 2. The screw bearing seat 82 presses and fixes the outer ring of the screw bearing 84 to the screw fixing bracket. Therefore, the screw motor 1 drives the screw 8 to rotate, thereby causing the balance platform 7 to slide along the axial direction of the wheel axle 4. The wheel hub 9 rotates relative to the balance platform 7 and the wheel axle 4 through the wheel hub bearing 6. The balance platform 7 is a cylinder, and the outer side of the wheel hub 9 is connected to the tire.

[0005] The working principle of the above-mentioned balance wheel is as follows: the screw motor 1 drives the screw 8 to rotate, which drives the balance platform 7 to slide axially relative to the wheel axle 4, changing the position of the wheel hub 9 located on the outside of the balance platform 7 relative to the wheel axle 4. The wheel axle 4 is connected to the frame 2, thereby changing the position of the wheel hub 9 relative to the frame 2. The outer side of the wheel hub 9 is connected to the tire, and the frame 2 is connected to other vehicle bodies, thus changing the position between the tire and the vehicle body.

[0006] A limiting rail 10 is provided at a position different from the screw 8 on the balance platform 7. The two ends of the limiting rail 10 are fixed to the frame 2 by the limiting rail fixing bracket 101. The surface of the limiting rail 10 on the inner side of the frame 2 is smooth. The limiting rail 10 is set parallel to the wheel axle 4 and the screw 8. The balance platform 7 has sliding holes that are adapted to the limiting rail 10. The balance platform 7 can slide relative to the wheel axle 4 and the limiting rail 10 along their axial directions. The limiting rail 10 can be replaced by the screw 8 and the screw motor 1. Therefore, two screw motors 1 and two screws 8 jointly drive the balance platform 7 to move. The two ends of the screw 8 are rotatably connected to the frame 2, so they have a limiting function for the balance platform 7, restricting and prohibiting the balance platform 7 from rotating around the wheel axle 4.

[0007] A disc brake frame 12 is fixedly installed on the side of the balance platform 7 facing the frame 2. A disc brake pad 13 is installed on the side of the wheel hub 9 facing the frame 2. The disc brake pad 13 is circular. The disc brake frame 12 and the disc brake pad 13 are on the same side of the frame 2. The disc brake frame 12 is inside the circular disc brake pad 13. The disc brake pad 13 fits into the disc brake frame 12. The disc brake frame 12 controls the disc brake through the disc brake cable 11.

[0008] A chainring 17 is provided on the side of the wheel hub 9 facing the frame 2. The chainring 17 is circular and is located around the screw 8 and the limiting rail 10.

[0009] A drive motor stator 15 is set on the balance platform 7, and a drive motor rotor 16 is set on the hub 9. The drive motor stator 15 and the drive motor rotor 16 are respectively set on the inner side of the hub bearing 6 between the balance platform 7 and the hub 9. The motor stator line 151 of the drive motor stator 15 is led out from the balance platform 7.

[0010] A two-wheeled electric bicycle includes a front wheel 31, a rear wheel 32, a chain 33, a power supply 35, pedals 37, and handlebars 36 mounted on a bicycle frame 34. The pedals 37 drive the chain 33 and the rear wheel 32 to rotate. The power supply 35 contains a bicycle controller, which is connected to an electronic throttle on the handlebars 36. The rear wheel 32 is configured as a balance wheel as described above. The bicycle frame 34 is integrally connected to the frame 2. The chain 33 is connected to a chainring 17, and a one-way ratchet is provided between the chainring 17 and the wheel hub 9. 171, allowing the hub 9 to rotate forward past the chainring 17 via the one-way ratchet 171, and the chainring 17 to drive the hub 9 forward via the one-way ratchet 171. The bicycle controller is electrically connected to the screw motor line 14 of the screw motor 1 and the drive stator line 151 of the drive motor stator 15. The bicycle handlebar 36 is equipped with an electronic throttle, which is connected to the bicycle controller. The brake lever on the bicycle handlebar 36 is connected to the disc brake line 11. The control method of the electric bicycle is as follows: the bicycle controller is equipped with a speed detection device and a posture detection device. When the electric bicycle's speed is lower than the set value and it tilts left or right, The bicycle controller activates the screw motor 1 of the balancing wheel to maintain the lateral balance of the electric bicycle. When the electric bicycle's speed exceeds a set value, the bicycle controller stops the screw motor 1. When the electric bicycle's speed falls below the set value and its center of gravity deviates from the center plane, causing it to lose balance, the bicycle controller uses the screw motor 1 of the balancing wheel to move the rear wheel 32 in the direction of the bicycle's center of gravity deviation. The distance the rear wheel 32 moves relative to the center plane of the electric bicycle is greater than the distance the center of gravity moves relative to the center plane, ensuring the bicycle is in a vertical position. The lower center of gravity is connected to the contact points between the front wheel 31 and the rear wheel 32 of the electric bicycle and the ground, thus causing the center of gravity of the electric bicycle to move towards the center plane, and finally return to the center plane; when the electric bicycle's speed is higher than the set value, the bicycle controller uses the screw motor 1 of the balance wheel to stop the balance platform 7 of the balance wheel at the position of the axle 4, and the center plane of the electric bicycle is at the position of the axle 4; the above configuration ensures that the center of gravity of the electric bicycle in the vertical state is on the same vertical plane as the contact points between the front wheel 31 and the rear wheel 32 of the bicycle and the ground, which is beneficial to the structural load-bearing capacity and normal operation of the electric bicycle.When the electric bicycle's speed is below the set value and it tilts laterally, the screw motor 1 of the balancing wheel is activated. The rotation of the screw 8 moves the balancing platform 7, ensuring that the points of contact between the front wheel 31 and the rear wheel 32 and the center of gravity are in a vertical plane, helping the electric bicycle maintain lateral balance. When the electric bicycle's speed is above the set value, the rider controls the handlebars 36 to maintain balance, thus stopping the screw motor 1 of the balancing wheel. Otherwise, it would affect steering during riding. The electric bicycle's speed below the set value includes two states: a stopped state with the main switch on and low-speed riding. In the zero-speed stopped state with the main switch on, the balance wheel is controlled by the attitude detection device and the bicycle controller to maintain the electric bicycle's balance. For electric bicycles with two wheels, it can maintain lateral balance, i.e., maintain zero-speed balance while standing. When the main switch is off, all parts of the electric bicycle stop working, and the electric bicycle stands or lies down using existing support legs. The electronic throttle uses a potentiometer.

[0011] The front wheel 31 of the electric bicycle is configured as the aforementioned balance wheel. The brake lever on the handlebar 36 is connected to the disc brake cable 11 of the balance wheel of the front wheel. The bicycle controller is electrically connected to the screw motor cable 14 of the screw motor 1 of the balance wheel of the front wheel. The front wheel 31 of the bicycle adopts the same control method as the rear wheel 32 of the bicycle. According to actual needs, some components and functions of the aforementioned balance wheel applied to the front wheel can be removed, such as removing the drive motor stator 15, drive motor rotor 16 and chainring 17 of the aforementioned balance wheel, so that the electric bicycle only uses rear wheel drive.

[0012] A motorcycle includes a front wheel 51, a rear wheel 52, handlebars 54, and an engine 55 mounted on a motorcycle frame 53. The rear wheel 52 is configured as a balance wheel as described above. The motorcycle frame 53 is integrally connected to a frame 2. The engine 55 outputs power via a chain connected to a chainring 17. The motorcycle frame 53 also includes a motorcycle controller connected to a power source. The motorcycle controller is electrically connected to the screw motor cable 14 of the balance wheel's screw motor 1. The handlebars 54 are equipped with a brake lever and a throttle lever. The brake lever is connected to a disc brake cable 11, and the throttle lever is connected to the engine. 55; The control method for the motorcycle is as follows: the motorcycle controller is equipped with a speed detection device and an attitude detection device. When the motorcycle's speed is lower than a set value and it tilts, the screw motor 1 of the balancing wheel is activated to maintain the motorcycle's lateral balance. When the motorcycle's speed is higher than the set value, the screw motor 1 of the balancing wheel stops operating. When the motorcycle's speed is lower than the set value and its center of gravity deviates from the center plane and it loses balance, the motorcycle controller uses the screw motor 1 to move the motorcycle's rear wheel 52 in the direction of the motorcycle's center of gravity deviation, and the motorcycle's rear wheel 52 relative to the motorcycle... The distance the motorcycle's center plane moves is greater than the distance the motorcycle's center of gravity moves relative to the center plane. The motorcycle's center plane is the connecting surface between the motorcycle's center of gravity and the two contact points between the front wheel 51 and the rear wheel 52 and the ground when the motorcycle is in a vertical position. Therefore, the motorcycle's center of gravity moves towards the center plane, eventually returning to the center plane. When the motorcycle's speed exceeds a set value, the motorcycle controller uses the screw motor 1 of the balance wheel to stop the balance platform 7 of the balance wheel at the position of the axle 4, where the motorcycle's center plane passes through the position of the axle 4. This setting ensures that the motorcycle's center of gravity in a vertical position is in contact with the ground between the front and rear wheels. Positioned on the same vertical plane, it is beneficial for structural load-bearing and normal operation. When the motorcycle is traveling at a speed higher than the set value, it relies on the driver to control the motorcycle to maintain balance. For motorcycles that use engine 55 as the power drive, such as fuel engines, the drive motor stator 15 and drive motor rotor 16 in the balance wheel can be removed. Instead, the engine 55 and chain are connected to the chainring 17. Alternatively, the drive motor stator 15, drive motor rotor 16, and engine 55 can be used simultaneously to drive the motorcycle, thus creating a hybrid motorcycle. The throttle lever can also be connected to and control the engine 55 through the motorcycle controller.

[0013] The motorcycle front wheel 51 is configured as the aforementioned balance wheel. The brake lever on the motorcycle handlebar 54 is connected to the disc brake cable 11 of the balance wheel on the front wheel. The motorcycle controller is electrically connected to the screw motor cable 14 of the screw motor 1 of the balance wheel on the front wheel 51. The motorcycle front wheel 51 adopts the same control method as the motorcycle rear wheel 52. According to actual needs, some components and functions of the aforementioned balance wheel applied to the motorcycle front wheel can be removed, such as removing the drive motor stator 15, drive motor rotor 16 and chainring 17 of the aforementioned balance wheel, so that the motorcycle only uses rear-wheel drive. Alternatively, the drive motor stator 15 and drive motor rotor 16 can be retained on the motorcycle front wheel and used in conjunction with the engine 55 applied to the motorcycle rear wheel to drive it, making it a hybrid dual-wheel drive motorcycle.

[0014] A unicycle includes a unicycle wheel 24 and a frame mounted on the unicycle wheel 24. The frame includes a unicycle cover 22 mounted on the unicycle wheel 24, a controller compartment 25 mounted on the unicycle cover 22, and a unicycle seat 21 mounted on the controller compartment 25. The unicycle wheel 24 is a balance wheel as described above. The unicycle wheel 24 is connected to the frame 2 via an axle 4 mounted on the frame 2. The axle 4 is secured to the unicycle pedal 23 on the frame 2 by an axle fastening nut 3. The unicycle pedal 23 can be folded upwards. A dust cover 18 is provided between the frame 2 and the balance platform 7. The dust cover 18 has three holes at its outer end 181 near the frame 2 for threaded screws 8 to pass through. The limiting track 10 and axle 4, the inner end 182 of the dust cover near the balance platform 7 is hollow, the frame 2 is a U-shaped structure with the opening facing downwards, the frame 2 is provided with axle hole 42, the axle hole 42 is flat and round and fits the axle end 41, the axle end 41 of the axle 4 passes through the axle hole 42, the axle fastening nut 3 and the axle step 5 together fasten the axle 4 and the frame 2 together, the opening end of the frame 2 can be expanded outward a certain distance to allow the axle 4 to be installed from the inside of the frame 2, the frame 2 is provided with screw motor frame 83 and limiting track fixing frame 101 on both sides, the power supply in the controller compartment 25 is electrically connected to the unicycle controller, the unicycle controller is electrically connected to the drive motor stator wire 151 in the balance wheel and the screw motor wire of the screw motor 1. 14. The unicycle controller is equipped with attitude sensors that detect changes in the unicycle's forward and backward and left and right directions. When the attitude sensors detect changes in the unicycle's forward and backward attitude, the unicycle controller drives the unicycle wheel 24 to move forward and backward via the motor stator 151 to achieve balance in the forward and backward direction. When the attitude sensors detect changes in the unicycle's left and right lateral attitude, the unicycle controller drives the screw 8 to rotate via the screw motor 14 and screw motor 1, causing the balance platform 7 to move left and right laterally, changing the relative position of the unicycle's center of gravity and the ground fulcrum, thus achieving balance in the unicycle's left and right lateral direction. The unicycle's balance in the left and right lateral direction is set by the unicycle controller having a speed detection device. When the unicycle's speed is lower than a set value, When the unicycle is started, the screw motor 1 of the unicycle wheel 24 is activated. When the unicycle travels at a speed higher than a set value, the screw motor 1 of the unicycle wheel stops working. When the unicycle travels at a speed lower than a set value and the center of gravity deviates from the center line laterally and loses balance, the unicycle controller causes the unicycle wheel 24 to move in the direction of the unicycle's center of gravity deviation through the screw motor 1 of the balancing wheel. The distance that the unicycle wheel 24 moves relative to the unicycle's center line is greater than the distance that the unicycle's center of gravity moves relative to the center line. The unicycle's center line is the line connecting the center of gravity of the unicycle in a vertical state and the point of contact between the unicycle and the ground. Therefore, the unicycle's center of gravity is moved towards the center line, and finally the unicycle's center of gravity returns to the center line.When the unicycle's speed exceeds a set value, the unicycle controller uses the screw motor 1 of the balancing wheel to stop the balancing platform 7 at the position of the axle 4, so that the unicycle's center line passes through the axle 4. This arrangement ensures that the unicycle's center of gravity in its vertical state is aligned with the position of the balancing wheel in contact with the ground, which is beneficial for structural load-bearing and normal operation.

[0015] The beneficial effects of this application are as follows: The balance wheel, application device and control method described in this application adopts the existing conventional technology structure of fixing the wheel and axle to the frame, and only improves the wheel hub-related parts. The structure is simple, occupies little space, and can be used with the existing drive system, braking system and suspension system to solve the above-mentioned lateral balance problem of the prior art. Attached Figure Description

[0016] Figure 1 This is a schematic diagram of the cross-section of a balance wheel according to this application.

[0017] Figure 2 For the purposes of this application Figure 1 Left side view diagram.

[0018] Figure 3 This is a schematic diagram of one embodiment of the toothbrush of this application.

[0019] Figure 4 This is a schematic diagram of the cross-section of a balance wheel according to this application.

[0020] Figure 5 For the purposes of this application Figure 1 Schematic diagram of the cross-section of the screw section structure.

[0021] Figure 6 This is a schematic diagram of an electric bicycle according to this application.

[0022] Figure 7 This is a schematic diagram of the cross-section of a balance wheel according to this application.

[0023] Figure 8 This is a schematic diagram of a motorcycle according to this application.

[0024] Figure 9 This is a front view schematic diagram of a unicycle according to this application.

[0025] Figure 10 For the purposes of this application Figure 9 Side view of a wheelbarrow.

[0026] Figure 11 For the purposes of this application Figure 9 A schematic diagram of the cross-section of a wheelbarrow wheel.

[0027] Figure 12 For the purposes of this applicationFigure 9 Schematic diagram of the end face of the dust cover on a wheelbarrow.

[0028] Figure 13 For the purposes of this application Figure 9 A schematic diagram of the cross-section of the dust cover on a wheelbarrow.

[0029] Figure 14 For the purposes of this application Figure 9 A schematic diagram of the internal frame of a wheelbarrow.

[0030] Figure 15 For the purposes of this application Figure 9 A schematic diagram showing the connection between the frame and axle of a wheelbarrow.

[0031] Figure 16 For the purposes of this application Figure 9 A schematic diagram of the wheelbarrow cover.

[0032] Figure 17 For the purposes of this application Figure 9 A schematic diagram of the inside of the unicycle cover.

[0033] Figure 18 For the purposes of this application Figure 9 A diagram of the unicycle seat.

[0034] Figure 19 For the purposes of this application Figure 9 A schematic diagram illustrating the working principle of a wheelbarrow.

[0035] Figure 20 For the purposes of this application Figure 19 A line drawing illustrating the working principle of a wheelbarrow.

[0036] In the diagram: 1-Screw motor, 2-Frame, 21-Seat, 22-Glove, 23-Pedal, 24-Wheel, 25-Controller compartment, 251-Indicator light, 3-Axle fastening nut, 31-Front wheel, 32-Rear wheel, 33-Chain, 34-Frame, 35-Power supply, 36-Handlebars, 37-Pedals, 4-Axle, 41-Axle end, 42- 5-Axle hole, 51-Motorcycle front wheel, 52-Motorcycle rear wheel, 53-Motorcycle frame, 54-Motorcycle handlebars, 55-Engine, 6-Hub bearing, 7-Balance platform, 8-Screw, 81-Screw mounting bracket, 82-Screw bearing housing, 83-Screw motor bracket, 84-Screw bearing, 85-Flat cover hole, 86-Cover plate, 87-Flat cover mounting hole, 88-Flat cover groove, 89-Seat hole for unicycle, 9-Hub. 10-Limit rail, 101-Limit rail fixing bracket, 11-Disc brake cable, 12-Disc brake bracket, 121-Disc brake bracket fixing bolt, 13-Disc brake pad, 131-Disc brake pad fixing bolt, 14-Screw motor cable, 15-Drive motor stator, 151-Motor stator cable, 16-Drive motor rotor, 17-Crankset, 171-One-way ratchet, 172-Teeth, 173-Crankset screw hole, 18-Dust cover, 181-Outer end of dust cover, 182-Inner end of dust cover. Implementation

[0037] The present invention will be further described below with reference to specific embodiments. Figure 1 This is a schematic diagram of a cross-section of a balance wheel according to this application. The drawing shows the cross-section along the axle 4 and the disc brake frame 12. The wheel has a hub 9 and an axle 4 located at the center of the hub 9 for the wheel to rotate. The hub 9 and the axle 4 are coaxially arranged. The two ends of the axle 4 are fixed to the frame 2 by axle fastening nuts 3. A balance platform 7 is provided between the hub 9 and the axle 4 along the wheel and the axle 4, which can change the axial position between the axle 4 and the hub 9, that is, the left and right lateral position. The tire is connected to the outside of the hub 9.

[0038] The axle 4 is fixed to the frame 2 at both ends by axle fastening nuts 3 and axle steps 5. The inner surface of the axle 4 is smooth. A balance platform 7 is set on the outer side of the smooth part of the axle 4. The balance platform 7 is cylindrical and has a central hole that mates with the axle 4, allowing the balance platform 7 to slide along the axial direction of the axle 4. A hub 9 is connected to the outer side of the balance platform 7 by a hub bearing 6. The hub 9, the balance platform 7, and the axle 4 are coaxially arranged. The hub 9 can rotate relative to the balance platform 7 through the hub bearing 6. A screw 8 is set between the balance platform 7 and the frame 2. The screw 8 is parallel to the axle 4. One end of the screw 8 is connected to a screw motor 1 mounted on the frame 2, and the other end of the screw 8... The screw 84 is connected to the inner ring of the screw bearing 84 in the screw mounting bracket 81 of the frame 2 opposite to the screw motor 1 through the threaded hole inside the balance platform 7 that is adapted to the screw 8. The outer ring of the screw bearing 84 is fastened and fixed to the screw mounting bracket by the screw bearing seat 82. Therefore, the screw motor 1 drives the screw 8 to rotate and causes the balance platform 7 to slide along the axial direction of the wheel axle 4. The threaded hole inside the balance platform 7 that is adapted to the screw 8 can also be replaced by a ball nut. For example, a ball nut can be fixed in the balance platform 7. When the screw 8 rotates, the balance platform 7 is moved through the ball nut. The screw motor 1 can be set inside or outside the frame 2 according to the specific use of the frame 2. The screw motor wire 14 is led out along the frame 2.

[0039] A limiting rail 10 is provided at a position different from the screw 8 on the balance platform 7. Both ends of the limiting rail 10 are fixed to the frame 2 via limiting rail fixing brackets 101. The inner surface of the limiting rail 10 on the frame 2 is smooth. The limiting rail 10 is arranged parallel to the wheel axle 4 and the screw 8. The balance platform 7 has sliding holes adapted to the limiting rail 10, allowing the balance platform 7 to slide relative to the wheel axle 4 and the limiting rail 10 along their axial directions. The limiting rail 10 prevents the balance platform 7 from rotating relative to the wheel axle 4 when subjected to external force. Similarly, the screw 8 also prevents the balance platform 7 from rotating relative to the wheel axle 4 when subjected to external force, ensuring that the balance platform 7 can only move along the wheel axle 4 when subjected to the force of the screw 8. Figure 1 The limit rail 10 and the screw 8 are set on the frame 2 at positions corresponding to each other relative to the wheel axle. The limit rail 8 has a circular cross-section.

[0040] A disc brake frame 12 is fixedly installed on the side of the balance platform 7 facing the frame 2. A disc brake pad 13 is installed on the side of the wheel hub 9 facing the frame 2. The disc brake pad 13 is circular. The disc brake frame 12 and the disc brake pad 13 are on the same side of the frame 2. The disc brake frame 12 is inside the circular disc brake pad 13. The disc brake pad 13 fits into the disc brake frame 12. The disc brake frame 12 controls the disc brake through the disc brake cable 11. The disc brake cable 11 is led out along the frame 2. The disc brake cable 11 can be a sleeve cable or a hydraulic hose, adapted to the disc brake frame 12.

[0041] A chainring 17 is provided on the side of the wheel hub 9 facing the frame 2. The chainring 17 is circular and is located around the screw 8 and the limiting rail 10. Teeth 172 or belt grooves are provided around the chainring 17. The teeth 172 can be straight teeth or helical teeth, depending on the different transmission structures.

[0042] The positions of the disc brake and chainring components can be interchanged.

[0043] A drive motor stator 15 is set on the balance platform 7, and a drive motor rotor 16 is set on the wheel hub 9. The drive motor stator 15 and the drive motor rotor 16 are respectively set on the inner side of the wheel hub bearing 6 between the balance platform 7 and the wheel hub 9. The motor stator wire 151 of the drive motor stator 15 is led out from the balance platform 7 and then led out through the frame 2.

[0044] Appendix Figure 2 For the purposes of this application Figure 1 Left side view schematic diagram; this attached diagram shows the relative positions of each part. The frame 2 has a downward opening, and the wheel axle 4 is fixed to the frame 2 by the wheel axle fastening nut 3. Figure 2 The display shows a frame 2 suitable for horizontal placement. Screw supports 81 and limiting rail supports 101 are provided on both sides of the frame 2 relative to the axle 4. The balance platform 7 is located around the axle 4. The disc brake frame 12 is fixed to the balance platform 7 by disc brake frame fixing bolts 121. The wheel hub 9 is located around the balance platform 7. The disc brake pad 13 is fixed to the wheel hub 9 by disc brake pad fixing bolts 131. The part of the disc brake pad 13 facing the disc brake frame 12 cooperates with the disc brake frame 12, that is, the part of the disc brake pad 13 used for friction is located inside the disc brake frame 12. The wheel hub 9 rotates together with the disc brake pad 13. The disc brake device inside the disc brake frame 12 fixed to the balance platform 7 clamps the disc brake pad 13 to achieve braking. The balance platform 7 is prohibited from rotating due to the restriction of the screws 8 and limiting rails 10 on the frame 2.

[0045] Appendix Figure 3 This is a schematic diagram of a crankset embodiment of the present application; the drawing shows that the inner ring of the crankset 17 is provided with a crankset screw hole 173 for fixing the crankset 17 to the hub 9, the outer ring of the crankset 17 is teeth 172, and a one-way ratchet 171 is provided between the outer ring and the inner ring of the crankset 17.

[0046] Appendix Figure 4 This is a schematic diagram of the cross-section of a balance wheel according to this application; this drawing and the appendix Figure 1 The difference is in the appendix Figure 1 The balance wheel shown in this figure omits the drive motor stator 15, drive motor rotor 16, and chain 17. This balance wheel is suitable for use with wheels that do not require drive, in order to simplify the structure and reduce weight and cost.

[0047] Appendix Figure 5 This application is Figure 1A schematic diagram of the cross-section of the screw section structure is shown in this figure. One end of the screw 8 is connected to the screw motor 1. The screw motor 1 is mounted on the frame 2 via the screw motor bracket 83. The screw motor wire 14 is led out through the frame 2. The screw 8 has threads on its surface. The threads can be trapezoidal, triangular, or rectangular in cross-section. The other end of the screw 8 is connected to the inner ring of the screw bearing 84 in the screw fixing bracket 81 on the frame 2 opposite to the screw motor 1. The screw bearing seat 82 presses and fixes the outer ring of the screw bearing 84 to the screw fixing bracket. Therefore, the screw 8 can rotate under the drive of the screw motor 1, and the screw 8 is axially fixed relative to the frame 2.

[0048] Figure 6 This is a schematic diagram of a two-wheeled electric bicycle according to this application; the electric bicycle includes a front wheel 31, a rear wheel 32, a chain 33, a power supply 35, pedals 37, and handlebars 36 mounted on a bicycle frame 34. The pedals 37 drive the chain 33 and the rear wheel 32 to rotate. The power supply 35 contains a bicycle controller, which is connected to the ignition switch on the handlebars 36. The rear wheel 32 is configured as described above. Figure 1 The aforementioned balance wheel has a bicycle frame 34 integrally connected to the frame 2, a bicycle chain 33 connected to the chainring 17, and a one-way ratchet 171 installed between the chainring 17 and the wheel hub 9. (See attached diagram.) Figure 1 and attached Figure 3This allows the hub 9 to rotate forward past the chainring 17 via the one-way ratchet 171, while the chainring 17 can drive the hub 9 to rotate forward via the one-way ratchet 171. The connection between the chainring 17 and the hub 9 is fixed by bolts, or they can be fixed by threads, for example, by providing external threads on the side of the hub 9 and on the chainring 17. The inner ring is also provided with matching internal threads for mutual connection and fixation. The threads between the two are tightened in the direction of the one-way ratchet 171 to prevent reverse movement. The chainring 17 is provided with chainring thread holes for bolt fixing of the chainring 17 to the hub 9. The chainring 17 has teeth 172 on its outer periphery. The bicycle controller is electrically connected to the screw motor line 14 of the screw motor 1 and the drive stator line 151 of the drive motor stator 15. The bicycle handlebar 36 is provided with an electronic throttle, which is connected to the bicycle controller. The brake lever on the bicycle handlebar 36 is connected to the disc brake line 11. The control method of the electric bicycle is as follows: the bicycle controller is provided with a speed detection device. When the electric bicycle speed is lower than the set value, the bicycle controller starts the screw motor 1 of the balancing wheel to work, so as to achieve the left and right balance of the electric bicycle, that is, lateral balance. When the electric bicycle speed is higher than the set value, the bicycle controller stops the screw motor 1 of the balancing wheel to work; when the electric bicycle speed is lower than the set value, the bicycle controller stops the screw motor 1 of the balancing wheel to work. The screw motor 1 of the balancing wheel is activated to help the electric bicycle maintain its balance. When the electric bicycle's speed exceeds a set value, the rider can maintain balance by maneuvering the handlebars 36. Therefore, the screw motor 1 of the balancing wheel stops operating, otherwise it would affect steering during operation. The electric bicycle's speed below the set value includes two states: a stopped state with the main switch on and a low-speed state. In the stopped state with the main switch on, the balancing wheel can maintain the electric bicycle's balance. For electric bicycles with two wheels, front and rear, it can maintain lateral balance, i.e., maintain a balanced standing position. When the electric bicycle's operating switch is turned off, all parts of the electric bicycle stop working, and the electric bicycle stands or lies down using existing support legs. When the electric bicycle's speed is greater than zero and less than the set value, the left and right movement of the balancing platform 7 achieves lateral balance. The chainring 17 can use a multi-speed gearbox to achieve gear shifting. Its specific structure and installation are existing common technologies and will not be described in detail or accompanied by drawings here.

[0049] When the electric bicycle's speed exceeds a set value, the bicycle controller uses the screw motor 1 of the balance wheel to stop the balance platform 7 of the balance wheel at the position of the axle 4, where the center plane of the electric bicycle passes through the axle 4. This arrangement ensures that the center of gravity of the electric bicycle in its vertical state is on the same vertical plane as the position where the balance wheel contacts the ground, which is beneficial for structural load-bearing and normal operation of the electric bicycle. When the electric bicycle is traveling at high speed, if the balance platform 7 is offset from one end of the axle 4, i.e., offset from the center plane of the electric bicycle, it will affect the normal operation of the electric bicycle and cause danger.

[0050] The electric bicycle front wheel 31 is configured as described above. Figure 4 The aforementioned balance wheel, in addition to Figure 4 The balance wheel described herein may not have a drive motor stator 15, motor rotor 16, and chainring 17. Therefore, the electric bicycle is a rear-wheel drive bicycle with the front wheel following. The brake lever on the bicycle handlebar 36 is connected to the disc brake cable 11 of the balance wheel on the front wheel. The bicycle controller is electrically connected to the screw motor cable 14 of the screw motor 1 of the balance wheel on the front wheel. Its working principle is described above and will not be repeated here.

[0051] Appendix Figure 7 This is a schematic diagram of a balance wheel according to this application; this drawing and the accompanying drawing... Figure 1 The difference lies in the interchange of the disc brake and chainring components, and the removal of the motor stator 15 and motor rotor 16. This design is suitable for existing conventional motorcycles, such as those powered by internal combustion engines. For detailed structural configurations of each component, please refer to the attached diagram. Figure 1 The description.

[0052] Figure 8 This is a schematic diagram of a motorcycle according to this application; the motorcycle includes a front wheel 51 mounted on a motorcycle frame 53, a rear wheel 52, handlebars 54, and an engine 55, wherein the rear wheel 52 is configured as described above. Figure 7The aforementioned balance wheel, motorcycle frame 53 is integrally connected to frame 2, engine 55 outputs power through chain and chainring 17, motorcycle frame 53 also has a motorcycle controller connected to the power supply, motorcycle controller is electrically connected to screw motor 14 of balance wheel screw motor 1, motorcycle brake lever and throttle lever are installed on motorcycle handlebar 54, motorcycle brake lever is connected to disc brake cable 11, throttle lever is connected to engine 55. The working principle of the motorcycle using the balance wheel shown in this figure is understood and implemented by referring to the above-mentioned parts, and will not be repeated here. The control method of the motorcycle is as follows: the motorcycle controller has a speed detection device and an attitude detection device. When the motorcycle speed is lower than the set value and tilts, the motorcycle controller starts the screw motor 1 of the balance wheel to work to achieve left and right lateral balance of the motorcycle. When the motorcycle speed is higher than the set value, the motorcycle controller stops the screw motor 1 of the balance wheel to work, and the driver controls the motorcycle to achieve balanced driving; when the motorcycle speed is higher than the set value, the motorcycle controller stops the screw motor 1 of the balance wheel to work. When the motorcycle controller uses the screw motor 1 of the balance wheel to stop the balance platform 7 of the balance wheel at the position of the axle 4, the center of gravity of the motorcycle in the vertical state passes through the position where the balance wheel contacts the ground along the vertical plane in the front-to-back direction of the motorcycle. This setting ensures that the center of gravity of the motorcycle in the vertical state is on the same vertical plane as the positions where the front and rear wheels of the motorcycle contact the ground, which is beneficial to the structural load-bearing capacity and normal driving. The motorcycle speed below the set value includes two states: the stopped state when the motorcycle is turned on and the low-speed driving state. That is, in the zero-speed stopped state when the motorcycle is turned on, the left and right lateral movement of the balance platform 7 of the balance wheel can maintain the left and right lateral balance of the motorcycle. For motorcycles with two wheels, the left and right lateral balance can be maintained, that is, the motorcycle can maintain balance and stand upright at zero speed. When the motorcycle is turned off, all parts of the motorcycle stop working, and the motorcycle stands or lies down using the outriggers in the prior art. When the speed of the motorcycle is greater than zero and less than the set value, the left and right movement of the balance platform 7 is used to achieve the left and right lateral balance of the motorcycle.

[0053] The motorcycle front wheel 51 is configured as described above. Figure 4 The aforementioned balance wheel connects the brake lever on the motorcycle handlebar 54 to the disc brake cable 11 of the front balance wheel, and the motorcycle controller is electrically connected to the screw motor cable 14 of the screw motor 1 of the front balance wheel. Its working principle is described in the appendix above. Figure 1 The balancing wheels will not be described again here.

[0054] Appendix Figure 9This is a front view schematic diagram of a unicycle according to this application; the unicycle includes a unicycle wheel 24 and a vehicle body mounted on the unicycle wheel 24. The vehicle body includes a unicycle cover 22 mounted on the unicycle wheel 24, a controller compartment 25 mounted on the unicycle cover 22, and a unicycle seat 21 mounted on the controller compartment 25. The unicycle wheel 24 is equipped with an attached... Figure 11 The aforementioned balance wheel, see attached. Figure 11 The unicycle wheel 24 is connected to the frame 2 via an axle 4 mounted on the frame 2. The axle 4 is secured to the unicycle pedal 23 by an axle fastening nut 3. The unicycle pedal 23 can be folded upwards. A dust cover 18 is installed between the frame 2 and the balance platform 7. The outer end 181 of the dust cover 18 near the frame 2 has three holes for the screw 8, the limiting rail 10, and the axle 4 to pass through. The inner end 182 of the dust cover near the balance platform 7 is hollow. The frame 2 has a U-shaped structure with the opening facing downwards. (See attached diagram) Figure 14 and attached Figure 15A wheel axle hole 42 is provided on the frame 2. The wheel axle hole 42 is flat and round and fits the wheel axle end 41. The wheel axle end 41 of the wheel axle 4 passes through the wheel axle hole 42. The wheel axle fastening nut 3 and the wheel axle step 5 together fasten the wheel axle 4 and the frame 2 together. The open end of the frame 2 can be expanded outward by a certain distance to allow the wheel axle 2 to be installed from the inside of the frame 2. A screw motor bracket 83 and a limiting rail fixing bracket 101 are provided on both sides of the frame 2. A cover hole 85 is provided on the upper side of the frame 2 for fixing the unicycle cover 22. A cover hole 85 is also provided on the upper part of the frame 2. The power supply inside the controller compartment 25 is electrically connected to the unicycle controller. The unicycle controller is electrically connected to the indicator light 251 located at the front of the controller compartment 25. The unicycle controller is also electrically connected to the motor stator wire 151 inside the balance wheel and the screw motor wire 14 of the screw motor 1. The unicycle controller is equipped with attitude sensors that detect changes in the forward and backward and left and right directions of the unicycle. When the attitude sensors detect changes in the forward and backward attitude of the unicycle, the unicycle controller drives the unicycle to move forward and backward through the motor stator wire 151, the motor stator 15, and the motor rotor 16 to achieve balance in the forward and backward directions. The unicycle's left-right posture changes are achieved by the unicycle controller driving the screw 8 to rotate via screw motor cable 14 and screw motor 1, causing the balance platform 7 to move left and right. This changes the unicycle's center of gravity and its relative position to the ground support point, thus achieving unicycle balance in the left-right direction. The unicycle's lateral balance is configured such that the unicycle controller is equipped with a speed detection device. When the unicycle's speed is lower than a set value, the screw motor 1 of the unicycle wheel is activated to maintain lateral balance; when the unicycle's speed is higher than the set value, the screw motor 1 of the unicycle wheel stops operating. The lever motor 1 operates; when the unicycle's speed exceeds a set value, the screw motor 1 of the balancing wheel causes the balancing platform 7 of the balancing wheel to stop at a vertical position past the axle 4 in the unicycle's vertical state; this arrangement ensures that the center of gravity of the unicycle in its vertical state is on the same vertical plane as the balancing platform 7, which is beneficial for structural load-bearing and normal operation; the unicycle's speed below the set value includes two states: a stopped state when the unicycle's main switch is on and a low-speed state, that is, in the zero-speed stopped state when the unicycle's main switch is on, the balancing wheel can maintain the unicycle's balance. For a unicycle with only one wheel, the unicycle is balanced in the front-to-back direction by moving the wheel 24 back and forth, and in the lateral direction by moving the balance platform 7 left and right. That is, the unicycle stands upright in a balanced manner. The control method is described above. When the unicycle is turned off, all parts of the unicycle stop working, and the unicycle stands or falls down by the outriggers in the prior art. When the speed of the unicycle is greater than zero and less than the set value, the unicycle is also balanced in the front-to-back direction by moving the wheel 24 back and forth, and in the lateral direction by moving the balance platform 7 left and right.

[0055] Figure 10 For the purposes of this application Figure 9A side view of the unicycle; This attached diagram shows that the inner side of the unicycle wheel 24 is the hub 9, the unicycle pedal 23 is fixed on the frame 2 via the wheel axle 4, the frame 2 is provided with a limiting track frame 101 and a screw motor 1 on both sides, and a cover plate 86 is provided on the unicycle cover 22.

[0056] Figure 12 For the purposes of this application Figure 9 Schematic diagram of the end face of the dust cover for a unicycle; This attached diagram shows the schematic diagram of both ends of the dust cover 18. The dust cover 18 is elastically tightened between the frame 2 and the wheel hub 9, or the two ends of the dust cover 18 are fixed between the frame 2 and the wheel hub 9 with sealant to prevent dust and other contaminants from affecting the movement of the screw 8, the limit rail 10, and the axle 4. The bottom of the dust cover 18 is designed to be flat to prevent it from touching the ground. See attached diagram. Figure 13 To further understand the setup of the dust cover 18, it is shown that the dust cover 18 is corrugated and surrounds the outside of the screw 8, the axle 4 and the limiting rail 10.

[0057] Figure 16 For the purposes of this application Figure 9 A schematic diagram of a unicycle cover; a controller compartment 25 is provided on the upper part of the unicycle cover 22, and the controller compartment 25 is provided with a unicycle seat hole 89, which is fixed to the unicycle seat hole 89 provided on the unicycle seat 21 by bolts. See attached diagram. Figure 18 A cover groove 88 is provided on the side of the unicycle cover 22 to fix the unicycle seat 21. The cover groove is recessed into the unicycle cover 22 to fit the frame 2. A cover fixing hole 87 (86-87) is provided at the bottom of the cover groove 88 to fix the unicycle cover to the frame 2. (See attached diagram) Figure 17 The image shown is a schematic diagram of the inside of the wheelbarrow cover 22.

[0058] Figure 19 For the purposes of this application Figure 9 A schematic diagram illustrating the working principle of a wheelbarrow. Figure 20 For the purposes of this application Figure 19 A schematic diagram illustrating the working principle of a wheelbarrow; attached. Figure 19The image shows the unicycle on the left in a vertical position, with its center of gravity on the centerline C, which is the vertical line connecting the unicycle's center of gravity through the wheel axis 4H and the point of contact between the unicycle wheel 24 and the ground. The unicycle's center of gravity, F1, acts vertically downwards. The unicycle wheel 24 provides a support force F2 to the ground, which is equal in magnitude and opposite in direction to F1, and lies on the same vertical line. When the unicycle tilts to the right, the center of gravity shifts to the right by f1. Quickly moving the unicycle wheel 24 to the right relative to the unicycle body causes the support force f2 from the ground to also shift to the right relative to the unicycle body, thus helping the unicycle maintain balance. A further adjustment method is to move the unicycle wheel 24 in the same tilt direction via the balance platform 7 so that the distance it moves from the centerline C is greater than the distance the center of gravity deviates from the centerline C. This adjustment continues until the center of gravity returns to the unicycle's centerline C. It also returns to centerline C; see appendix. Figure 20 In this attached diagram, 4H is the wheel axle, 4C is the center point of the wheel axle, F1 is the weight of the unicycle's center of gravity, and F2 is the support force exerted by the ground on the unicycle. The line connecting F1 and F2, i.e., the unicycle's center line C, intersects the axis 4H at 4C. When the unicycle tilts to the right, causing its center of gravity to shift to f1, the vertical line f1 passes through the wheel axle 4H and intersects 4C1. At this time, the balance platform 7 drives the unicycle wheel 24 to move to the right relative to the unicycle body, causing the unicycle wheel 24 to stop on the right side of the line connecting f1 and 4C1 due to the ground support force f2. That is, the distance between f2 and F2, the distance the unicycle wheel 24 moves relative to the unicycle body and the axle 4, is greater than the distance between f1 and F1, the distance the unicycle's center of gravity shifts. Because the weight of the center of gravity f1 and the ground support force f2 are not on the same vertical line, the unicycle will stop tilting to the right and instead tilt to the left. The balance platform 7 drives the unicycle wheel 24... It also moves to the left, adjusting in this way until the center of gravity f1 returns to position F1 and f2 returns to position F2; the purpose of this setting method is to keep the unicycle wheel 24 as centered as possible during the use of the unicycle, to achieve lateral balance by utilizing the limited space, which is beneficial for driving the unicycle and adjusting its balance; the same principle applies to tilting the unicycle to the left; the unicycle's forward and backward balance is achieved by moving the wheels forward and backward, a technology that is widely used and whose working principle will not be described here; when someone is driving the unicycle, its center of gravity is the shared center of gravity of the unicycle and the human body; Appendix Figure 19 and attached Figure 20Ignoring the wheel and axle tilt caused by the unicycle's tilt, the distances mentioned above are straight-line vertical distances. The principle and control method of the electric bicycle and motorcycle relying on the balance wheel are the same as those of the unicycle and will not be described again. Those skilled in the art can understand and implement them. The difference is that the electric bicycle and motorcycle rely on two wheels set at the front and rear to maintain balance in the front-to-back direction. The unicycle, electric bicycle and motorcycle are equipped with balance wheels, so the lateral balance of the unicycle, electric bicycle and motorcycle can be achieved by using the above-mentioned balance wheel setting method.

[0059] The balancing wheel and application device of this application can stop using its balancing function in any state by turning off the screw motor 1 through a switch or controller when it is not needed. For example, when a person is driving the above-mentioned electric bicycle, motorcycle and unicycle, he or she can maintain left and right lateral balance by relying on the support of his or her own feet.

[0060] The technical solution of this application is also applicable to similar vehicles that require lateral balance, such as electric scooters.

[0061] The speed detection device and attitude detection device described in this application are widely used in the prior art. The technical solution provided in this application uses existing settings and usage techniques, such as using photoelectric sensors or magnetoelectric sensors to detect speed and using gyroscopes to detect attitude, etc., which will not be described here. Those skilled in the art can understand and implement them based on the description in this application.

[0062] The directional terms used in this application, such as up, down, left, and right, are for illustrative purposes only and are not intended to limit the scope of this application.

[0063] The accompanying drawings are schematic diagrams, and the proportions and other details are used to illustrate the application and not to limit it.

[0064] Other than those described above, the contents known to those skilled in the art will not be described here. For example, the basic structural settings of electric bicycles, motorcycles and unicycles in the prior art can be understood and implemented by those skilled in the art with reference to the specification and drawings.

[0065] In the above embodiments of this application, this application has been described only by means of selected embodiments, and the above embodiments are for illustration and not for limiting this application.

Claims

1. A balancing wheel, characterized in that: The balance wheel has a hub (9) and an axle (4) located at the center of the hub (9). The hub (9) and the axle (4) are coaxially arranged. A balance platform (7) is provided between the hub (9) and the axle (4). Both ends of the axle (4) are fixed to the frame (2) by axle fastening nuts (3) and axle steps (5). The inner surface of the axle (4) is smooth. The balance platform (7) is located on the outer side of the smooth part of the axle (4). A central circular hole is provided inside the balance platform (7) so that the balance platform (7) can slide along the axial direction of the axle (4). The hub (9) is connected to the balance platform (7) by a hub bearing (6) on the outer side of the balance platform (7). The hub (9), the balance platform (7), and the axle (4) are coaxially arranged. A screw (8) is installed between the balance platform (7) and the frame (2). The screw (8) is parallel to the wheel axle (4). One end of the screw (8) is connected to the screw motor (1) installed on the frame (2). The other end of the screw (8) passes through the threaded hole inside the balance platform (7) that is compatible with the screw (8) and is connected to the inner ring of the screw bearing (84) in the screw fixing bracket (81) on the opposite frame (2). The screw bearing seat (82) presses and fixes the outer ring of the screw bearing (84) to the screw fixing bracket. Therefore, the screw motor (1) drives the screw (8) to rotate and drives the balance platform (7) to slide along the axial direction of the wheel axle (4). The wheel hub (9) rotates relative to the balance platform (7) and the wheel axle (4) through the wheel hub bearing (6).

2. A balance wheel according to claim 1, characterized in that: A limiting rail (10) is provided at a position different from the screw (8) on the balance platform (7). The two ends of the limiting rail (10) are fixed to the frame (2) by the limiting rail fixing bracket (101). The surface of the limiting rail (10) on the inner side of the frame (2) is smooth. The limiting rail (10) is set parallel to the wheel axle (4) and the screw (8). The balance platform (7) has a sliding hole that matches the limiting rail (10). The balance platform (7) can slide relative to each other along the axial direction of the wheel axle (4) and the limiting rail (10). The limiting rail (10) can be replaced by the screw (8) and the screw motor (1). Therefore, two screw motors (1) and two screws (8) jointly drive the balance platform (7) to move. The two ends of the screw (8) are rotatably connected to the frame (2). Therefore, the screw (8) has a limiting function for the balance platform (7) and restricts the balance platform (7) from rotating around the wheel axle (4).

3. A balance wheel according to claim 1, characterized in that: A disc brake frame (12) is fixedly provided on the side of the balance platform (7) facing the frame (2), and a disc brake pad (13) is provided on the side of the wheel hub (9) facing the frame (2). The disc brake pad (13) is circular. The disc brake frame (12) and the disc brake pad (13) are on the same side of the frame (2). The disc brake frame (12) is inside the circular disc brake pad (13). The disc brake pad (13) fits into the disc brake frame (12). The disc brake frame (12) controls the disc brake through the disc brake cable (11).

4. A balance wheel according to claim 1, characterized in that: A chainring (17) is provided on the side of the wheel hub (9) facing the frame (2). The chainring (17) is circular and is located around the screw (8) and the limiting rail (10).

5. A balance wheel according to claim 1, characterized in that: A drive motor stator (15) is set on the balance platform (7), and a drive motor rotor (16) is set on the hub (9). The drive motor stator (15) and the drive motor rotor (16) are respectively set on the inner side of the hub bearing (6) between the balance platform (7) and the hub (9). The motor stator line (151) of the drive motor stator (15) is led out from the balance platform (7).

6. A two-wheeled electric bicycle, the electric bicycle comprising a front wheel (31), a rear wheel (32), a chain (33), a power supply (35), pedals (37), and handlebars (36) mounted on a bicycle frame (34), wherein the bicycle chain (33) and the rear wheel (32) are rotated by the bicycle pedals (37), the bicycle power supply (35) is equipped with a bicycle controller, and the bicycle controller is connected to an electronic throttle on the handlebars (36), characterized in that: The bicycle rear wheel (32) is configured as a balance wheel as described in any one of claims 1 to 5. The bicycle frame (34) is integrally connected to the frame (2). The bicycle chain (33) is connected to the chainring (17). A one-way ratchet (171) is provided between the chainring (17) and the wheel hub (9), so that the wheel hub (9) can rotate forward past the chainring (17) through the one-way ratchet (171), and the chainring (17) can drive the wheel hub (9) to rotate forward through the one-way ratchet (171). The bicycle controller is connected to the screw motor wire (14) of the screw motor (1) and the stator (15) of the drive motor, respectively. The drive stator wire (151) is electrically connected, and the brake lever on the handlebar (36) is connected to the disc brake wire (11); the control method of the electric bicycle is as follows: the bicycle controller is equipped with a speed detection device and a posture detection device. When the electric bicycle travels at a speed lower than the set value and tilts to the left or right, the bicycle controller starts the screw motor (1) of the balance wheel to keep the electric bicycle in lateral balance. When the electric bicycle travels at a speed higher than the set value, the bicycle controller stops the screw motor (1) of the balance wheel from working; when the electric bicycle travels at a speed lower than the set value and When the center of gravity deviates from the center plane and loses balance, the electric bicycle controller causes the rear wheel (32) of the bicycle to move in the direction of the deviation of the electric bicycle's center of gravity through the screw motor (1) of the balance wheel. The distance that the rear wheel (32) moves relative to the center plane of the electric bicycle is greater than the distance that the center of gravity of the electric bicycle moves relative to the center plane. The center plane of the electric bicycle is the connection surface between the center of gravity of the bicycle in the vertical state and the contact points between the front wheel (31) and the rear wheel (32) of the electric bicycle and the ground. Therefore, the center of gravity of the electric bicycle moves towards the center plane, and finally the center of gravity of the electric bicycle returns to the center plane. When the electric bicycle... When the bicycle travels at a speed higher than the set value, the bicycle controller uses the screw motor (1) of the balance wheel to stop the balance platform (7) of the balance wheel at the position of the axle (4), so that the center plane of the electric bicycle passes through the axle (4). The above setting makes the center of gravity of the electric bicycle in the vertical state and the positions of the front wheel (31) and the rear wheel (32) of the bicycle in contact with the ground on the same vertical plane, which is beneficial to the structural load-bearing capacity and normal operation of the electric bicycle. The electric bicycle travels at a speed lower than the set value, including the two states of the electric bicycle being stopped when the main switch is turned on and low-speed travel.

7. The electric bicycle according to claim 6, characterized in that: The electric bicycle front wheel (31) is configured as a balance wheel as described in any one of claims 1, 2 and 3 above. The brake lever on the bicycle handlebar (36) is connected to the disc brake cable (11) of the balance wheel of the front wheel. The bicycle controller is electrically connected to the screw motor cable (14) of the screw motor (1) of the balance wheel of the front wheel. The bicycle front wheel (31) adopts the same control method as the bicycle rear wheel (32) in claim 6.

8. A motorcycle comprising a front wheel (51), a rear wheel (52), handlebars (54), and an engine (55) mounted on a motorcycle frame (53), characterized in that: The rear wheel (52) of the motorcycle is configured as a balance wheel as described in any one of claims 1 to 4. The motorcycle frame (53) is integrally connected to the frame (2). The engine (55) outputs power through a chain connected to the chainring (17). The motorcycle frame (53) is also equipped with a motorcycle controller connected to a power source. The motorcycle controller is electrically connected to the screw motor line (14) of the screw motor (1) of the balance wheel. The motorcycle handlebars (54) are equipped with a motorcycle brake lever and a throttle lever. The motorcycle brake lever is connected to the disc brake line (11), and the throttle lever is connected to the engine (55). The motorcycle is controlled by a speed detection device and an attitude detection device. When the motorcycle speed is lower than the set value and tilts, the screw motor (1) of the balance wheel is activated to maintain the lateral balance of the motorcycle. When the motorcycle speed is higher than the set value, the screw motor (1) of the balance wheel is stopped. When the speed is lower than the set value and the center of gravity deviates from the center plane of the motorcycle and loses balance, the motorcycle controller causes the rear wheel (52) of the motorcycle to move in the direction of the motorcycle's center of gravity deviation through the screw motor (1). The distance that the rear wheel (52) moves relative to the center plane of the motorcycle is greater than the distance that the center of gravity of the motorcycle moves relative to the center plane. The center plane of the motorcycle is the connection surface between the center of gravity of the motorcycle in the vertical state and the two contact points between the front wheel (51) and the rear wheel (52) and the ground. Therefore, the center of gravity of the motorcycle moves towards the center plane and finally returns to the center plane. When the speed of the motorcycle is higher than the set value, the motorcycle controller causes the balance platform (7) of the balance wheel to stop at the position of the axle (4) through the screw motor (1) of the balance wheel. The center plane of the motorcycle passes the position of the axle (4). When the motorcycle is traveling at a speed higher than the set value, the driver controls the motorcycle to maintain balance.

9. The motorcycle according to claim 8, characterized in that: The front wheel (51) of the motorcycle is configured as a balance wheel as described in any one of claims 1 to 4. The brake lever on the motorcycle handlebar (54) is connected to the disc brake cable (11) of the balance wheel of the front wheel. The motorcycle controller is electrically connected to the screw motor cable (14) of the screw motor (1) of the balance wheel of the front wheel (51). The front wheel (51) of the motorcycle adopts the same control method as the rear wheel (52) of the motorcycle.

10. A unicycle, comprising a unicycle wheel (24) and a vehicle body disposed on the unicycle wheel (24), the vehicle body comprising a unicycle cover (22) disposed on the upper part of the unicycle wheel (24), a controller compartment (25) disposed on the upper part of the unicycle cover (22), and a unicycle seat (21) disposed on the upper part of the controller compartment (25), characterized in that: The unicycle wheel (24) is a balance wheel as described in any one of claims 1, 2, and 5. The unicycle wheel (24) is connected to the frame (2) via an axle (4) mounted on the frame (2). The axle (4) is fixed to the unicycle pedal (23) on the frame (2) via an axle fastening nut (3). The unicycle pedal (23) can be folded upwards. A dust cover (18) is provided between the frame (2) and the balance platform (7). The dust cover (18) has three holes at its outer end (181) near the frame (2) for the screw (8), the limiting rail (10), and the axle (4) to pass through. The inner end (182) of the dust cover near the balance platform (7) is hollow. The frame (2) is a U-shaped structure with the opening facing downwards. A wheel axle hole (42) is provided on the frame (2). The wheel axle hole (42) is flat and round and fits the wheel axle end (41). The wheel axle end (41) of the wheel axle (4) passes through the wheel axle hole (42). The wheel axle fastening nut (3) and the wheel axle step (5) together fasten the wheel axle (4) and the frame (2) together. The open end of the frame (2) can be expanded outward by a certain distance so that the wheel axle (4) can be installed from the inside of the frame (2). The screw motor frame (83) and the limiting rail fixing frame (101) are provided on both sides of the frame (2). The power supply in the controller compartment (25) is electrically connected to the unicycle controller. The unicycle controller is electrically connected to the drive motor stator wire (151) in the balance wheel and the screw motor wire (14) of the screw motor (1). The unicycle controller is equipped with The unicycle's attitude sensors detect changes in its forward and backward and left and right directions. When the attitude sensors detect changes in the unicycle's forward and backward attitude, the unicycle controller drives the unicycle wheel (24) to move forward and backward via the stator line (151) of the drive motor to achieve balance in the forward and backward direction. When the attitude sensors detect changes in the unicycle's left and right lateral attitude, the unicycle controller drives the screw (8) to rotate via the screw motor line (14) and the screw motor (1) to move the balance platform (7) left and right laterally, changing the relative position of the unicycle's center of gravity and the ground support point to achieve balance in the left and right lateral direction. The unicycle's balance in the left and right lateral direction is set such that the unicycle controller is equipped with a speed detection device. When the unicycle's speed is lower than a set value, the unicycle is activated. The screw motor (1) of the wheel (24) is working. When the speed of the unicycle is higher than the set value, the screw motor (1) of the wheel stops working. When the speed of the unicycle is lower than the set value and the center of gravity deviates from the center line and loses balance, the unicycle controller causes the wheel (24) to move in the direction of the deviation of the center of gravity of the unicycle through the screw motor (1) of the balance wheel. The distance that the wheel (24) moves relative to the center line of the unicycle is greater than the distance that the center of gravity of the unicycle moves relative to the center line. The center line of the unicycle is the line connecting the center of gravity of the unicycle in the vertical state and the contact point between the unicycle and the ground. Therefore, the center of gravity of the unicycle moves in the direction of the center line and finally the center of gravity of the unicycle returns to the center line.When the unicycle travels at a speed higher than the set value, the unicycle controller uses the screw motor (1) of the balancing wheel to stop the balancing platform (7) at the position of the axle (4), so that the center line of the unicycle passes through the axle (4).

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