Self-balancing motorcycle

Abstract

The utility model discloses a self-balancing motorcycle, which relates to the technical field of motorcycles and comprises a front wheel, a steering mechanism, a frame, a rear wheel and a rocker arm balancing mechanism. The front wheel is arranged at the front end of the frame through a steering mechanism; the rear wheel is arranged at the rear end of the frame through a rocker arm balance mechanism, and a hub motor is arranged in the rear wheel; a control panel and a battery are arranged in the frame, a gyroscope is arranged on the control panel, and the gyroscope can detect the inclination angle of the frame; the rocker arm balance mechanism and the hub motor are both connected with the control panel and the battery, the rocker arm balance mechanism can drive the rear wheel to swing left and right relative to the frame so that a correction angle can be formed between the rear wheel and the frame, and the correction angle can compensate the inclination angle of the frame so that the frame can be kept balanced. The momentum wheel balance design is abandoned, the principle that balance is adjusted by adjusting the gravity center position of the motorcycle similar to an inverted pendulum is adopted, the safety coefficient is higher, and noise is lower.

Description

Technical Field

[0001] This utility model relates to the field of motorcycle technology, and in particular to a self-balancing motorcycle. Background Technology

[0002] Motorcycles are a common mode of transportation, characterized by their high speed and maneuverability. Their compact design allows them to navigate congested urban areas efficiently and conveniently. However, due to their weight, beginners often find it difficult to maintain balance on ordinary motorcycles, especially when stationary or at low speeds.

[0003] Existing motorcycles typically employ a momentum wheel balancing design. When the motorcycle leans, the momentum wheel accelerates and rotates, allowing the motorcycle to maintain balance using the reaction torque generated by the momentum wheel during the acceleration change process.

[0004] However, the momentum wheel system itself is complex and bulky, and the momentum wheel has a large angular momentum when rotating at high speed. If a collision or system failure occurs, the momentum wheel will lose control and generate a powerful impact force, causing serious injury to the driver and surrounding people, posing a significant safety hazard. Utility Model Content

[0005] The purpose of this invention is to provide a self-balancing motorcycle to solve the problems existing in the above-mentioned related technologies. It abandons the momentum wheel balance design and adopts a principle similar to an inverted pendulum to adjust the balance by adjusting the position of the motorcycle's own center of gravity, which has a higher safety factor and less noise.

[0006] To achieve the above objectives, this utility model provides the following solution:

[0007] This utility model provides a self-balancing motorcycle, including a front wheel, a steering mechanism, a frame, a rear wheel, and a rocker arm balancing mechanism;

[0008] The front wheel is mounted on the front end of the vehicle frame via the steering mechanism;

[0009] The rear wheel is mounted on the rear end of the frame via the rocker arm balancing mechanism, and a hub motor is installed inside the rear wheel;

[0010] The frame contains a control board and a battery. The control board is equipped with a gyroscope, which can detect the tilt angle of the frame.

[0011] The rocker arm balancing mechanism and the hub motor are both connected to the control board and the battery. The rocker arm balancing mechanism can drive the rear wheel to swing left and right relative to the frame, so that a correction angle is formed between the rear wheel and the frame. The correction angle can compensate for the tilt angle of the frame, so that the frame remains balanced.

[0012] Preferably, the rocker arm balancing mechanism includes a rocker arm motor, a motor mounting plate, an active rocker arm, a first rear wheel bracket, a driven rocker arm, a second rear wheel bracket, and an angle sensor;

[0013] The rocker arm motor is fixed to the rear end of the vehicle frame by the motor mounting plate, and the output end of the rocker arm motor is arranged facing rearward;

[0014] One end of the active rocker arm is connected to the output end of the rocker arm motor, and the other end is rotatably connected to the first rear wheel bracket; the end of the first rear wheel bracket away from the active rocker arm is rotatably connected to one side of the rear wheel; the driven rocker arm is arranged side by side with the active rocker arm, and one end of the driven rocker arm is rotatably connected to the motor mounting plate, and the other end is rotatably connected to the second rear wheel bracket; the end of the second rear wheel bracket away from the driven rocker arm is rotatably connected to the side of the rear wheel away from the first rear wheel bracket; the rocker arm motor can drive the active rocker arm to swing, thereby causing the rear wheel to swing left and right relative to the frame;

[0015] The angle sensor is mounted on the motor mounting plate and is capable of detecting the angle between the main rocker arm and the vehicle frame.

[0016] The rocker arm motor and the angle sensor are both connected to the control board and the battery.

[0017] Preferably, the rocker arm balancing mechanism further includes a first connecting shaft, a first bearing seat, a second connecting shaft, and a second bearing seat;

[0018] The first connecting shaft extends in the front-rear direction, and the front end of the first connecting shaft is fixedly connected to the active rocker arm, and the rear end of the first connecting shaft is rotatably connected to the first rear wheel bracket through the first bearing seat;

[0019] The second connecting shaft extends in the front-rear direction, and the front end of the second connecting shaft is fixedly connected to the driven rocker arm, and the rear end of the second connecting shaft is rotatably connected to the second rear wheel bracket through the second bearing seat.

[0020] Preferably, the rocker arm balancing mechanism further includes a motor flange, and the output end of the rocker arm motor is connected to the active rocker arm through the motor flange.

[0021] Preferably, the steering mechanism includes a servo motor, a servo motor mounting plate, a servo motor rocker arm, a first fisheye bearing connecting rod, a second fisheye bearing connecting rod, a front fork steering plate, a front fork, a front fork mounting block, a front fork bearing, a handlebar, and a front wheel axle.

[0022] The servo motor is fixed to the front end of the vehicle frame by the servo motor mounting plate, and the output end of the servo motor is set upward;

[0023] The middle part of the servo rocker arm is connected to the output end of the servo, and the two ends of the servo rocker arm are respectively connected to the two ends of the front fork steering plate through the first fisheye bearing connecting rod and the second fisheye bearing connecting rod; the front fork is fixedly inserted through the middle part of the front fork steering plate; the front fork fixing block is fixed to the front end of the frame and located below the front fork steering plate; the front fork is rotatably connected to the front fork fixing block through the front fork bearing;

[0024] The handlebars are fixed to the upper end of the front fork;

[0025] The front wheel is rotatably connected to the lower end of the front fork via the front wheel axle.

[0026] Preferably, the frame includes a first side plate, a second side plate, and a plurality of first connecting posts; the first side plate and the second side plate are fixedly connected by the plurality of first connecting posts.

[0027] Preferably, the frame further includes a first guard plate, a second guard plate, and a plurality of second connecting posts;

[0028] The first guard plate is disposed on the outside of the first side plate, the second guard plate is disposed on the outside of the second side plate, and the first guard plate and the first side plate, as well as the second guard plate and the second side plate, are fixedly connected by a plurality of second connecting posts.

[0029] The first protective plate and the first side plate form an installation space for the control board, and the second protective plate and the second side plate form an installation space for the battery.

[0030] Preferably, the frame further includes a rear wing, which is fixed between the rear end of the first side plate and the rear end of the second side plate.

[0031] Preferably, the gyroscope is an MPU6050.

[0032] Preferably, the control board is an STM32F103C8T6 microcontroller.

[0033] This utility model achieves the following technical advantages compared to related technologies:

[0034] The self-balancing motorcycle provided by this utility model includes a front wheel, a steering mechanism, a frame, a rear wheel, and a rocker arm balancing mechanism. A control board and a battery are installed inside the frame. In use, the rear wheel is driven to rotate by a hub motor inside the rear wheel, and the direction of the front wheel is adjusted by the steering mechanism. When the frame tilts, the tilt angle of the frame is detected by a gyroscope on the control board. Then, the rocker arm balancing mechanism drives the rear wheel to swing left and right relative to the frame, so that a correction angle is formed between the rear wheel and the frame. The correction angle is used to compensate for the tilt angle of the frame, thereby keeping the frame balanced.

[0035] Unlike most current self-balancing motorcycle designs that use momentum wheel balancing, this invention abandons the bulky momentum wheel system and adopts a principle similar to an inverted pendulum, adjusting the motorcycle's own center of gravity to achieve balance. This results in a higher safety factor and less noise. Attached Figure Description

[0036] To more clearly illustrate the technical solutions in the embodiments of this utility model or related technologies, the drawings used in the embodiments 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.

[0037] Figure 1 A first-angle schematic diagram of a self-balancing motorcycle provided for an embodiment of this utility model;

[0038] Figure 2 A second-angle schematic diagram of the self-balancing motorcycle provided for an embodiment of this utility model (with the first guard plate hidden);

[0039] Figure 3 A schematic diagram of the front wheel and steering mechanism provided for an embodiment of this utility model;

[0040] Figure 4 A schematic diagram of the rear wheel and rocker arm balancing mechanism provided for an embodiment of this utility model;

[0041] Figure 5 A schematic diagram of the working state of the self-balancing motorcycle provided in this embodiment of the utility model.

[0042] In the diagram: 1-Front wheel, 2-Steering mechanism, 201-Servo, 202-Servo mounting plate, 203-Servo rocker arm, 204-First fisheye bearing connecting rod, 205-Second fisheye bearing connecting rod, 206-Front fork steering plate, 207-Front fork, 208-Front fork mounting block, 209-Front fork bearing, 210-Handlebars, 211-Front wheel axle, 3-Frame, 301-First side plate, 302-Second side plate, 303-First connecting column, 304-First skid plate, 305-Second skid plate 306-Second connecting column, 307-Tail wing, 4-Rear wheel, 401-Wheel hub motor, 5-Rocker arm balancing mechanism, 501-Rocker arm motor, 502-Motor mounting plate, 503-Active rocker arm, 504-First rear wheel bracket, 505-Driven rocker arm, 506-Second rear wheel bracket, 507-Angle sensor, 508-First connecting shaft, 509-First bearing seat, 510-Second connecting shaft, 511-Second bearing seat, 512-Motor flange, 6-Control board, 7-Battery. Detailed Implementation

[0043] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments 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 of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0044] The purpose of this invention is to provide a self-balancing motorcycle to solve the problems existing in related technologies. It abandons the momentum wheel balancing design and adopts a principle similar to an inverted pendulum to adjust the balance by adjusting the position of the motorcycle's own center of gravity, which has a higher safety factor and less noise.

[0045] To make the above-mentioned objectives, features and advantages of this utility model more apparent and understandable, the utility model will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0046] like Figure 1As shown, this embodiment provides a self-balancing motorcycle, including a front wheel 1, a steering mechanism 2, a frame 3, a rear wheel 4, and a rocker arm balancing mechanism 5. The front wheel 1 is mounted on the front end of the frame 3 via the steering mechanism 2. The rear wheel 4 is mounted on the rear end of the frame 3 via the rocker arm balancing mechanism 5, and a hub motor 401 is installed inside the rear wheel 4. A control board 6 and a battery 7 are installed inside the frame 3. A gyroscope is installed on the control board 6, which can detect the tilt angle of the frame 3. The rocker arm balancing mechanism 5 and the hub motor 401 are both connected to the control board 6 and the battery 7. The rocker arm balancing mechanism 5 can drive the rear wheel 4 to swing left and right relative to the frame 3, so that a correction angle is formed between the rear wheel 4 and the frame 3. The correction angle can compensate for the tilt angle of the frame 3, so that the frame 3 remains balanced.

[0047] In this embodiment, the frame 3 includes a first side plate 301, a second side plate 302, a first connecting post 303, a first protective plate 304, a second protective plate 305, a second connecting post 306, and a rear wing 307. Multiple first connecting posts 303 and multiple second connecting posts 306 are provided. The first side plate 301 and the second side plate 302 are fixedly connected by multiple first connecting posts 303. The first protective plate 304 is disposed on the outer side of the first side plate 301, and the second protective plate 305 is disposed on the second side plate 302. The outer side of the first guard plate 304 and the first side plate 301, as well as the second guard plate 305 and the second side plate 302, are fixedly connected by a plurality of second connecting posts 306; the first guard plate 304 and the first side plate 301, as well as the second guard plate 305 and the second side plate 302, form an installation space for the control plate 6; the first side plate 301 and the second side plate 302 form an installation space for the battery 7; the tail wing 307 is fixed between the rear end of the first side plate 301 and the rear end of the second side plate 302.

[0048] Specifically, such as Figures 1-2 As shown, the sheet metal frame 3 is connected to the first guard plate 304 and the second guard plate 305 by copper pillars. The rear wing 307 is connected to the frame 3 by bolts. The battery 7 is placed in the middle of the frame 3. The control plate 6, the front wheel 1 and the steering mechanism 2, and the rear wheel 4 and the rocker arm balance mechanism 5 are installed on both sides of the frame 3. The connection is completed by inserting the protrusions on the motor mounting plate 502, the servo mounting plate 202, and the front fork mounting block 208 into the reserved holes on the frame 3.

[0049] In this embodiment, the steering mechanism 2 includes a servo motor 201, a servo motor mounting plate 202, a servo motor rocker arm 203, a first fisheye bearing connecting rod 204, a second fisheye bearing connecting rod 205, a front fork steering plate 206, a front fork 207, a front fork fixing block 208, a front fork bearing 209, a handlebar 210, and a front wheel axle 211. The servo motor 201 is fixed to the front end of the frame 3 via the servo motor mounting plate 202, and the output end of the servo motor 201 is facing upwards. The middle part of the servo motor rocker arm 203 is connected to the output end of the servo motor 201, and the servo motor rocker arm 203 is connected to the output end of the servo motor 201. The two ends of the arm 203 are connected to the two ends of the front fork steering plate 206 via the first fisheye bearing connecting rod 204 and the second fisheye bearing connecting rod 205, respectively; the front fork 207 is fixedly installed in the middle of the front fork steering plate 206; the front fork fixing block 208 is fixed to the front end of the frame 3 and located below the front fork steering plate 206; the front fork 207 is rotatably connected to the front fork fixing block 208 via the front fork bearing 209; the handlebar 210 is fixed to the upper end of the front fork 207; the front wheel 1 is rotatably connected to the lower end of the front fork 207 via the front wheel axle 211.

[0050] Specifically, such as Figure 3 As shown, the front wheel 1 and steering mechanism 2 are responsible for the left and right steering of the motorcycle. The servo motor 201 is bolted to the servo motor mounting plate 202 and the servo motor 201 is bolted to the servo motor rocker arm 203. The front wheel 1 is connected to the front fork 207 through the front wheel axle 211. The front fork bearing 209 is fitted into the front fork 207 and locked with the front fork fixing block 208. The front fork steering plate 206 is fixed to the front fork 207. The front fork steering plate 206 and the servo motor rocker arm 203 are connected by the first fisheye bearing connecting rod 204 and the second fisheye bearing connecting rod 205 to control the steering. The front fork 207 and the front fork fixing block 208 are made of metal 3D printing.

[0051] In this embodiment, the rocker arm balancing mechanism 5 includes a rocker arm motor 501, a motor mounting plate 502, a driving rocker arm 503, a first rear wheel bracket 504, a driven rocker arm 505, a second rear wheel bracket 506, and an angle sensor 507. The rocker arm motor 501 is fixed to the rear end of the frame 3 via the motor mounting plate 502, and the output end of the rocker arm motor 501 is positioned rearward. One end of the driving rocker arm 503 is connected to the output end of the rocker arm motor 501, and the other end is rotatably connected to the first rear wheel bracket 504. The end of the first rear wheel bracket 504 away from the driving rocker arm 503 is rotatably connected to one side of the rear wheel 4. The driven rocker arm 505 is connected to the driving rocker arm 503. The rocker arm 505 is arranged side by side, with one end of the rocker arm 505 rotatably connected to the motor mounting plate 502 and the other end rotatably connected to the second rear wheel bracket 506. The second rear wheel bracket 506 is rotatably connected to the side of the rear wheel 4 away from the first rear wheel bracket 504, away from the rocker arm 505. The rocker arm motor 501 can drive the main rocker arm 503 to swing, thereby causing the rear wheel 4 to swing left and right relative to the frame 3. The angle sensor 507 is set on the motor mounting plate 502 and can detect the angle between the main rocker arm 503 and the frame 3. Both the rocker arm motor 501 and the angle sensor 507 are connected to the control board 6 and the battery 7.

[0052] Furthermore, the rocker arm balancing mechanism 5 also includes a first connecting shaft 508, a first bearing seat 509, a second connecting shaft 510, a second bearing seat 511, and a motor flange 512; the first connecting shaft 508 extends in the front-rear direction, and the front end of the first connecting shaft 508 is fixedly connected to the driving rocker arm 503, and the rear end of the first connecting shaft 508 is rotatably connected to the first rear wheel bracket 504 through the first bearing seat 509; the second connecting shaft 510 extends in the front-rear direction, and the front end of the second connecting shaft 510 is fixedly connected to the driven rocker arm 505, and the rear end of the second connecting shaft 510 is rotatably connected to the second rear wheel bracket 506 through the second bearing seat 511; the output end of the rocker arm motor 501 is connected to the driving rocker arm 503 through the motor flange 512.

[0053] Specifically, such as Figure 4 As shown, the rear wheel 4 and rocker arm balancing mechanism 5 are responsible for the motorcycle's balance control and forward and backward movement. Angle sensor 507 and rocker arm motor 501 are fixedly connected to motor mounting plate 502 by bolts. Angle sensor 507 and rocker arm motor 501 are connected to the active rocker arm 503 via motor flange 512. The active rocker arm 503 and the driven rocker arm 505 are fixedly connected to the first connecting shaft 508 and the second connecting shaft 510, respectively. The hub motor 401 passes through holes in the first rear wheel bracket 504 and the second rear wheel bracket 506 on both sides and is secured with nuts. Figure 4(Not marked in the text) The first bearing housing 509 and the first rear wheel bracket 504, as well as the second bearing housing 511 and the second rear wheel bracket 506, are all bolted together. The first connecting shaft 508 and the first bearing housing 509, as well as the second connecting shaft 510 and the second bearing housing 511, are all locked together with nut screws.

[0054] The specific balance control implementation method of the self-balancing motorcycle provided in this embodiment is as follows:

[0055] This control scheme primarily relies on controlling the angle between the rear wheel 4 and the frame 3 to maintain vehicle balance, rather than using a traditional momentum wheel system. This principle can be compared to an inverted pendulum system, which prevents the motorcycle from tipping over by adjusting its center of gravity. Figure 5 As shown.

[0056] The control board 6 is equipped with a gyroscope MPU6050. By detecting the rotational rate of the frame 3 on three axes (X, Y, and Z axes), the system can accurately determine the motorcycle's tilt angle and its rate of change. A rocker arm balancing mechanism 5 is installed between the frame 3 and the rear wheel 4. When the motorcycle begins to tilt, the control system calculates the required correction angle and then compensates for this tilt by adjusting the tilt of the balancing rocker arms (i.e., the active rocker arm 503 and the driven rocker arm 505) relative to the rear wheel 4. The rocker arm balancing mechanism 5 is fixedly connected to an angle sensor 507 and a rocker arm motor 501. The rocker arm motor 501 is responsible for providing torque. When there is an angular deviation between the vehicle and the ground, the rocker arm motor 501 receives data from the control board 6 and provides corresponding torque to drive the rear wheel 4 to shift and change the vehicle's center of gravity, thereby achieving vehicle balance control. The angle sensor 507 is responsible for measuring the angle between the frame 3 and the balance rocker arm to ensure that the frame 3 and the balance rocker arm are parallel after the vehicle completes the balancing function, and to limit the rotation angle of the balance rocker arm controlled by the rocker arm motor 501 to avoid excessive swing amplitude of the balance rocker arm, which could cause the vehicle to overturn and ensure stable forward movement of the vehicle.

[0057] Vehicle tilting is a relatively slow process, while angular velocity changes much more rapidly. Therefore, using a single PID controller to control both simultaneously may result in insufficient precision in response or instability. To improve control accuracy, response speed, and stability, the core control algorithm of control board 6 in this embodiment employs dual-loop PID (Proportional-Integral-Differential) control, which achieves dynamic vehicle balance by adjusting the rear wheel rocker arm angle in real time. PID control consists of three components: proportional (P), integral (I), and derivative (D), with the mathematical expression as follows:

[0058]

[0059] Where e(t) = θ ref-θ fb K represents the deviation between the target camber angle and the actual camber angle of the vehicle body. p K i K d These are the proportional, integral, and differential coefficients, respectively.

[0060] The raw angular velocity signal output from the MPU6050 gyroscope is filtered and noise-reduced before being used as the feedback input to the PID controller. Then, the coefficients of the inner and outer loop control structures are set.

[0061] The outer loop is the angle loop, used to respond to slower dynamic behaviors. Changes in vehicle tilt angle are typically slow and crucial to overall vehicle stability. The outer loop primarily addresses large-scale deviations in the system, specifically whether the vehicle tilts or deviates excessively within a short period. Using the vehicle tilt angle deviation as input, when a significant tilt occurs, the outer loop first adjusts the deviation over a wide range. The proportional term reacts quickly to the deviation, while the integral term ensures that errors do not accumulate.

[0062] The inner loop is the angular velocity loop, responsible for rapidly responding to changes in the vehicle's angular velocity and controlling the rate of rotation or angle change. Changes in the vehicle's angular velocity are a relatively rapid process. For example, when the vehicle is reversing, it may experience overshoot due to inertia. The main function of the inner loop is to provide fine control during this rapid response, preventing excessive swaying or oscillation. The inner loop control system predicts angular velocity changes through differential terms, reducing drastic angle changes and thus suppressing vehicle oscillations. It responds to the vehicle's rapid dynamic behavior, enabling the vehicle to smoothly converge to its final equilibrium state.

[0063] The control system calculates the necessary adjustment angle in real time based on data from sensor feedback. To ensure accuracy, sufficient reaction speed is required, enabling the vehicle to calculate and adjust accordingly the instant any tilt occurs, thus preventing falls or severe tilting. This rapid and precise adjustment mechanism allows the motorcycle to maintain a stable position even at low speeds or when stationary. To further enhance the safety and stability of the self-balancing system, a fault-tolerant mechanism is integrated. When the motorcycle's tilt angle is too large, the system automatically detects and judges the degree of tilt. When the tilt angle is between 0° and 15°, the PID controller adjusts normally, and the motor output is linearly controlled. When the tilt angle exceeds 15°, the system shuts off the motor control power to prevent excessive control force that could cause the motorcycle to tilt backwards at excessive speed and fall. This fault-tolerant design takes preventative measures when the motorcycle is on the verge of losing balance, minimizing the risk of a fall and ensuring the rider's safety.

[0064] In summary, the self-balancing motorcycle provided by this utility model solves the problem of difficulty in controlling the balance of conventional motorcycles at low speeds. The self-balancing motorcycle is equipped with a rocker arm balancing mechanism 5, which is similar to an inverted pendulum, at the rear wheel position 4. An STM32F103C8T6 microcontroller is used as the control board 6. By adjusting the PID parameters, the deflection angle of the balancing rocker arm can be controlled to adjust the position of the vehicle's center of gravity, so that the self-balancing vehicle system gradually converges to an upright static balance state, thereby enabling the vehicle to maintain balance even at low speeds or when stationary.

[0065] This utility model uses specific examples to illustrate its principles and implementation methods. The above description of the embodiments is only for the purpose of helping to understand the method and core idea of ​​this utility model. At the same time, for those skilled in the art, there will be changes in the specific implementation methods and application scope based on the idea of ​​this utility model. In summary, the content of this specification should not be construed as a limitation of this utility model.

Claims

1. A self-balancing motorcycle, characterized in that: This includes the front wheels, steering mechanism, frame, rear wheels, and rocker arm balancing mechanism; The front wheel is mounted on the front end of the vehicle frame via the steering mechanism; The rear wheel is mounted on the rear end of the frame via the rocker arm balancing mechanism, and a hub motor is installed inside the rear wheel; The frame contains a control board and a battery. The control board is equipped with a gyroscope, which can detect the tilt angle of the frame. Both the rocker arm balancing mechanism and the hub motor are connected to the control board and the battery. The rocker arm balancing mechanism can drive the rear wheel to swing left and right relative to the frame, so that a correction angle is formed between the rear wheel and the frame. The correction angle can compensate for the tilt angle of the frame, so that the frame remains balanced.

2. The self-balancing motorcycle according to claim 1, characterized in that: The rocker arm balancing mechanism includes a rocker arm motor, a motor mounting plate, a driving rocker arm, a first rear wheel bracket, a driven rocker arm, a second rear wheel bracket, and an angle sensor. The rocker arm motor is fixed to the rear end of the vehicle frame by the motor mounting plate, and the output end of the rocker arm motor is arranged facing rearward; One end of the active rocker arm is connected to the output end of the rocker arm motor, and the other end is rotatably connected to the first rear wheel bracket; the end of the first rear wheel bracket away from the active rocker arm is rotatably connected to one side of the rear wheel. The driven rocker arm and the driving rocker arm are arranged side by side, and one end of the driven rocker arm is rotatably connected to the motor mounting plate, and the other end is rotatably connected to the second rear wheel bracket; The second rear wheel bracket is located at one end away from the driven rocker arm and is rotatably connected to the side of the rear wheel away from the first rear wheel bracket; The rocker arm motor can drive the main rocker arm to swing, thereby causing the rear wheel to swing left and right relative to the frame; The angle sensor is mounted on the motor mounting plate and is capable of detecting the angle between the main rocker arm and the vehicle frame. The rocker arm motor and the angle sensor are both connected to the control board and the battery.

3. The self-balancing motorcycle according to claim 2, characterized in that: The rocker arm balancing mechanism further includes a first connecting shaft, a first bearing seat, a second connecting shaft, and a second bearing seat; The first connecting shaft extends in the front-rear direction, and the front end of the first connecting shaft is fixedly connected to the active rocker arm, and the rear end of the first connecting shaft is rotatably connected to the first rear wheel bracket through the first bearing seat. The second connecting shaft extends in the front-rear direction, and the front end of the second connecting shaft is fixedly connected to the driven rocker arm, and the rear end of the second connecting shaft is rotatably connected to the second rear wheel bracket through the second bearing seat.

4. The self-balancing motorcycle according to claim 2, characterized in that: The rocker arm balancing mechanism also includes a motor flange, and the output end of the rocker arm motor is connected to the active rocker arm through the motor flange.

5. The self-balancing motorcycle according to claim 1, characterized in that: The steering mechanism includes a servo motor, a servo motor mounting plate, a servo motor rocker arm, a first fisheye bearing connecting rod, a second fisheye bearing connecting rod, a front fork steering plate, a front fork, a front fork mounting block, a front fork bearing, a handlebar, and a front wheel axle. The servo motor is fixed to the front end of the vehicle frame by the servo motor mounting plate, and the output end of the servo motor is set upward; The middle part of the servo rocker arm is connected to the output end of the servo, and the two ends of the servo rocker arm are respectively connected to the two ends of the front fork steering plate through the first fisheye bearing connecting rod and the second fisheye bearing connecting rod; the front fork is fixedly inserted through the middle part of the front fork steering plate; the front fork fixing block is fixed to the front end of the frame and located below the front fork steering plate; the front fork is rotatably connected to the front fork fixing block through the front fork bearing; The handlebars are fixed to the upper end of the front fork; The front wheel is rotatably connected to the lower end of the front fork via the front wheel axle.

6. The self-balancing motorcycle according to claim 1, characterized in that: The frame includes a first side plate, a second side plate, and a plurality of first connecting posts; the first side plate and the second side plate are fixedly connected by the plurality of first connecting posts.

7. The self-balancing motorcycle according to claim 6, characterized in that: The frame also includes a first guard plate, a second guard plate, and multiple second connecting pillars; The first guard plate is disposed on the outside of the first side plate, the second guard plate is disposed on the outside of the second side plate, and the first guard plate and the first side plate, as well as the second guard plate and the second side plate, are fixedly connected by a plurality of second connecting posts. The first protective plate and the first side plate form an installation space for the control board, and the second protective plate and the second side plate form an installation space for the battery.

8. The self-balancing motorcycle according to claim 6, characterized in that: The frame also includes a rear wing, which is fixed between the rear end of the first side plate and the rear end of the second side plate.

9. The self-balancing motorcycle according to claim 1, characterized in that: The gyroscope is model MPU6050.

10. The self-balancing motorcycle according to claim 1, characterized in that: The control board is an STM32F103C8T6 microcontroller.

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