Dual-motor wheel and self-balancing wheelbarrow

Abstract

The utility model belongs to the technical field of electric wheelbarrows, and particularly relates to a double-motor wheel and a self-balancing wheelbarrow, which comprise a hub main body, a first bracket, a main driving motor, a second bracket and an auxiliary motor, the first support comprises a first connecting shaft, a first outer ring and a first inner ring, and an annular groove is formed between the first outer ring and the first inner ring. The main driving motor is arranged on the first bracket; the second support is coaxially arranged in the annular groove, the second support comprises a second outer ring and a second inner ring, and the second inner ring is connected with the first connecting shaft; the auxiliary motor is arranged between the second support and the annular groove and used for driving the second support to rotate in the annular groove when the auxiliary motor operates. According to the self-balancing monocycle, self-balancing in the front-back direction and the left-right direction can be achieved, meanwhile, the overall structure of the dual-motor wheel is smaller, and daily carrying, using and storing of the self-balancing monocycle applying the scheme are facilitated.

Description

Technical Field

[0001] The utility model belongs to the technical field of electric unicycles, and particularly relates to a double-motor wheel and a self-balancing unicycle. Background Art

[0002] Electric self-balancing unicycles have been deeply loved by a large number of sports enthusiasts since they came out. However, since it has only one wheel and its control device can only ensure its balance in the front-back direction and cannot balance in the left-right direction, the left-right direction of the human body needs to be manually controlled, which is difficult to learn and is not conducive to the use and popularization of electric unicycles. For example, Patent 201410149106.8 provides a front-back-left-right self-balancing electric unicycle. By setting a flywheel above the unicycle, the flywheel rotation provides a balance torque in the left-right direction to achieve the left-right balance of the unicycle and reduce the learning difficulty of people. However, this external flywheel setting method, although solving the problem of left-right balance, the overall space occupied by the self-balancing unicycle with an external flywheel is relatively large, which is not conducive to the carrying and storage of the self-balancing unicycle. Content of the Utility Model

[0003] In order to overcome the deficiencies of the prior art, the utility model provides a double-motor wheel to solve the problem that the overall space occupied by the self-balancing unicycle with an external flywheel in the prior art is relatively large and is not conducive to the carrying and storage of the self-balancing unicycle.

[0004] One solution of the utility model provides a double-motor wheel, including a hub body, a first bracket, a main drive motor, a second bracket and an auxiliary motor;

[0005] The first bracket is coaxially arranged with the hub body. The first bracket includes a first connecting shaft, a first outer ring and a first inner ring. The first connecting shaft is provided with first spokes connecting the first outer ring and the first inner ring. An annular groove is formed between the first outer ring and the first inner ring;

[0006] The main drive motor is arranged on the first bracket;

[0007] The second bracket is coaxially arranged in the annular groove. The second bracket includes a second outer ring and a second inner ring. The second inner ring is connected to the second outer ring through second spokes, and the second inner ring is connected to the first connecting shaft through a connecting bearing;

[0008] The auxiliary motor includes a second stator and a second rotor. The second stator is installed on the first inner ring, and the second rotor is installed on the second outer ring, and is used to drive the second bracket to rotate in the annular groove when the auxiliary motor operates.

[0009] In this solution, the main drive motor and the auxiliary motor are both installed and fixed on the first bracket. The main drive motor is used to drive the hub body to rotate and drive the whole wheel to rotate. At the same time, the auxiliary motor drives the second bracket to rotate inside the first bracket. By using the self-balancing characteristic of the second bracket during high-speed rotation, the dual-motor wheel in this solution can achieve self-balancing in the front-back direction and the left-right direction. At the same time, the auxiliary motor in this solution is arranged inside the main drive motor. Compared with the existing solutions, the overall structure of the dual-motor wheel is smaller, which is convenient for the daily carrying, use and storage of the self-balancing unicycle applying the dual-motor wheel of this solution.

[0010] More specifically, the main drive motor and the auxiliary motor in this solution are installed and set through the first bracket to achieve integrated connection and improve the structural strength, avoiding the shaking or displacement caused by the separation of parts from the installation position during use, so that the self-balancing unicycle applying the dual-motor wheel of this solution has a better user experience. At the same time, the embedded installation method of the first bracket and the second bracket is convenient for installing or maintaining the auxiliary motor.

[0011] In one solution of the present utility model, the first spoke includes a first part and a second part connected to each other. The first part is connected and arranged between the first connecting shaft and the first inner ring, and the second part is connected and arranged between the first inner ring and the first outer ring.

[0012] In this solution, the first spoke is used to achieve the structural support and stability among the first connecting shaft, the first outer ring and the first inner ring, and at the same time, the load is dispersed and transmitted through the first spoke. Specifically, the first spoke is designed to include a first part and a second part connected to each other. According to the different specific connection objects and application requirements, it can also help to reduce the weight of the wheel, increase the strength of the wheel, improve the stiffness of the wheel, and make the whole wheel structure more solid and durable.

[0013] In one solution of the present utility model, the first spoke is arranged on the same side of the first outer ring and the first inner ring, and the thickness of the second part is less than that of the first part, for avoiding the second bracket and the auxiliary motor.

[0014] In this solution, to meet the load-bearing requirements, by arranging the first spoke on the same side of the first outer ring and the first inner ring, and making the thickness of the second part less than that of the first part, the first spoke forms a two-stage stepped structure. The part with a smaller size corresponding to the second part is used to make the annular groove formed between the first outer ring and the first inner ring have a larger accommodation depth, which is convenient for installing the second bracket inside the annular groove.

[0015] In one solution of the present utility model, a plurality of the first spokes are provided, and the plurality of first spokes are arranged in a radial pattern around the first connecting shaft;

[0016] And / or, a plurality of the second spokes are provided, and the plurality of second spokes are arranged in a radial pattern around the second inner ring as the center.

[0017] In one aspect of the present utility model, the main drive motor includes a first stator and a first rotor. The first stator is installed on the outer circumferential surface of the first outer ring, and the first rotor is installed on the inner circumferential surface of the hub body for driving the hub body when the main drive motor operates.

[0018] In this aspect, when the main drive motor operates, the first rotor drives the hub body to realize the rotation of the wheel. This aspect can effectively combine the motor with the vehicle wheel hub to achieve power transmission to push the vehicle forward.

[0019] In one aspect of the present utility model, the second inner ring is connected to one side surface of the second outer ring through the second spokes, and is used to immerse the second outer ring into the annular groove when the second bracket is installed into the annular groove.

[0020] In this aspect, by adopting the method that the second inner ring is connected to the edge of one side surface of the second outer ring through the second spokes, a larger fitting space is provided on the other side of the second outer ring, so as to realize immersing the second outer ring into the annular groove when the second bracket is installed into the annular groove, making the integrity of the device higher and reducing the occupied space of the device.

[0021] In one aspect of the present utility model, the depth of the first inner ring is less than the depth of the first outer ring, and is used to avoid the second spokes when the second bracket is installed into the annular groove.

[0022] In one aspect of the present utility model, a preset distance is provided between the outer circumferential surface of the second outer ring and the inner circumferential surface of the first outer ring.

[0023] In the case of temperature rise or excessive torque, the second outer ring or the first outer ring may be deformed or enlarged. If there is no gap between the second outer ring and the first outer ring, mechanical jamming may occur, causing damage to the motor.

[0024] In this aspect, by providing a preset distance between the outer circumferential surface of the second outer ring and the inner circumferential surface of the first outer ring, it can ensure that the auxiliary motor drives the second bracket to rotate freely during non-extreme environment applications, avoiding unnecessary mechanical failures.

[0025] In one aspect of the present utility model, the dual-motor wheel further includes a gyroscope, and the gyroscope is used to control the main drive motor and the auxiliary motor.

[0026] In one of the solutions of the present utility model, a self-balancing unicycle is also pointed out, which includes a frame, a driving wheel, a battery compartment, and a pedal. The driving wheel is rotatably engaged with the frame. The battery compartment is arranged on the frame. The pedal is arranged on the battery compartment or the frame. The driving wheel adopts the dual-motor wheel as described in any one of the above-mentioned multiple solutions.

[0027] In this solution, the auxiliary motor drives the second bracket to rotate within the first bracket. By utilizing the self-balancing characteristics when the second bracket rotates at a high speed, the dual-motor wheel in this solution realizes self-balancing in the front-back direction and the left-right direction. At the same time, the auxiliary motor in this solution is arranged inside the main driving motor. Compared with the existing solutions, the overall structure of the dual-motor wheel is smaller, which is convenient for the daily carrying, use, and storage of the self-balancing unicycle, and has a better user experience. At the same time, the embedded installation method of the first bracket and the second bracket is convenient for the installation and maintenance of the auxiliary motor. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] In order to more clearly illustrate the technical solutions in the embodiments of the present utility model or the prior art, the following will briefly introduce the drawings required for use in the description of the embodiments or the prior art. Obviously, the following drawings are only some embodiments of the present utility model. For those of ordinary skill in the art, without creative efforts, other drawings can be obtained based on the structures shown in these drawings.

[0029] Figure 1 Showing an exploded structural schematic diagram of the dual-motor wheel of the present utility model;

[0030] Figure 2 Showing a three-dimensional structural schematic diagram of the dual-motor wheel of the present utility model;

[0031] Figure 3 Showing a front structural schematic diagram of the dual-motor wheel of the present utility model;

[0032] Figure 4 Showing Figure 3 An enlarged schematic diagram of the structure at A in

[0033] Figure 5 Showing a structural schematic diagram of the first bracket and the second bracket of the present utility model;

[0034] Figure 6 Showing a structural schematic diagram of the first bracket and the second bracket of the present utility model from another perspective;

[0035] Figure 7 Showing a structural schematic diagram when the first bracket and the second bracket of the present utility model are combined.

[0036] The description of the reference numerals in the drawings is as follows:

[0037] 1 - Wheel hub body;

[0038] 2 - First bracket; 21 - First connecting shaft; 22 - First outer ring; 23 - First inner ring; 24 - First spoke; 241 - First part; 242 - Second part; 25 - Annular groove;

[0039] 3 - Main drive motor; 31 - First stator; 32 - First rotor;

[0040] 4 - Second bracket; 41 - Second outer ring; 42 - Second inner ring; 43 - Second spoke;

[0041] 5 - Auxiliary motor; 51 - Second stator; 52 - Second rotor. Detailed implementation mode

[0042] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

[0043] It should be noted that if there are directional indications (such as up, down, left, right, front, back...) in the embodiments of the present invention, the directional indications are only used to explain the relative positional relationship and movement conditions between components in a specific posture. If the specific posture changes, the directional indications will also change accordingly.

[0044] In addition, if there are descriptions such as "first" and "second" in the embodiments of the present invention, the descriptions of "first" and "second" are only for descriptive purposes and cannot be understood as indicating or implying their relative importance or implicitly indicating the quantity of the indicated technical features. Thus, the features defined with "first" and "second" may explicitly or implicitly include at least one such feature. In addition, if "and / or" or "and / or" appears throughout the text, its meaning includes three parallel solutions. Taking "A and / or B" as an example, it includes solution A, solution B, or a solution that satisfies both A and B at the same time. In addition, the technical solutions between the embodiments can be combined with each other, but it must be based on the ability of those of ordinary skill in the art to implement. When the combination of technical solutions is contradictory or cannot be implemented, it should be considered that such a combination of technical solutions does not exist and is not within the protection scope required by the present invention.

[0045] Please refer to Figure 1 、 Figures 3 - 7, one embodiment of the present utility model provides a dual - motor wheel, which includes a hub body 1, a first bracket 2, a main drive motor 3, a second bracket 4, and an auxiliary motor 5;

[0046] The first bracket 2 is coaxially arranged with the hub body 1. The first bracket 2 includes a first connecting shaft 21, a first outer ring 22, and a first inner ring 23. The first connecting shaft 21 is provided with first spokes 24 connecting the first outer ring 22 and the first inner ring 23. An annular groove 25 is formed between the first outer ring 22 and the first inner ring 23;

[0047] The main drive motor 3 is arranged on the first bracket 2;

[0048] The second bracket 4 is coaxially arranged in the annular groove 25. The second bracket 4 includes a second outer ring 41 and a second inner ring 42. The second inner ring 42 is connected to the second outer ring 41 through second spokes 43. The second inner ring 42 is connected to the first connecting shaft 21 through a connecting bearing;

[0049] The auxiliary motor 5 includes a second stator 51 and a second rotor 52. The second stator 51 is installed on the first inner ring 23, and the second rotor 52 is installed on the second outer ring 41, and is used to drive the second bracket 4 to rotate in the annular groove 25 when the auxiliary motor 5 operates.

[0050] In an application scenario of this embodiment, both the main drive motor 3 and the auxiliary motor 5 are brushless motors. The structure of a brushless motor includes a stator (stationary part) and a rotor (rotating part), and they use the principle of electromagnetic induction to achieve energy conversion. The stator is usually composed of an iron core and windings. The iron core is usually laminated from silicon steel sheets, which has high magnetic permeability and low hysteresis characteristics, and is used to concentrate and guide the magnetic field. The windings are wound by wires and fixed in the stator slots, and usually adopt a three - phase winding structure. When current is applied through the windings, a rotating magnetic field will be generated in the stator to drive the rotor to rotate. The rotor is usually composed of permanent magnets or electromagnetic windings, generating a constant magnetic field, interacting with the stator magnetic field to generate torque and push the motor to operate. The stator of a brushless motor is mainly responsible for generating the rotating magnetic field, while the rotor can be a permanent magnet or an electromagnetic winding according to different types of motors, and is used to interact with the stator magnetic field to achieve the conversion of electrical energy to mechanical energy.

[0051] In this embodiment, the main drive motor 3 and the auxiliary motor 5 are both fixedly installed on the first bracket 2. The main drive motor 3 is used to drive the hub body 1 to rotate, thereby driving the entire wheel to rotate. At the same time, the auxiliary motor 5 drives the second bracket 4 to rotate within the first bracket 2. By utilizing the self-balancing characteristic of the second bracket 4 during high-speed rotation, the dual-motor wheel in this embodiment can achieve self-balancing in the front-rear direction and the left-right direction. At the same time, the auxiliary motor 5 in this embodiment is arranged inside the main drive motor 3. Compared with the existing solutions, the overall structure of the dual-motor wheel is smaller, facilitating the daily carrying, use, and storage of the self-balancing unicycle applying the dual-motor wheel of this embodiment.

[0052] More specifically, the main drive motor 3 and the auxiliary motor 5 in this embodiment are installed and arranged through the first bracket 2, achieving integrated connection to improve the structural strength, avoiding the shaking or displacement caused by the separation of components from their installation positions during use, and enabling the self-balancing unicycle applying the dual-motor wheel of this embodiment to have a better user experience. At the same time, the embedded installation method of the first bracket 2 and the second bracket 4 facilitates the installation or maintenance of the auxiliary motor 5.

[0053] In one application scenario of this embodiment, the first bracket 2 and the hub body 1 are coaxially arranged through a connecting bearing, and both the first bracket 2 and the hub body 1 are connected to the vehicle frame. The main drive motor 3 arranged on the first bracket 2 operates to drive the hub body 1 to rotate, thereby driving the entire wheel to rotate and further driving the vehicle frame to move.

[0054] Please refer to Figure 5 , in one embodiment of the present utility model, the first spoke 24 includes a first part 241 and a second part 242 connected to each other. The first part 241 is connected and arranged between the first connecting shaft 21 and the first inner ring 23, and the second part 242 is connected and arranged between the first inner ring 23 and the first outer ring 22.

[0055] In this embodiment, the first spoke 24 is used to achieve the structural support and stability among the first connecting shaft 21, the first outer ring 22, and the first inner ring 23, and at the same time, the load is dispersed and transmitted through the first spoke 24. Specifically, the first spoke is designed to include the first part 241 and the second part 242 connected to each other. According to different specific connection objects and application requirements, it can also help reduce the weight of the wheel, increase the strength of the wheel, improve the stiffness of the wheel, and make the entire wheel structure more robust and durable.

[0056] Please refer to Figures 4 - 5 , in one embodiment of the present utility model, the first spoke 24 is arranged on the same side of the first outer ring 22 and the first inner ring 23, and the thickness of the second part 242 is less than the thickness of the first part 241, for avoiding the second bracket 4 and the auxiliary motor 5.

[0057] In this embodiment, when the load-bearing requirement is met, by arranging the first spoke 24 on the same side of the first outer ring 22 and the first inner ring 23, and making the thickness of the second part 242 less than that of the first part 241, the first spoke 24 forms a two-stage stepped structure. The smaller-sized part corresponding to the second part 242 is used to make the annular groove 25 formed between the first outer ring 22 and the first inner ring 23 have a greater accommodation depth, facilitating the installation of the second bracket 4 inside the annular groove 25.

[0058] Please refer to Figure 5 、 Figure 6 In one embodiment of the present utility model, a plurality of the first spokes 24 are provided, and the plurality of the first spokes 24 are arranged in a radial pattern around the first connecting shaft 21;

[0059] And / or, a plurality of the second spokes 43 are provided, and the plurality of the second spokes 43 are arranged in a radial pattern around the second inner ring 42.

[0060] In this embodiment, the number of the first spokes 24 is four to eight, which is used to disperse and transmit the load of the first bracket 2, and at the same time maintain the relative position between the hub body 1 and the first bracket 2; and the number of the second spokes 43 is three to five, which is used to support and fix the second outer ring 41 and the second inner ring 42 to ensure the roundness and balance of the second bracket 4.

[0061] Please refer to Figure 4 In one embodiment of the present utility model, the main drive motor 3 includes a first stator 31 and a first rotor 32. The first stator 31 is installed on the outer circumferential surface of the first outer ring 22, and the first rotor 32 is installed on the inner circumferential surface of the hub body 1, and is used to drive the hub body 1 when the main drive motor 3 operates.

[0062] In this embodiment, when the main drive motor 3 operates, the first rotor 32 will drive the hub body 1 to realize the rotation of the wheel. This embodiment can effectively combine the motor with the vehicle wheel hub to realize power transmission to push the vehicle forward.

[0063] Please refer to Figures 5 - 6 In one embodiment of the present utility model, the second inner ring 42 is connected and arranged on one side surface of the second outer ring 41 through the second spokes 43, and is used to submerge the second outer ring 41 into the annular groove 25 when the second bracket 4 is installed into the annular groove 25.

[0064] In this embodiment, the second inner ring 42 is connected to the edge of one side surface of the second outer ring 41 through the second spoke 43, so that there is a larger fitting space on the other side of the second outer ring 41, thereby realizing that when the second bracket 4 is installed into the annular groove 25, the second outer ring 41 is immersed in the annular groove 25, making the integrity of the device higher and reducing the occupied space of the device.

[0065] Please refer to Figure 5 、 Figure 7 , in one embodiment of the present utility model, the depth of the first inner ring 23 is less than the depth of the first outer ring 22, which is used to avoid the second spoke 43 when the second bracket 4 is installed into the annular groove 25.

[0066] In this embodiment, by adopting the method that the depth of the first inner ring 23 is less than the depth of the first outer ring 22, the inner groove wall of the formed annular groove 25 is lower, which is used to cooperate with the second bracket 4 immersed in the annular groove 25 in the previous embodiment. While avoiding the second spoke 43, the integrity of the device is higher and the occupied space of the device is reduced.

[0067] Please refer to Figure 4 , in one embodiment of the present utility model, a preset distance is provided between the outer ring surface of the second outer ring 41 and the inner ring surface of the first outer ring 22.

[0068] In the case of temperature rise or excessive torque, the second outer ring 41 or the first outer ring 22 may deform or expand. If there is no gap between the second outer ring 41 and the first outer ring 22, mechanical jamming may occur, causing damage to the motor.

[0069] In this embodiment, by providing a preset distance between the outer ring surface of the second outer ring 41 and the inner ring surface of the first outer ring 22, it can be ensured that when the application is in a non-extreme environment, the auxiliary motor 5 drives the second bracket 4 to rotate freely, avoiding unnecessary mechanical failures.

[0070] In one embodiment of the present utility model, the dual-motor wheel further includes a gyroscope, and the gyroscope is used to control the main drive motor 3 and the auxiliary motor 5.

[0071] In the prior art, the gyroscope is usually used to sense and control the motion state of the vehicle to ensure its stability and balance. In this embodiment, the gyroscope is used to control the operation of the main drive motor 3 and the auxiliary motor 5. By monitoring information such as the attitude and acceleration of the vehicle, the output of the main drive motor 3 or the auxiliary motor 5 is adjusted to help the vehicle maintain front-back balance or left-right balance, thereby realizing safer and more stable driving.

[0072] In an application scenario of this embodiment, the gyroscope is preferably installed at the center position of the body of the self-balancing unicycle and is electrically connected to the control unit of the vehicle. By installing the gyroscope near the center of the body, the vehicle's attitude and balance can be better sensed, so as to more accurately control the output of the main drive motor 3 and / or the auxiliary motor 5 to maintain the stability of the vehicle.

[0073] In the application scenario, to adjust the motor output to maintain the balance of the self-balancing unicycle, after the gyroscope detects the tilt angle of the vehicle, it will transmit this information to the control unit. The control unit adjusts the output power of the main drive motor 3 and / or the auxiliary motor 5 according to the data provided by the gyroscope to correct the tilt state of the vehicle and return the vehicle to the balanced state. For example, when the vehicle tilts forward, the control system will increase the output force of the main drive motor to push the vehicle forward; when the vehicle tilts backward, the output force of the main drive motor will be reduced to return the vehicle to the balanced position; when the vehicle tilts left or right, the output force of the auxiliary motor will be increased to straighten the vehicle.

[0074] By continuously monitoring the vehicle's attitude and adjusting the output of the main drive motor 3 and / or the auxiliary motor 5, the gyroscope can help the self-balancing unicycle achieve automatic balance and improve the stability and comfort of driving.

[0075] In one embodiment of the present utility model, a self-balancing unicycle is also disclosed, which includes a frame, a drive wheel, a battery compartment, and a pedal. The drive wheel is rotatably coupled to the frame, the battery compartment is disposed on the frame, the pedal is disposed on the battery compartment or the frame, and the drive wheel adopts a dual-motor wheel as described in any one of the above-mentioned multiple embodiments.

[0076] The drive wheel being coupled to the frame includes: the frame is directly connected to the drive wheel, and the hub body 1 of the drive wheel can rotate relative to the frame, or the frame is connected to the drive wheel by an intermediate member, and the hub body 1 of the drive wheel can rotate relative to the frame.

[0077] In this embodiment, the auxiliary motor 5 drives the second bracket 4 to rotate within the first bracket 2. By utilizing the self-balancing characteristics when the second bracket 4 rotates at a high speed, the dual-motor wheel in this embodiment realizes self-balancing in the front-back direction and the left-right direction. At the same time, the auxiliary motor 5 in this embodiment is disposed inside the main drive motor 3. Compared with the existing solutions, the overall structure of the dual-motor wheel is smaller, which is convenient for the daily carrying, use, and storage of the self-balancing unicycle and provides a better user experience. At the same time, the embedded installation method of the first bracket 2 and the second bracket 4 facilitates the installation or maintenance of the auxiliary motor 5.

[0078] The above are only the preferred embodiments of the present utility model, and do not limit the patent scope of the present utility model accordingly. Any equivalent structural transformation made under the inventive concept of the present utility model by using the content of the specification and drawings of the present utility model, or any direct / indirect application in other related technical fields shall be included within the patent protection scope of the present utility model.

Claims

1. A dual-motor wheel, characterized in that: It comprises a wheel hub body (1), a first bracket (2), a main drive motor (3), a second bracket (4) and an auxiliary motor (5); The first bracket (2) is coaxially arranged with the hub body (1), the first bracket (2) comprises a first connecting shaft (21), a first outer ring (22) and a first inner ring (23), the first connecting shaft (21) is provided with a first spoke (24) connecting the first outer ring (22) and the first inner ring (23), and an annular groove (25) is formed between the first outer ring (22) and the first inner ring (23); The main drive motor (3) is arranged on the first bracket (2); The second bracket (4) is coaxially arranged in the annular groove (25), the second bracket (4) comprises a second outer ring (41) and a second inner ring (42), the second inner ring (42) is connected to the second outer ring (41) via second spokes (43), and the second inner ring (42) is connected to the first connecting shaft (21) via a connecting bearing; The auxiliary motor (5) comprises a second stator (51) and a second rotor (52), wherein the second stator (51) is mounted on the first inner ring (23), and the second rotor (52) is mounted on the second outer ring (41), and is used for driving the second bracket (4) to rotate in the annular groove (25) when the auxiliary motor (5) is running.

2. The dual-motor wheel according to claim 1, characterized in that: The first spoke (24) includes a first portion (241) and a second portion (242) connected to each other, wherein the first portion (241) is connected between the first connecting shaft (21) and the first inner ring (23), and the second portion (242) is connected between the first inner ring (23) and the first outer ring (22).

3. The dual-motor wheel according to claim 2, characterized in that: The first spoke (24) is arranged on the same side of the first outer ring (22) and the first inner ring (23); the thickness of the second part (242) is smaller than the thickness of the first part (241) so as to avoid the second bracket (4) and the auxiliary motor (5).

4. The dual-motor wheel according to claim 1, characterized in that: A plurality of the first spokes (24) are provided, and the plurality of the first spokes (24) are radially arranged around the first connecting shaft (21); And / or, a plurality of second spokes (43) are provided, and the plurality of second spokes (43) are radially arranged around the second inner ring (42) as the center.

5. The dual-motor wheel according to claim 1, characterized in that: The main drive motor (3) comprises a first stator (31) and a first rotor (32), wherein the first stator (31) is mounted on the outer ring surface of the first outer ring (22), and the first rotor (32) is mounted on the inner ring surface of the hub body (1), and is used to drive the hub body (1) when the main drive motor (3) is running.

6. The dual-motor wheel according to claim 1, characterized in that: The second inner ring (42) is connected to a side surface of the second outer ring (41) via the second spokes (43) and is used to allow the second outer ring (41) to sink into the annular groove (25) when the second bracket (4) is installed in the annular groove (25).

7. The dual-motor wheel according to claim 6, characterized in that: The depth of the first inner ring (23) is smaller than the depth of the first outer ring (22), and is used to avoid the second spoke (43) when the second bracket (4) is installed in the annular groove (25).

8. The dual-motor wheel according to claim 1, characterized in that: A preset distance is provided between the outer ring surface of the second outer ring (41) and the inner ring surface of the first outer ring (22).

9. The dual-motor wheel according to claim 1, characterized in that: It also comprises a gyroscope, which is used to control the main drive motor (3) and the auxiliary motor (5).

10. A self-balancing unicycle, characterized in that: It includes a frame, a driving wheel, a battery compartment and a pedal, the driving wheel is rotatably connected to the frame, the battery compartment is arranged on the frame, the pedal is arranged on the battery compartment or the frame, and the driving wheel adopts the dual-motor wheel as described in any one of claims 1-9.

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