Unilateral balancing device

Abstract

The utility model discloses a unilateral balancing device which comprises a shell, the interior of the shell is hollow to form an accommodating cavity, and the shell comprises at least one balancing unilateral in contact with a plane; an outer rotor motor and a balance controller are fixedly arranged in the accommodating cavity, and the balance controller is electrically connected with the outer rotor motor; the outer rotor motor comprises an outer rotor, and a magnet is fixedly connected to the inner side wall of the outer rotor. The unilateral balancing device adopts the outer rotor motor, and the magnet is arranged on the inner wall of the outer rotor, so that the outer rotor motor can provide enough rotational inertia to keep the device balanced. The unilateral balancing device does not need a flywheel, on one hand, possible installation deviation between the flywheel and the motor is avoided, and on the other hand, the occupied size and weight of the flywheel can be saved.

Description

Technical Field

[0001] This utility model relates to the field of teaching instruments, and in particular to a single-sided balancing device. Background Technology

[0002] Existing devices that utilize the law of conservation of angular momentum to achieve balance generally include a flywheel, a motor, and a related drive module. The principle is that the drive module drives the motor to rotate, which in turn drives the flywheel to rotate. Balance is achieved through the flywheel's forward and reverse rotation, as well as acceleration and deceleration. However, this method has two drawbacks: firstly, installation misalignment of the flywheel and motor may affect the stability of the balance; secondly, the presence of the flywheel increases the size and weight of the device. Utility Model Content

[0003] The purpose of this invention is to provide a single-sided balancing device to solve the problem that existing balancing devices require a flywheel.

[0004] To achieve this objective, the present invention adopts the following technical solution:

[0005] A unilateral balancing device includes a housing, the interior of which is hollow to form a receiving cavity, and the housing includes at least one balancing unilateral side that contacts a plane;

[0006] An external rotor motor and a balance controller are fixedly installed inside the accommodating cavity. The balance controller is electrically connected to the external rotor motor. The external rotor motor includes an external rotor, and a magnet is fixedly connected to the inner side wall of the external rotor.

[0007] Optionally, a battery is also fixedly installed inside the accommodating cavity, and the battery is electrically connected to the balance controller;

[0008] A shaft hole communicating with the accommodating cavity is formed on the outer surface of the housing, and the output shaft of the external rotor motor extends out from the shaft hole.

[0009] Optionally, the balance controller is a balance circuit board, on which one or more of the following are fixedly mounted: a switch, a display, a balance key, a reset key, and a debugging interface;

[0010] The outer surface of the housing has a housing notch that communicates with the accommodating cavity. The switch, display, balance key, and reset key are located at the housing notch. The switch, display, balance key, reset key, and debugging interface are electrically connected to the balance controller.

[0011] A circuit board mounting bracket is fixedly installed inside the accommodating cavity, and the circuit board mounting bracket is fixedly connected to the balancing circuit board.

[0012] Optionally, the battery includes a battery charging / discharging interface located at the notch in the casing. The battery charging / discharging interface is detachably connected to a battery power supply line, and the end of the battery power supply line away from the battery charging / discharging interface is fixedly connected to the balance circuit board.

[0013] Optionally, the circuit board mounting bracket includes a circuit board mounting plate, on which a plurality of mounting plate bosses are fixedly connected, and each mounting plate boss has a boss threaded hole on the side facing the balance circuit board; the balance circuit board has a plurality of balance circuit board through holes, and the plurality of balance circuit board through holes and the plurality of boss threaded holes correspond one-to-one, and the corresponding balance circuit board through holes and boss threaded holes are detachably connected by screws;

[0014] A clearance gap is left between the balance circuit board and the circuit board mounting plate.

[0015] Optionally, two mounting plate feet are fixedly connected to the side of the circuit board mounting plate facing away from the balance circuit board, and two mounting plate fixing platforms are fixedly provided in the accommodating cavity. The two mounting plate feet and the two mounting plate fixing platforms correspond one-to-one, and the corresponding mounting plate feet and mounting plate fixing platforms are detachably connected by screws.

[0016] The two mounting plate legs are located on both sides of the central axis of the circuit board mounting plate and are asymmetrically arranged about the central axis of the circuit board mounting plate. The circuit board mounting plate is rectangular and is symmetrical about its central axis.

[0017] The circuit board mounting plate has a weight reduction through hole and at least one wire through hole. The weight reduction through hole is located at the center of the circuit board mounting plate, and the wire through hole is located around the periphery of the circuit board mounting plate. The weight reduction through holes are symmetrically arranged about the central axis of the circuit board mounting plate.

[0018] Optionally, the outer shell includes a bottom plate, and a side plate is fixedly connected to each of the four sides of the bottom plate. The bottom plate and the four side plates surround the receiving cavity with one side open.

[0019] The outer casing also includes a cover for covering the opening of the accommodating cavity, and a plurality of cover fixing platforms are fixedly provided inside the accommodating cavity. The cover is detachably connected to the cover fixing platforms by screws.

[0020] The bottom plate of the housing has countersunk holes for screws to pass through, and the outer rotor motor is detachably connected to the bottom plate of the housing by screws; the shaft hole is opened on the bottom plate of the housing, and the output shaft of the outer rotor motor is set perpendicular to the bottom plate of the housing;

[0021] The bottom plate of the shell has multiple heat dissipation holes that connect to the accommodating cavity.

[0022] Optionally, the outer shell notch includes a first notch, a second notch, and a third notch, and the four shell side plates are respectively a first shell side plate, a second shell side plate, a third shell side plate, and a fourth shell side plate that are fixedly connected end to end in sequence;

[0023] The first notch is located at the junction of the first shell side plate and the second shell side plate, and is partially opened on the first shell side plate and partially opened on the second shell side plate. The switch and the debugging interface are located at the first notch.

[0024] The second notch is located at the junction of the first shell side plate and the fourth shell side plate, and is partially opened on the first shell side plate and partially opened on the fourth shell side plate. The display, balance key and reset key are located at the second notch.

[0025] The first shell side plate and the second shell side plate are connected by an inclined plane, and the first shell side plate and the fourth shell side plate are connected by an inclined plane;

[0026] The third notch is formed on the second shell side plate, and the battery charging and discharging interface is located at the third notch; the edge formed between the second shell side plate and the third shell side plate is the balanced single edge, and the edge formed between the fourth shell side plate and the third shell side plate is the balanced single edge.

[0027] Optionally, the battery is fixedly connected to the side of the housing facing the accommodating cavity, and the battery is bonded to the housing.

[0028] The external rotor motor is located between the battery and the bottom plate of the casing; the two mounting plate feet are located between the battery and the bottom plate of the casing, and are respectively located on both sides of the external rotor motor; the balance circuit board and the circuit board mounting plate are located between the battery and the first side plate of the casing.

[0029] Optionally, the external rotor motor further includes a stator, with the external rotor arranged around the stator; one end of the output shaft of the external rotor motor is fixedly connected to the external rotor, and the other end extends out of the stator and is rotatably connected to the stator;

[0030] The stator is also fixedly connected to a motor circuit board; an encoder chip for sensing the magnet is fixedly connected to the side of the motor circuit board facing the outer rotor, and a motor interface is fixedly connected to the side of the motor circuit board away from the outer rotor, and the motor interface is electrically connected to the balance controller.

[0031] Compared with the prior art, the present invention has the following beneficial effects:

[0032] The single-sided balancing device provided by this utility model uses an external rotor motor and installs magnets on the inner wall of the external rotor, so that the external rotor motor can provide sufficient rotational inertia to keep the device balanced. This single-sided balancing device does not require a flywheel, which avoids possible installation deviations between the flywheel and the motor, and saves the volume and weight occupied by the flywheel. Attached Figure Description

[0033] To more clearly illustrate the technical solutions in the embodiments of this utility model or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0034] The structures, proportions, sizes, etc., shown in the accompanying drawings of this specification are only for the purpose of assisting those skilled in the art in understanding and reading the content disclosed in the specification, and are not intended to limit the implementation conditions of this utility model. Therefore, they have no substantial technical significance. Any modifications to the structure, changes in the proportions, or adjustments to the size, without affecting the effects and purposes that this utility model can produce, should still fall within the scope of the technical content disclosed in this utility model.

[0035] Figure 1 A schematic diagram of the structure of the unilateral balancing device provided in the embodiment of this utility model;

[0036] Figure 2 A schematic diagram of the internal structure of the unilateral balancing device provided in this embodiment of the utility model;

[0037] Figure 3 A schematic diagram of the unilateral balancing device provided in this embodiment of the utility model when it is in a balanced state;

[0038] Figure 4 This is an assembly diagram of the single-sided balancing device provided in an embodiment of the present utility model;

[0039] Figure 5 A top view of the unilateral balancing device provided in an embodiment of this utility model;

[0040] Figure 6 A side view of the circuit board mounting bracket provided in an embodiment of this utility model;

[0041] Figure 7 A top view of the circuit board mounting bracket provided in an embodiment of this utility model;

[0042] Figure 8 A schematic diagram of the structure of the housing provided in an embodiment of this utility model.

[0043] Illustrations: 1. Outer shell; 100. Balanced single side; 101. Shaft hole; 102. Countersunk hole in the bottom plate of the shell; 103. Heat dissipation hole; 104. Mounting plate fixing platform; 105. Shell cover fixing platform; 11. First shell side plate; 12. Second shell side plate; 13. Third shell side plate; 14. Fourth shell side plate; 15. Bottom plate of the shell; 16. Outer shell notch; 17. Shell cover; 161. First notch; 162. Second notch; 163. Third notch; 2. Outer shell... 20. Rotor motor; 21. Output shaft; 22. Outer rotor; 23. Stator; 24. Motor circuit board; 25. Motor interface; 3. Balance circuit board; 4. Battery; 51. Switch; 52. Display; 53. Balance key; 54. Reset key; 55. Debugging interface; 56. Battery power supply cable; 6. Circuit board mounting bracket; 61. Circuit board mounting plate; 62. Mounting plate boss; 63. Mounting plate support; 64. Weight reduction through hole; 65. Wire through hole. Detailed Implementation

[0044] To make the utility model's objectives, features, and advantages more apparent and understandable, the technical solutions in the embodiments of the present utility model will be clearly and completely described below with reference to the accompanying drawings. Obviously, the embodiments described below are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present utility model.

[0045] In the description of this utility model, it should be understood that the terms "upper," "lower," "top," "bottom," "inner," "outer," "front," "rear," "left," and "right," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing this utility model and for simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this utility model. It should be noted that when a component is considered to be "connected / set" to another component, it can be connected / set to another component, or it may simultaneously have a component centrally positioned.

[0046] The technical solution of this utility model will be further described below with reference to the accompanying drawings and specific embodiments.

[0047] Please refer to Figure 1-4This embodiment provides a unilateral balancing device, including a housing 1. The interior of the housing 1 is hollow, forming a receiving cavity. The housing 1 includes at least one balancing unilateral side 100 that contacts a plane. An external rotor motor 2 and a balancing controller are fixedly disposed within the receiving cavity, and the balancing controller is electrically connected to the external rotor motor 2. The external rotor motor 2 includes an external rotor 21, and magnets are fixedly connected to the inner sidewall of the external rotor 21.

[0048] Figure 3 This is a schematic diagram of a single-sided balancing device in a balanced state. As shown in the figure, the single-sided balancing side 100 refers to the side in contact with the plane when the single-sided balancing device maintains its standing balance after startup; it is the support point for the single-sided balancing device to stand. Magnets are fixedly connected to the inner wall of the outer rotor 21, so that most of the mass of the outer rotor 21 is distributed on its outer circumference, thus giving the outer rotor 21 a large moment of inertia. The balance controller is electrically connected to the outer rotor motor 2, so the rotation speed of the outer rotor 21 can be electrically controlled through the balance controller. The rotation speed generates an angular acceleration. The product of the angular acceleration and the moment of inertia is the torque. The torque divided by the lever arm is the corrective force, which is the force that prevents the single-sided balancing device from tipping over. Depending on the direction of the angular acceleration, different directions (e.g., left or right) of the corrective force will be generated, which keeps the single-sided balancing device in balance.

[0049] Existing balancing devices require a flywheel to be mounted on the output shaft of the motor. The flywheel provides rotational inertia to maintain balance. However, the single-sided balancing device provided in this embodiment uses an external rotor motor 2 with magnets mounted on the inner wall of its external rotor 21. This allows the external rotor motor 2 to provide sufficient rotational inertia to maintain balance. This device eliminates the need for a flywheel, avoiding potential installation misalignment between the flywheel and the motor, and saving the volume and weight occupied by the flywheel.

[0050] In this embodiment, a shaft hole 101 communicating with the accommodating cavity is formed on the outer surface of the housing 1, and the output shaft 20 of the external rotor motor 2 extends out from the shaft hole 101. Depending on the requirements, a flywheel can also be installed on the extended output shaft 20 of the external rotor motor 2 to further increase the moment of inertia, thereby increasing the corrective force.

[0051] Specifically, the magnet and the outer rotor 21 are connected by adhesive bonding. The outer rotor motor 2 also includes a stator 22, around which the outer rotor 21 is arranged. A portion of the output shaft 20 of the outer rotor motor 2 is rotatably inserted into the stator 22, with one end of the output shaft 20 fixedly connected to the outer rotor 21 and the other end extending out of the stator 22. The stator 22 is also fixedly connected to a motor circuit board 23. An encoder chip for sensing the magnet is fixedly connected to the side of the motor circuit board 23 facing the outer rotor 21, and a motor interface 24 is fixedly connected to the side facing away from the outer rotor 21. The motor interface 24 is electrically connected to a balance controller. The outer rotor motor 2 includes an encoder chip, which enables the outer rotor 21 to rotate more precisely, thereby making the balance control of the single-chip balancing device more stable. The encoder chip is located inside the outer rotor motor 2 and works by sensing the movement of the magnet on the outer rotor 21. Compared with the traditional encoder that needs to be set on the output shaft 20 of the outer rotor motor 2, it can save space and make the overall size of the single-sided balancing device smaller. It also does not need to occupy the output shaft 20, so that the output shaft 20 can be equipped with a flywheel as needed.

[0052] In this embodiment, a battery 4 is also fixedly installed inside the accommodating cavity. The battery 4 is electrically connected to the balance controller and can supply power to the balance controller and various components electrically connected to the balance controller, such as the external rotor motor 2.

[0053] Please refer to Figure 2 , 4 5. The balance controller is a balance circuit board 3. One or more of the following are fixedly mounted on the balance circuit board 3: a switch 51, a display 52, a balance key 53, a reset key 54, and a debugging interface 55. These components are electrically connected to the balance circuit board 3. A housing notch 16 communicating with the accommodating cavity is provided on the outer surface of the housing 1. The switch 51, display 52, balance key 53, and reset key 54 are located at the housing notch 16. The switch 51 controls the opening or closing of the single-sided balancing device; the display 52 displays data such as the motor's rotation speed and direction; and the balance key 53 activates the balance mode of the single-sided balancing device. Once activated, the single-sided balancing device can be in a certain position. Figure 3 The balance state is shown; the reset button 54 is used for program reset; the debug interface 55 is connected to a data cable, which can be connected to electronic devices such as computers so that users can debug such as writing programs. Users can implement their own balance code according to their needs.

[0054] Furthermore, battery 4 includes a battery charging / discharging interface located at the notch 16 in the outer casing. A battery power supply cable 56 is detachably connected to the battery charging / discharging interface, with one end of the cable away from the interface fixedly connected to the balancing circuit board 3. When the battery is fully charged, battery 4 supplies power to the balancing circuit board 3 via the battery power supply cable 56, which in turn supplies power to various electrically connected components, such as the external rotor motor 2. When battery 4 is low on power, the battery power supply cable 56 can be disconnected from the charging / discharging interface, and a battery charging cable can be connected to another power source to charge battery 4.

[0055] Please refer to Figure 4 , Figure 6 and 7 A circuit board mounting bracket 6 is fixedly provided inside the accommodating cavity. The circuit board mounting bracket 6 is fixedly connected to the balance circuit board 3, thereby fixing the balance circuit board 3 inside the accommodating cavity.

[0056] Specifically, the circuit board mounting bracket 6 includes a circuit board mounting plate 61. Multiple mounting plate bosses 62 are fixedly connected to the side of the mounting plate 61 facing the balance circuit board 3. Each mounting plate boss 62 has a threaded hole on its side facing the balance circuit board 3. The balance circuit board 3 has multiple balance circuit board through holes, and the multiple balance circuit board through holes and the multiple boss threaded holes correspond one-to-one. The corresponding balance circuit board through holes and boss threaded holes are detachably connected by screws. Specifically, there are four mounting plate bosses 62, located at the four corners of the circuit board mounting plate 61; correspondingly, there are also four balance circuit board through holes, located at the four corners of the balance circuit board 3.

[0057] A gap is left between the balance circuit board 3 and the circuit board mounting plate 61, so that the circuits mounted on the side of the balance circuit board 3 facing the circuit board mounting plate 61 will not be affected by the circuit board mounting plate 61, and it is also conducive to the heat dissipation of the balance circuit board 3.

[0058] Furthermore, two mounting plate legs 63 are fixedly connected to the side of the circuit board mounting plate 61 facing away from the balance circuit board 3, and two mounting plate fixing platforms 104 are fixedly provided in the accommodating cavity. The two mounting plate legs 63 and the two mounting plate fixing platforms 104 correspond one-to-one, and the corresponding mounting plate legs 63 and mounting plate fixing platforms 104 are detachably connected by screws.

[0059] Two mounting plate legs 63 are located on either side of the central axis of the circuit board mounting plate 61 and are asymmetrically arranged about the central axis. The circuit board mounting plate 61 is rectangular and axially symmetrical about its central axis, which refers to the midline of its longer side. The single-sided balancing device needs to swing frequently to maintain balance; therefore, the stability of the circuit board mounting plate 61 within the accommodating cavity is crucial. The asymmetrical arrangement of the mounting plate legs 63 prevents the two sides furthest from the connection points from being suspended when the circuit board mounting plate 61 is fixed, thus effectively improving the stability of the circuit board mounting plate 61.

[0060] Furthermore, the circuit board mounting plate 61 has a weight-reducing through-hole 64 and at least one wire-passing through-hole 65. The weight-reducing through-hole 64 is located at the center of the circuit board mounting plate 61, and the wire-passing through-hole 65 is located around the periphery of the circuit board mounting plate 61. In this embodiment, the circuit board mounting plate 61 has multiple wire-passing through-holes 65 arranged around the weight-reducing through-hole 64. The multiple wire-passing through-holes 65 are distributed to avoid the problem of cables being mixed together and easily confused, and also to facilitate the routing of cables nearby. Specifically, there are two wire-passing through-holes 65, which are symmetrically arranged about the central axis of the circuit board mounting plate 61, and the weight-reducing through-hole 64 itself is also symmetrically arranged about the central axis of the circuit board mounting plate 61.

[0061] Please refer to Figure 4 and Figure 8 The outer casing 1 includes a bottom plate 15, and a side plate is fixedly connected to each of the four sides of the bottom plate 15. The bottom plate 15 and the four side plates form an accommodating cavity with one side open. The outer casing 1 also includes a cover 17 for covering the opening of the accommodating cavity. A plurality of cover fixing platforms 105 are fixedly provided inside the accommodating cavity. The cover 17 is detachably connected to the cover fixing platforms 105 by screws.

[0062] The bottom plate 15 has countersunk holes 102 for screws to pass through, and the external rotor motor 2 is detachably connected to the bottom plate 15 by screws. A shaft hole 101 is formed in the bottom plate 15, and the output shaft 20 of the external rotor motor 2 extends from the shaft hole 101 and is positioned perpendicular to the bottom plate 15. The bottom plate 15 also has multiple heat dissipation holes 103 communicating with the receiving cavity.

[0063] Specifically, the outer shell notch 16 includes a first notch 161, a second notch 162, and a third notch 163. The four shell side plates are a first shell side plate 11, a second shell side plate 12, a third shell side plate 13, and a fourth shell side plate 14, which are fixedly connected end to end in sequence. The edge formed between the second shell side plate 12 and the third shell side plate 13 is a balancing single edge 100, and the edge formed between the fourth shell side plate 14 and the third shell side plate 13 is also a balancing single edge 100. That is, the balancing single edge device in this embodiment has two balancing single edges 100, which can be selected as needed. The balancing single edge 100 is parallel to the output shaft 20 of the external rotor motor 2.

[0064] The first notch 161 is located at the junction of the first shell side plate 11 and the second shell side plate 12, partially on the first shell side plate 11 and partially on the second shell side plate 12. The switch 51 and the debugging interface 55 are located at the first notch 161. The second notch 162 is located at the junction of the first shell side plate 11 and the fourth shell side plate 14, partially on the first shell side plate 11 and partially on the fourth shell side plate 14. The display 52, the balance key 53, and the reset key 54 are located at the second notch 162. The third notch 163 is located on the second shell side plate 12, and the battery charging and discharging interface is located at the third notch 163.

[0065] The first shell side plate 11 and the second shell side plate 12 are connected by an inclined plane, and the first shell side plate 11 and the fourth shell side plate 14 are connected by an inclined plane. The inclined plane connection between the first shell side plate 11 and the second / fourth shell side plate makes the end of the single-sided balancing device with the balanced single side 100 and the end without the balanced single side 100 visually distinct, making it easy for customers to identify the position of the balanced single side 100; it also makes the first / second notches opened at the corresponding positions aesthetically pleasing. The first / second notches are opened at the junction of the shell side plates, allowing internal components such as the reset button 54, switch 51, and battery charging / discharging interface to be arranged in multiple directions as needed, and also making it convenient for users to use the buttons (balance button 53 / reset button 54) and switch 51, as well as plug and unplug data cables.

[0066] In this embodiment, the battery 4 is fixedly connected to the side of the housing cover 17 facing the accommodating cavity, and the battery 4 is bonded to the housing cover 17. The external rotor motor 2 is located between the battery 4 and the housing bottom plate 15. Two mounting plate feet 63 are located between the battery 4 and the housing bottom plate 15, and are respectively located on both sides of the external rotor motor 2. The balance circuit board 3 and the circuit board mounting plate 61 are located between the battery 4 and the first housing side plate 11. The positioning of the external rotor motor 2, the mounting plate feet 63, the balance circuit board 3, and the circuit board mounting plate 61 makes full use of the space within the accommodating cavity, making the single-sided balancing device compact.

[0067] The single-sided balancing device provided in this embodiment has the following advantages:

[0068] 1. An external rotor motor 2 with magnets fixedly connected to the inner wall of the external rotor 21 is adopted. Since most of the mass of the external rotor 21 is distributed on its outer circle, the external rotor 21 has a large moment of inertia. Therefore, the single-sided balancing device does not need an external flywheel.

[0069] 2. The external rotor motor 2 includes an encoder chip, which enables the external rotor 21 to rotate more accurately. The encoder chip is located inside the external rotor motor 2 and works by sensing the movement of the magnets on the external rotor 21, without occupying the output shaft 20.

[0070] 2. It is equipped with a battery 4 and related interfaces for a pluggable charging cable, which can be powered in multiple ways;

[0071] 3. It is equipped with a switch 51, a display 52, a balance key 53 and a reset key 54 to facilitate user operation of the device;

[0072] 4. The two mounting plate feet 63 with asymmetrical design make the balance circuit board 3 securely installed on the accommodating cavity.

[0073] In this article, "several" and "at least one" refer to one or more, while "multiple" and "at least two" refer to two or more. "And / or" describes the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A alone, A and B simultaneously, or B alone. The character " / " generally indicates that the preceding and following related objects have an "or" relationship.

[0074] The above embodiments are only used to illustrate the technical solutions of this utility model, and are not intended to limit it. Although this utility model has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of this utility model.

Claims

1. A unilateral balancing device, characterized in that, Includes an outer shell, the interior of which is hollow to form a receiving cavity, and the outer shell includes at least one balanced single side that contacts a plane; An external rotor motor and a balance controller are fixedly installed inside the accommodating cavity. The balance controller is electrically connected to the external rotor motor. The external rotor motor includes an external rotor, and a magnet is fixedly connected to the inner side wall of the external rotor.

2. The unilateral balancing device according to claim 1, characterized in that, A battery is also fixedly installed inside the accommodating cavity, and the battery is electrically connected to the balance controller. A shaft hole communicating with the accommodating cavity is formed on the outer surface of the housing, and the output shaft of the external rotor motor extends out from the shaft hole.

3. The unilateral balancing device according to claim 2, characterized in that, The balance controller is a balance circuit board, and one or more of the following are fixedly installed on the balance circuit board: a switch, a display, a balance key, a reset key, and a debugging interface; The outer surface of the housing has a housing notch that communicates with the accommodating cavity. The switch, display, balance key, and reset key are located at the housing notch. The switch, display, balance key, reset key, and debugging interface are electrically connected to the balance controller. A circuit board mounting bracket is fixedly installed inside the accommodating cavity, and the circuit board mounting bracket is fixedly connected to the balancing circuit board.

4. The unilateral balancing device according to claim 3, characterized in that, The battery includes a battery charging and discharging interface located at the notch in the casing. The battery charging and discharging interface is detachably connected to a battery power supply line. The end of the battery power supply line away from the battery charging and discharging interface is fixedly connected to the balance circuit board.

5. The unilateral balancing device according to claim 4, characterized in that, The circuit board mounting bracket includes a circuit board mounting plate. Multiple mounting plate bosses are fixedly connected to the side of the circuit board mounting plate facing the balance circuit board. Each mounting plate boss has a boss threaded hole on the side facing the balance circuit board. Multiple balance circuit board through holes are formed on the balance circuit board. The multiple balance circuit board through holes and the multiple boss threaded holes correspond one-to-one. The corresponding balance circuit board through holes and boss threaded holes are detachably connected by screws. A clearance gap is left between the balance circuit board and the circuit board mounting plate.

6. The unilateral balancing device according to claim 5, characterized in that, Two mounting plate feet are fixedly connected to the side of the circuit board mounting plate opposite to the balance circuit board. Two mounting plate fixing platforms are fixedly provided in the accommodating cavity. The two mounting plate feet and the two mounting plate fixing platforms correspond one-to-one. The corresponding mounting plate feet and mounting plate fixing platforms are detachably connected by screws. The two mounting plate legs are located on both sides of the central axis of the circuit board mounting plate and are asymmetrically arranged about the central axis of the circuit board mounting plate. The circuit board mounting plate is rectangular and is symmetrical about its central axis. The circuit board mounting plate has a weight reduction through hole and at least one wire through hole. The weight reduction through hole is located at the center of the circuit board mounting plate, and the wire through hole is located around the periphery of the circuit board mounting plate. The weight reduction through holes are symmetrically arranged about the central axis of the circuit board mounting plate.

7. The unilateral balancing device according to claim 6, characterized in that, The outer shell includes a bottom plate, and a side plate is fixedly connected to each of the four sides of the bottom plate. The bottom plate and the four side plates form the accommodating cavity with one open side. The outer casing also includes a cover for covering the opening of the accommodating cavity, and a plurality of cover fixing platforms are fixedly provided inside the accommodating cavity. The cover is detachably connected to the cover fixing platforms by screws. The bottom plate of the housing has countersunk holes for screws to pass through, and the outer rotor motor is detachably connected to the bottom plate of the housing by screws; the shaft hole is opened on the bottom plate of the housing, and the output shaft of the outer rotor motor is set perpendicular to the bottom plate of the housing; The bottom plate of the shell has multiple heat dissipation holes that connect to the accommodating cavity.

8. The unilateral balancing device according to claim 7, characterized in that, The outer shell notch includes a first notch, a second notch, and a third notch, and the four shell side plates are respectively a first shell side plate, a second shell side plate, a third shell side plate, and a fourth shell side plate that are fixedly connected end to end in sequence; The first notch is located at the junction of the first shell side plate and the second shell side plate, and is partially opened on the first shell side plate and partially opened on the second shell side plate. The switch and the debugging interface are located at the first notch. The second notch is located at the junction of the first shell side plate and the fourth shell side plate, and is partially opened on the first shell side plate and partially opened on the fourth shell side plate. The display, balance key and reset key are located at the second notch. The first shell side plate and the second shell side plate are connected by an inclined plane, and the first shell side plate and the fourth shell side plate are connected by an inclined plane; The third notch is formed on the second shell side plate, and the battery charging and discharging interface is located at the third notch; the edge formed between the second shell side plate and the third shell side plate is the balanced single edge, and the edge formed between the fourth shell side plate and the third shell side plate is the balanced single edge.

9. The unilateral balancing device according to claim 8, characterized in that, The battery is fixedly connected to the side of the casing facing the accommodating cavity, and the battery is bonded to the casing. The external rotor motor is located between the battery and the bottom plate of the casing; the two mounting plate feet are located between the battery and the bottom plate of the casing, and are respectively located on both sides of the external rotor motor; the balance circuit board and the circuit board mounting plate are located between the battery and the first side plate of the casing.

10. The unilateral balancing device according to claim 1, characterized in that, The external rotor motor also includes a stator, and the external rotor is arranged around the stator; one end of the output shaft of the external rotor motor is fixedly connected to the external rotor, and the other end extends out of the stator and is rotatably connected to the stator. The stator is also fixedly connected to a motor circuit board; an encoder chip for sensing the magnet is fixedly connected to the side of the motor circuit board facing the outer rotor, and a motor interface is fixedly connected to the side of the motor circuit board away from the outer rotor; the motor interface is electrically connected to the balance controller.

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