Amphibious large double-wheel balance scooter with cabin attitude self-stabilization function

Abstract

This invention discloses an amphibious two-wheeled self-balancing mobility scooter with a self-stabilizing cabin posture function, belonging to the technical field of self-balancing control and amphibious vehicles. It aims to solve the problems of poor obstacle-crossing ability of existing small two-wheeled self-balancing scooters, the lack of an active self-stabilizing mechanism in electric scooters, and the inability of both types of devices to wade in water. The mobility scooter includes a sealed cabin, large amphibious wheels symmetrically arranged on both sides, and a cabin self-stabilizing control mechanism. The large amphibious wheels are connected to the sealed cabin via an internal drive shaft, and multiple sealing structures ensure waterproofing. Dual motors drive the wheel assembly and control the cabin posture, enabling multi-angle adjustment of the seat and self-stabilization. This invention can easily traverse steps, adapt to complex land terrain and water travel, possesses multi-modal motion capabilities, and is suitable for recreational and short-distance commuting scenarios.

Description

Technical Field

[0001] This invention relates to the field of self-balancing control and amphibious vehicle technology, specifically to an amphibious dual-wheel self-balancing mobility vehicle with a cockpit attitude self-stabilization function. Background Technology

[0002] Existing two-wheeled self-balancing scooters and cockpit-type self-balancing devices share the following common technical limitations: 1. Drive shaft layout limitations. Existing two-wheeled self-balancing scooters all use a central wheel shaft drive or a hub motor drive, with the drive shaft coinciding with the wheel's rotation center. This layout determines that the line of action of the driving force passes through the wheel center, and the position of the vehicle's center of gravity relative to the wheel's contact point remains fixed during driving. When the vehicle accelerates, decelerates, goes uphill, or goes downhill, the cockpit must tilt forward or backward to maintain balance, resulting in a strong coupling between the cockpit posture and driving actions.

[0003] 2. Coupled control system, attitude and motion cannot be decoupled. Existing two-wheeled self-balancing vehicles are non-statically indeterminate platforms with two-point support, and their balance and stability depend on the dynamic adjustment of the vehicle's attitude. Current technology couples drive control with attitude control; forward and backward movement is triggered by the vehicle tilting forward and backward, and attitude changes and driving actions are mutually causal. This control logic determines that the cabin attitude and wheel movement cannot be independent of each other, and the passenger must passively endure the discomfort caused by the vehicle's pitching. Multi-point supported equipment, such as the cab leveling system of excavators and cranes, are statically determinate platforms, and their attitude adjustment and chassis movement are independent of each other.

[0004] 3. Simple transmission structure. Existing synchronous belt drives use a tensioned structure, which ensures meshing reliability by increasing the tension force. This is suitable for conventional shaft drive layouts, but cannot be adapted to eccentric long-distance power transmission. In addition, the extra preload will form an additional load on the transmission system, leading to increased wear on transmission components.

[0005] 4. Insufficient waterproofing and sealing: Existing amphibious mobility devices either rely on tires for buoyancy or only have partial waterproofing. Their core transmission components, electrical control systems, and sensor components are not specifically sealed and protected. When exposed to water, they are prone to short circuits and corrosion damage. They cannot travel in wet areas such as waterfronts and shallow beaches, and cannot simultaneously meet the needs of amphibious environments. Summary of the Invention

[0006] To address the shortcomings of existing small two-wheeled self-balancing scooters, such as poor obstacle-crossing ability, lack of active self-stabilization mechanism, and common technical deficiencies including strong coupling between seat posture and driving motion due to central axis drive, inability to decouple control and drive systems, poor adaptability of tensioned synchronous belt drives, and insufficient waterproof sealing, this invention proposes an amphibious large two-wheeled self-balancing mobility scooter with large wheel diameter for obstacle crossing, actively adjustable seat posture, full waterproof sealing, eccentric drive, and non-tensioned transmission. This scooter can easily traverse step obstacles, achieve kinematic decoupling between seat tilt angle adjustment and seat posture and driving motion, can travel stably on water, and achieves stable power transmission over long distances through a non-tensioned transmission structure.

[0007] To achieve the above objectives, the present invention adopts the following technical solution: The key technical features of an amphibious dual-wheeled self-balancing mobility vehicle with a cockpit attitude stabilization function are: It includes a fully sealed integrated cockpit, two large amphibious drive wheel sets symmetrically arranged on both sides of the fully sealed integrated cockpit, and a cockpit self-stabilization control mechanism for adjusting the seat posture; the fully sealed integrated cockpit constitutes the main buoyancy-providing structure when the vehicle travels on water; The large-size amphibious drive wheel assembly is connected to the bottom of the fully sealed integrated cockpit via an internal drive shaft. The axis of the internal drive shaft and the rotation center of the large-size amphibious drive wheel assembly are spaced at a preset distance in the horizontal direction, forming an eccentric drive structure. This allows the vehicle's center of gravity to be dynamically adjusted relative to the contact point between the drive wheel assembly and the ground when the large-size amphibious drive wheel assembly is driven to rotate via the internal drive shaft while the attitude of the fully sealed integrated cockpit remains unchanged. The connection between the large-sized amphibious drive wheel assembly and the fully sealed integrated cockpit is externally fitted with a shaft end waterproof cover to form a waterproof and sealed structure. The large-size amphibious drive wheel assembly includes a tire, a hub, a wheel frame, a timing belt pulley assembly, an inner timing belt, and an outer timing belt; the timing belt pulley assembly is fixedly connected to the inner drive shaft and is used to drive the inner timing belt in a cyclic transmission; the outer side of the outer timing belt is fixedly connected to the inner side of the hub, and the inner side engages with the inner timing belt to drive the tire to rotate; The large-size amphibious drive wheel set also includes a guide pressure pulley, which is fixed on the wheel frame and its wheel body fits against the inner side of the inner synchronous belt, so that the inner synchronous belt and the outer synchronous belt can be stably meshed without additional mechanical preload.

[0008] The cockpit self-stabilization control mechanism includes a first motor and an outer drive shaft integrated inside the fully sealed integrated cockpit. The first motor is connected to the outer drive shaft through a gear set. The outer drive shaft is sleeved outside the inner drive shaft and is used to drive the fully sealed integrated cockpit to rotate independently around the axis of the inner drive shaft, so as to realize multi-posture adjustment and self-stabilization of the seat. The first motor and the second motor operate independently under control, which decouples the attitude adjustment of the fully sealed integrated cockpit from the walking drive of the large-size amphibious drive wheel set in terms of kinematics, so as to achieve active maintenance of the cockpit attitude under different driving conditions.

[0009] In the above scheme, the synchronous pulley group includes a synchronous pulley, a pin, and a key. The synchronous pulley is circumferentially fixed to the inner transmission shaft by the key, and axially fixed by the pin.

[0010] In the above scheme, the wheel frame includes an inner side plate, an outer side plate, and a first aluminum column, a second aluminum column, and a third aluminum column connecting the two; a first gasket is sandwiched between the inner side plate of the wheel frame and the contact surface of the wheel hub, and a second gasket is sandwiched between the outer side plate of the wheel frame and the contact surface of the wheel hub, forming a sealed and waterproof structure for the wheel hub.

[0011] In the above scheme, the third aluminum column is fitted with a bearing and a guide roller from the inside to the outside. The inner ring of the bearing is interference-fitted with the third aluminum column, and the guide roller is interference-fitted with the outer ring of the bearing.

[0012] In the above scheme, the shaft end waterproof cover includes a first waterproof cover and a second waterproof cover. One end of the first waterproof cover is connected to the main body of the cabin, and the other end is fixedly connected to the second waterproof cover. The other end of the second waterproof cover is sealed to the inner side plate of the wheel frame, forming a multi-layer waterproof protection structure covering the ends of the inner drive shaft and the outer drive shaft.

[0013] In the above scheme, the fully sealed integral cockpit includes a cockpit body and a cockpit shell; the cockpit body integrates a battery pack, a second motor for driving a large-sized amphibious drive wheel assembly, and a first motor for driving the cockpit self-stabilization control mechanism; the second motor is directly connected to the internal drive shaft.

[0014] In the above scheme, the gear set includes a small gear and a large gear that mesh with each other. The output end of the first motor is connected to the small gear through a small gear connecting shaft. The large gear is circumferentially fixed to the external transmission shaft through a key.

[0015] The above solution also includes an inner drive shaft assembly, which includes rolling bearings and inner and outer shaft supports for supporting the inner drive shaft; the inner drive shaft is located inside the outer drive shaft, forming a coaxial shaft system structure with inner and outer nesting; a sealing ring is installed at the connection between the outer drive shaft and the inner side plate of the wheel frame of the large-size amphibious drive wheel set.

[0016] Compared with the prior art, the beneficial effects of the present invention are: This invention uses a large-size amphibious drive wheel set, which significantly increases the minimum ground clearance of the vehicle. It can pass through common obstacles such as steps, shoulders, and shallow ditches, and adapt to unpaved roads such as gravel and grass, as well as complex terrain. It overcomes the shortcomings of existing small two-wheeled balance vehicles, which have poor obstacle crossing ability and can only travel on flat hard roads.

[0017] The eccentric drive design enables dynamic adjustment of the center of gravity. This invention employs a drive structure with the inner drive shaft eccentrically positioned relative to the wheel rotation center. This allows for dynamic adjustment of the vehicle's center of gravity relative to the wheel contact point by rotating the inner drive shaft while maintaining a constant cabin posture. This overcomes the shortcomings of existing center-drive vehicles that rely on the cabin tilting forward or backward to maintain balance.

[0018] The cockpit features active self-stabilization, optimizing both safety and comfort. Compared to existing cockpit-type devices that lack an independent self-stabilization mechanism and have a rigid connection between the cockpit and the vehicle body, this invention uses a first motor to independently drive cockpit attitude adjustment, achieving kinematic decoupling from the second motor-driven walking system. This actively counteracts attitude changes caused by start-stop shocks, slope inclines, and water surface fluctuations, ensuring the cockpit always remains level. Users can ride stably without adjusting their body posture.

[0019] This invention features a non-tensioned transmission system suitable for eccentric drive layouts. It employs an internal and external synchronous belt meshing and guide pulley structure, maintaining stable transmission through contact pressure. This eliminates the need for the large preload required by traditional synchronous belt drives, reducing bearing load and making it suitable for long-distance power transmission in eccentric drive structures. This solves the problem of existing transmission structures being too simple and unable to adapt to eccentric drives.

[0020] The fully sealed, waterproof design enables amphibious travel. Compared to existing equipment that relies on tires for buoyancy or only provides partial waterproofing, this invention uses a fully sealed, integrated cabin as the primary source of buoyancy. Multiple waterproof structures, including axle end waterproof caps, gaskets, and sealing rings, are installed at the connection between the cabin and the drive wheel assembly to provide targeted sealing for core transmission and electronic control components. This allows for floating on water while maintaining land-based performance, overcoming the limitations of a single land-based scenario and meeting the travel needs of waterfront, shallow, and other water-land interface areas.

[0021] This invention simultaneously achieves three major functions: large-diameter obstacle crossing, active self-stabilization of the cabin, and full-sealed waterproofing. It can smoothly switch between various operating modes such as sitting, lying down, rocking chair, water movement, uphill, downhill, and step climbing, meeting the needs of multiple scenarios for entertainment, leisure, and short-distance transportation. Attached Figure Description

[0022] Figure 1 This is a frontal perspective perspective view of an amphibious large two-wheeled self-balancing mobility vehicle with a cockpit attitude self-stabilization function according to the present invention. Figure 2This is a schematic diagram of the structure of the large-sized amphibious wheel in this invention; Figure 3 This is a schematic diagram of the sealed cabin structure in this invention; Figure 4 This is a schematic diagram of the synchronous belt pulley in this invention; Figure 5 This is a schematic diagram of the inner side plate of the wheel frame in this invention; Figure 6 This is a schematic diagram of the internal assembly structure of the wheel frame in this invention; Figure 7 This is a schematic diagram of the guide roller in this invention; Figure 8 This is a schematic diagram of the waterproof cover assembly in this invention; Figure 9 This is a schematic diagram of the external structure of the cockpit body in this invention; Figure 10 This is a schematic diagram of the internal structure of the cockpit body in this invention; Figure 11 This is a schematic diagram of the gear set in this invention; Figure 12 This is a schematic diagram of the internal drive shaft assembly in this invention; Figure 13 This is a cross-sectional schematic diagram of the inner and outer drive shafts in this invention; Figure 14 This is a schematic diagram of the self-balancing scooter's sitting posture according to the present invention; Figure 15 This is a schematic diagram of the self-balancing scooter in its reclining position according to the present invention; Figure 16 This is a schematic diagram of the right extreme position of the self-balancing rocker chair of the present invention; Figure 17 This is a schematic diagram of the left extreme position of the self-balancing rocker chair of the present invention; Figure 18 This is a schematic diagram of the self-balancing vehicle's movement on water according to the present invention; Figure 19 This is a schematic diagram of the self-balancing scooter going uphill according to the present invention; Figure 20 This is a schematic diagram of the self-balancing scooter in a downhill state according to the present invention; Figure 21 This is a schematic diagram of the self-balancing scooter going up a step according to the present invention. Figure 1 ; Figure 22 This is a schematic diagram of the self-balancing scooter going up a step according to the present invention. Figure 2 ; Figure 23 This is a schematic diagram of the self-balancing scooter going up a step according to the present invention. Figure 3 ; The serial numbers are explained as follows: 1-Sealed cockpit, 2-Large-size amphibious wheel, 3-Tire, 4-Wheel hub, 5-Guide pressure pulley, 6-Wheel frame, 7-Outer synchronous belt, 8-Inner synchronous belt, 9-Synchronous belt pulley assembly, 10-Cockpit body, 11-Waterproof cover assembly, 12-Synchronous belt pulley, 13-Pin, 14-Key, 15-Inner side plate of wheel frame, 16-Wheel frame rib, 17-First gasket, 18-Second gasket, 19-Outer side plate of wheel frame, 20-First aluminum pillar, 21-Second aluminum pillar, 22-Third aluminum pillar, 23-Guide pressure pulley, 24-Bearing, 25 26-First waterproof cover, 27-Second waterproof cover, 28-Cockpit door, 29-Cockpit door motor, 30-Seat, 31-Battery box, 32-Cockpit shell, 33-First motor, 34-Second motor, 35-Battery pack, 36-Outer drive shaft, 37-Inner drive shaft assembly, 38-Gear set, 39-Coupling, 40-Pin, 41-Retaining ring, 42-Pinner gear connecting shaft, 43-Large gear, 44-Key, 45-Inner and outer shaft supports, 46-Rolling bearing, 47-Inner drive shaft, 48-Sealing ring. Detailed Implementation

[0023] To better explain and facilitate understanding of this invention, the following description is provided in conjunction with the appendix. Figure 1 -Appendix Figure 23 The technical solution and effects of the present invention will be described in detail through specific implementation methods.

[0024] like Figure 1 As shown, an amphibious dual-wheel balance vehicle with a self-stabilizing cabin posture function includes a sealed cabin 1 and large-sized amphibious wheels 2. The large-sized amphibious wheels 2 are symmetrically arranged on both sides of the sealed cabin 1. The sealed cabin 1 is connected to the large-sized amphibious wheels 2 through an internal drive shaft, and the connection end of the large-sized amphibious wheels 2 and the sealed cabin 1 is equipped with a shaft end waterproof cover to form a waterproof and sealed structure.

[0025] like Figure 2 As shown, the large-size amphibious wheel 2 includes a tire 3, a hub 4, a guide pulley 5, a wheel frame 6, an outer synchronous belt 7, an inner synchronous belt 8, and a synchronous belt pulley set 9; wherein, the synchronous pulley in the synchronous belt pulley set 9 is circumferentially fixed to the inner drive shaft through a keyway fit structure to realize torque transmission. When the inner drive shaft rotates, it can directly drive the synchronous pulley to rotate synchronously, thereby driving the inner synchronous belt 8 to circulate.

[0026] The hub 4 is fixedly installed on the inner side of the tire 3, and the inner side of the hub 4 is fixedly connected to the outer side of the outer synchronous belt 7. Power transmission is achieved by the meshing of the inner synchronous belt 8 and the outer synchronous belt 7, thereby driving the tire 3 to rotate around a preset axis, forming a relative motion state in which the tire 3 rotates while the wheel frame 6 remains stationary, and the center of rotation of the tire 3 is located above the synchronous belt pulley.

[0027] The guide roller 5 is fixedly mounted at the mounting interface of the corresponding aluminum column of the wheel frame 6. Its wheel body is in frictional contact with the inner side of the inner synchronous belt 8 and can move synchronously with the cyclic rotation of the inner synchronous belt 8. The guide roller 5 has both auxiliary guiding and tensioning functions. It can not only limit and guide the cyclically rotating inner synchronous belt 8 to prevent the synchronous belt from deviating, but also adjust the tension of the inner synchronous belt 8 through frictional contact to ensure the stability and reliability of the transmission.

[0028] like Figure 4 As shown, the synchronous pulley assembly 9 includes a synchronous pulley 12, a pin 13, and a key 14. The toothed synchronous pulley 12 (simplified as a cylinder in the attached diagram) is circumferentially fixed to the inner drive shaft via a keyway structure and axially fixed via the pin. The synchronous pulley 12 meshes with the inner synchronous belt 8. When the inner drive shaft rotates, it drives the synchronous pulley 12 to rotate synchronously, thereby driving the inner synchronous belt 8 to circulate.

[0029] like Figure 5-6 As shown, the wheel frame includes an inner side plate 15, a rib plate 16, a first gasket 17, a second gasket 18, an outer side plate 19, a first aluminum column 20, a second aluminum column 21, and a third aluminum column 22. The inner side plate 15 and the outer side plate 19 are arranged opposite each other and are rigidly connected by the first aluminum column 20, the second aluminum column 21, the third aluminum column 22, and the rib plate 16. Each aluminum column penetrates the inner side plate 15 and the outer side plate 19, and the screw connection ensures the overall structural strength of the wheel frame. The guide roller 5 is installed on the third aluminum column to realize the follow-up guidance and tensioning functions. The first gasket 17 is sandwiched between the inner side plate 15 and the contact surface of the wheel hub 4, and the second gasket 18 is sandwiched between the outer side plate 19 and the contact surface of the wheel hub 4. Both of them play a role in sealing and waterproofing. The outer side plate 19 of the wheel frame and the inner side plate 15 of the wheel frame are connected and fixed by the first aluminum column 20, the wheel frame rib plate 16, the second aluminum column 21, and the third aluminum column 22. Multiple first aluminum columns 20, second aluminum columns 21, and third aluminum columns 22 are provided and arranged at intervals. The third aluminum column 22 is provided with a guide pressure roller and a bearing.

[0030] like Figure 7 As shown, when the guide pulley 5 and bearing 24 are installed on the third aluminum pillar 22, they are assembled in an inward-outward sequence, with the bearing 24 and guide pulley 23 being assembled sequentially. The inner ring of the bearing 24 is interference-fitted with the third aluminum pillar 22, and the guide pulley is interference-fitted with the outer ring of the bearing. The guide pulley 5 is pressed against the inner side of the inner synchronous belt 8, and the appropriate pressing pressure keeps the inner synchronous belt 8 and the outer synchronous belt 7 stably meshed. Unlike traditional synchronous belt drives, it does not require a large preload, thus reducing the bearing load and making it suitable for long-distance power transmission in eccentric drive structures.

[0031] The sealed cabin 1 consists of a cabin body 10 and a waterproof cover 11. The cabin body 10 is connected to the large-size amphibious wheel drive 2 via an internal drive shaft, and the waterproof cover 11 is installed on the connection part between the internal drive shaft and the cabin body 10 to form a shaft hole sealing structure, ensuring the waterproof performance of the cabin.

[0032] like Figure 8 As shown, the waterproof cover 11 includes a first waterproof cover 25 and a second waterproof cover 26. One end of the first waterproof cover 25 is connected to the connection point of the cockpit body 10, and the other end is fixed to the second waterproof cover 26 by bolts. The other end of the second waterproof cover 26 is sealed to the inner side plate 15 of the wheel frame, forming a shaft end waterproof protection structure between the cockpit and the wheel frame.

[0033] like Figure 9-10 As shown, the cockpit body 10 includes a cockpit door 27, a cockpit door motor 28, a seat 29, a battery box 30, a cockpit shell 31, a first motor 32, a second motor 33, a battery pack 34, an external drive shaft 35, an internal drive shaft assembly 36, and a gear set 37. The cockpit door 27 is driven by the cockpit door motor 28 to achieve automatic opening and closing. The seat 29 is fixed to the top of the battery box 30, and the bottom of the battery box 30 is rigidly connected to the cockpit shell 31 through a connecting frame and bolts. The battery pack 34, the first motor 32, and the second motor 33 are all arranged inside the battery box 30. The first motor 32 is connected to the external drive shaft 35 through the gear set 37, and outputs power through the external drive shaft 35 to achieve self-balancing control of the cockpit. The second motor 33 is directly connected to the internal drive shaft assembly 36, and drives the internal drive shaft assembly 36 to rotate, thereby controlling the rotation of the large-sized amphibious wheel 2.

[0034] like Figure 11 As shown, the gear set 37 includes a coupling 38, a pinion 39, a pin 40, a retaining ring 41, a pinion connecting shaft 42, a large gear 43, and a key 44. The output end of the first motor 32 is connected to the pinion connecting shaft 42 via the coupling 38. The pinion connecting shaft 42 and the pinion 39 are connected by a key to form a circumferential limit. The outer side of the pinion 39 is axially limited by the retaining ring 41 and the pin 40. The pinion 39 meshes with the large gear 43. The large gear 43 is circumferentially fixed to the outer drive shaft 35 via the key 44, driving the outer drive shaft 35 to rotate synchronously and providing power for the cockpit self-balancing control.

[0035] like Figure 12As shown, the inner drive shaft assembly 36 includes a coupling, inner and outer shaft supports 45, rolling bearings 46, and an inner drive shaft 47. The output end of the second motor 33 is connected to the inner drive shaft 47 through the coupling. The inner drive shaft 47 is located inside the outer drive shaft 35, forming a nested shaft system structure. The inner and outer shaft supports 45 and the rolling bearings 46 are sequentially assembled between the inner drive shaft 47 and the outer drive shaft 35 from the inside to the outside. The inner and outer shaft supports 45 and the rolling bearings 46 together realize the radial positioning and rotational support of the inner drive shaft 47.

[0036] like Figure 13 As shown, the inner drive shaft 47 is located inside the outer drive shaft 35, forming a nested shaft system structure; the inner and outer shaft supports 45 and rolling bearings 46 are sequentially assembled between the inner drive shaft 47 and the outer drive shaft 35 from the inside to the outside, and a sealing ring 48 is installed at the connection between the outer drive shaft 35 and the inner side plate 15 of the wheel frame of the large-size amphibious wheel 2 to ensure sealing.

[0037] The working principle of the aforementioned amphibious dual-wheel self-balancing mobility vehicle with cockpit attitude stabilization function is as follows: The battery pack 34 built into the battery box 30 provides a power source for the first motor 32 and the second motor 33 to ensure the stable operation of the two motors. The specific power transmission and function realization process is as follows: The output end of the first motor 32 is connected to the pinion 39 through the coupling 38, driving the pinion 39 to rotate; the pinion 39 meshes with the large gear 43 to realize power transmission; the large gear 43 is connected to the external drive shaft 35 through a key to form a circumferential fixation, thereby driving the external drive shaft 35 to rotate synchronously. Through the rotation of the external drive shaft 35, the sealed cockpit 1 rotates synchronously, ultimately realizing the cockpit attitude self-stabilization function. The output of the second motor 33 is directly connected to the inner drive shaft 47 and drives it to rotate. The inner drive shaft 47 drives the synchronous pulley 12 to rotate synchronously. The synchronous pulley 12 meshes with the inner synchronous belt 8, driving the inner synchronous belt 8 to circulate. The inner synchronous belt 8 meshes with the outer synchronous belt 7, driving the tire 3 to rotate, thereby realizing the forward and backward movements of the balance vehicle. Furthermore, by adjusting the speed difference between the two symmetrically arranged large-sized amphibious wheels 2, the turning movement of the balance vehicle can be realized. Because the axis of the inner drive shaft 47 is eccentrically set with the rotation center of the tire 3, when the second motor 33 drives the inner drive shaft 47 to rotate, even if the fully sealed integrated cabin 1 remains in a horizontal position, the position of the vehicle's center of gravity relative to the tire's contact point with the ground will dynamically change with the rotation of the inner drive shaft, thereby achieving smooth acceleration, deceleration, and steering with a stable cabin posture.

[0038] By controlling the first motor 32 to drive the rotation of the outer drive shaft 35, the angle control of the cockpit body 10 relative to the rotation axis of the large amphibious wheel 2 can be realized. In conjunction with the second motor 33 to drive the rotation of the inner drive shaft 47, the rotation of the large amphibious wheel 2 can be driven, thereby realizing multimodal motion effects, including but not limited to sitting, lying down, rocking chair, water movement, uphill, downhill, and up stairs, as well as the switching action between any two of the above modes.

[0039] The working principles of each mode are as follows: like Figure 14 As shown, this mobility scooter can achieve a seated posture. Specifically, the first motor 32 drives the outer drive shaft 35 to rotate, thereby adjusting the sealed cabin 1 to rotate to the center position. The first motor 32 continuously outputs control power to keep the sealed cabin 1 stably in this position, achieving balance in the seated posture. At this time, the second motor 33 is controlled to drive the inner drive shaft 47 to rotate. Through the transmission of the synchronous pulley and synchronous belt, the tires 3 rotate while the wheel frame 6 remains stationary, enabling the scooter to move forward, backward, and rotate in the seated posture.

[0040] like Figure 15 As shown, this mobility scooter can achieve a reclining state. Specifically, by controlling the first motor 32 to drive the external transmission shaft 35 to rotate, the sealed cabin 1 is rotated to the right limit position. The first motor 32 continuously outputs control power to keep the sealed cabin 1 stably in this position, achieving balance in the reclining state. At this time, the user can lie down in the sealed cabin 1, effectively improving riding comfort.

[0041] like Figure 16 , 17 As shown, this mobility scooter can achieve a rocking chair mode. Specifically, the power output from the first motor 32 is transmitted via a gear set to the outer drive shaft 35, causing it to rotate. This, in turn, drives the sealed cabin 1 to rotate around the axis of the inner drive shaft assembly. First, the sealed cabin 1 is adjusted to rotate to the preset rightmost extreme position (corresponding to...). Figure 16 (as shown in the diagram), then control the first motor 32 to rotate in the reverse direction, so that the sealed cabin 1 returns to the center position, and then continues to drive it to rotate to the preset leftmost extreme position (corresponding to...). Figure 17 (as shown in the diagram); through the reciprocating motion trajectory described above, the rocking chair function of the mobility scooter is realized.

[0042] The fully sealed, integral cabin 1 forms a closed cavity. When traveling in water, the buoyancy generated by its displacement volume is sufficient to support the weight of the entire vehicle and its occupants, constituting the primary source of buoyancy. For example... Figure 18As shown, this mobility scooter can move on water. Specifically, it is achieved by controlling the second motor 33 to drive the internal transmission shaft to rotate, which in turn drives the synchronous belt pulley to rotate synchronously. The large amphibious wheel 2 is driven to rotate through the meshing transmission of the inner and outer synchronous belts. The buoyancy of the sealed cabin 1 and the large amphibious wheel 2 supports the entire vehicle to float on the water surface. At the same time, the rotation of the tires 3 generates thrust, which, together with the first motor 32, continuously regulates the sealed cabin 1 to maintain a horizontal balance, thereby achieving forward, backward, and turning movements on the water.

[0043] like Figure 19 As shown, this mobility scooter can move uphill. Specifically, the first motor 32 drives the outer drive shaft 35 to rotate, adjusting the sealed cabin 1 to rotate to a horizontal balance, thus counteracting the pitch and tilt when going uphill. At the same time, the second motor 33 outputs power, which drives the large amphibious wheels 2 to rotate via the inner drive shaft and synchronous belt, generating driving force to move the entire vehicle uphill along the slope. The coordinated operation of the two large amphibious wheels 2 ensures the stability of going uphill.

[0044] like Figure 20 As shown, this mobility scooter can move downhill. Specifically, the first motor 32 controls the rotation of the outer drive shaft 35 in real time, keeping the sealed cabin 1 in a horizontal and balanced state to avoid tilting forward due to gravity when going downhill. At the same time, the second motor 33 is controlled to adjust the output power, which, together with the rotation of the large amphibious wheels 2, controls the downhill speed. Through the stable transmission of the inner and outer synchronous belts, the entire vehicle moves smoothly downhill along the slope, ensuring safety during the downhill process.

[0045] like Figure 21-23 As shown, this mobility scooter can move up steps. Specifically, the first motor 32 drives the outer drive shaft 35 to rotate, adjusting the sealed cabin 1 to a horizontal equilibrium state, preventing the cabin from tilting forward or backward due to the vehicle body lifting when going up steps. Simultaneously, the second motor 33 outputs high-power driving force, which drives the large-diameter amphibious wheels 2 to rotate via the inner drive shaft and synchronous belt. Utilizing the large wheel diameter, the tires 3 smoothly climb onto the step surface. The coordinated rotation of the two large-diameter amphibious wheels 2 propels the entire vehicle smoothly up the steps, improving its adaptability to complex terrain. The entire process is as follows: Figure 21 , Figure 22 , Figure 23 .

[0046] The above description is merely a specific embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the technical scope disclosed in the present invention should be included within the scope of protection of the present invention. Therefore, the scope of protection of the present invention should be determined by the scope of the claims.

Claims

1. An amphibious dual-wheeled self-balancing mobility scooter with a cockpit attitude self-stabilization function, characterized in that: It includes a fully sealed integrated cockpit (1), two large-sized amphibious drive wheel sets (2) symmetrically arranged on both sides of the fully sealed integrated cockpit (1), and a cockpit self-stabilization control mechanism for adjusting the seat posture; the fully sealed integrated cockpit (1) constitutes the main buoyancy-providing structure when the vehicle travels on water; The large-size amphibious drive wheel assembly (2) is connected to the bottom of the fully sealed integrated cabin (1) via an inner drive shaft (47), and the axis of the inner drive shaft (47) and the rotation center of the large-size amphibious drive wheel assembly (2) are spaced at a preset distance in the horizontal direction to form an eccentric drive structure; so that when the attitude of the fully sealed integrated cabin (1) remains unchanged, the large-size amphibious drive wheel assembly (2) is driven to rotate by the inner drive shaft (47), and the center of gravity of the vehicle is dynamically adjusted relative to the contact point between the drive wheel assembly and the ground. The large-size amphibious drive wheel assembly (2) is externally fitted with a shaft end waterproof cover (11) at the connection end with the fully sealed integral cabin (1) to form a waterproof sealing structure; The large-size amphibious drive wheel assembly (2) includes a tire (3), a hub (4), a wheel frame (6), a timing belt pulley assembly (9), an inner timing belt (8), and an outer timing belt (7); the timing belt pulley assembly (9) is fixedly connected to the inner drive shaft (47) and is used to drive the inner timing belt (8) in a cyclic transmission; the outer side of the outer timing belt (7) is fixedly connected to the inner side of the hub (4), and the inner side meshes with the inner timing belt (8) to drive the tire (3) to rotate; The large-size amphibious drive wheel set (2) also includes a guide pressure roller (5), which is fixed on the wheel frame (6) and its wheel body is in contact with the inner side of the inner synchronous belt (8). It can maintain the stable meshing of the inner synchronous belt (8) and the outer synchronous belt (7) without additional mechanical preload. The cockpit self-stabilization control mechanism includes a first motor (32) and an outer drive shaft (35) integrated inside the fully sealed integrated cockpit (1). The first motor (32) is connected to the outer drive shaft (35) through a gear set (37). The outer drive shaft (35) is sleeved outside the inner drive shaft (47) and is used to drive the fully sealed integrated cockpit (1) to rotate independently around the axis of the inner drive shaft (47) to realize multi-posture adjustment and self-stabilization of the seat. The first motor (32) and the second motor (33) are independently controlled to decouple the attitude adjustment of the fully sealed integrated cockpit (1) from the walking drive of the large-size amphibious drive wheel set (2) in terms of kinematics, so as to achieve active maintenance of the cockpit attitude under different driving conditions.

2. The amphibious dual-wheeled self-balancing mobility scooter with cockpit attitude self-stabilization function according to claim 1, characterized in that: The synchronous pulley assembly (9) includes a synchronous pulley (12), a pin (13) and a key (14). The synchronous pulley (12) is circumferentially fixed to the inner drive shaft (47) by the key (14) and axially fixed by the pin (13).

3. The amphibious dual-wheeled self-balancing mobility scooter with cockpit attitude self-stabilization function according to claim 1, characterized in that: The wheel frame (6) includes an inner side plate (15), an outer side plate (19), and a first aluminum column (20), a second aluminum column (21), and a third aluminum column (22) connecting the two. A first gasket (17) is sandwiched between the inner side plate (15) and the contact surface of the wheel hub (4), and a second gasket (18) is sandwiched between the outer side plate (19) and the contact surface of the wheel hub (4), forming a sealed and waterproof structure for the wheel hub.

4. The amphibious dual-wheeled self-balancing mobility scooter with cockpit attitude self-stabilization function according to claim 3, characterized in that: The third aluminum column (22) is fitted with a bearing (24) and a guide roller (5) from the inside out. The inner ring of the bearing (24) is interference-fitted with the third aluminum column (22), and the guide roller (5) is interference-fitted with the outer ring of the bearing (24).

5. The amphibious dual-wheeled self-balancing mobility scooter with cockpit attitude self-stabilization function according to claim 1, characterized in that: The shaft end waterproof cover (11) includes a first waterproof cover (25) and a second waterproof cover (26). One end of the first waterproof cover (25) is connected to the main body of the cabin (10), and the other end is fixedly connected to the second waterproof cover (26). The other end of the second waterproof cover (26) is sealed to the inner side plate (15) of the wheel frame, forming a multi-layer waterproof protection structure covering the ends of the inner drive shaft (47) and the outer drive shaft (35).

6. The amphibious dual-wheeled self-balancing mobility scooter with cockpit attitude self-stabilization function according to claim 1, characterized in that: The fully sealed integrated cockpit (1) includes a cockpit body (10) and a cockpit shell (31); the cockpit body (10) integrates a battery pack (34), a second motor (33) for driving a large-size amphibious drive wheel set (2) and a first motor (32) for driving the cockpit self-stabilization control mechanism; the second motor (33) is directly connected to the inner drive shaft (47).

7. The amphibious dual-wheeled self-balancing mobility scooter with cockpit attitude self-stabilization function according to claim 6, characterized in that: The gear set (37) includes a small gear (39) and a large gear (43) that mesh with each other. The output end of the first motor (32) is connected to the small gear (39) through the small gear connecting shaft (42). The large gear (43) is circumferentially fixed to the outer drive shaft (35) through the key (44).

8. The amphibious dual-wheeled self-balancing mobility scooter with cockpit attitude self-stabilization function according to claim 6, characterized in that: It also includes an inner drive shaft assembly (36), which includes a rolling bearing (46) for supporting the inner drive shaft (47) and inner and outer shaft supports (45); the inner drive shaft (47) is located inside the outer drive shaft (35) to form a coaxial shaft system structure with inner and outer nesting; a sealing ring (48) is installed at the connection between the outer drive shaft (35) and the inner side plate (15) of the wheel frame of the large-size amphibious drive wheel set (2).

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